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#include "test_precomp.hpp"

using namespace cv;
using namespace std;

struct CV_AsyncStereoBMTest : public cvtest::BaseTest
{
    void run( int /* start_from */)
    {
	    cv::Mat img_l = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-L.png", 0);
	    cv::Mat img_r = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-R.png", 0);
	    cv::Mat img_reference = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-disp.png", 0);

        if (img_l.empty() || img_r.empty() || img_reference.empty())
        {
            ts->set_failed_test_info(cvtest::TS::FAIL_MISSING_TEST_DATA);
            return;
        }

        cv::gpu::GpuMat disp;
        cv::gpu::StereoBM_GPU bm(0, 128, 19);

        cv::gpu::Stream stream;

        for (size_t i = 0; i < 50; i++)
        {
            bm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), disp, stream);
        }

        stream.waitForCompletion();
        disp.convertTo(disp, img_reference.type());
        double norm = cv::norm(disp, img_reference, cv::NORM_INF);

        if (norm >= 100)
        {
            ts->printf(cvtest::TS::LOG, "\nStereoBM norm = %f\n", norm);
            ts->set_failed_test_info(cvtest::TS::FAIL_GENERIC);
            return;
        }

        ts->set_failed_test_info(cvtest::TS::OK);
    }
};

TEST(StereoBM, async) { CV_AsyncStereoBMTest test; test.safe_run(); }