fixed BruteForceMatcher_GPU (fails if input data is empty)

updated BruteForceMatcher_GPU test

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -1301,7 +1301,7 @@ namespace cv
                 const GpuMat& maskCollection);
 
             // Download trainIdx, imgIdx and distance to CPU vector with DMatch
-            static void matchDownload(const GpuMat& trainIdx, GpuMat& imgIdx, const GpuMat& distance,
+            static void matchDownload(const GpuMat& trainIdx, const GpuMat& imgIdx, const GpuMat& distance,
                 std::vector<DMatch>& matches);
 
             // Find one best match from train collection for each query descriptor.

modules/gpu/src/brute_force_matcher.cpp

@@ -59,7 +59,7 @@ void cv::gpu::BruteForceMatcher_GPU_base::matchDownload(const GpuMat&, const Gpu
 void cv::gpu::BruteForceMatcher_GPU_base::match(const GpuMat&, const GpuMat&, vector<DMatch>&, const GpuMat&) { throw_nogpu(); }
 void cv::gpu::BruteForceMatcher_GPU_base::makeGpuCollection(GpuMat&, GpuMat&, const vector<GpuMat>&) { throw_nogpu(); }
 void cv::gpu::BruteForceMatcher_GPU_base::matchCollection(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat&, const GpuMat&) { throw_nogpu(); }
-void cv::gpu::BruteForceMatcher_GPU_base::matchDownload(const GpuMat&, GpuMat&, const GpuMat&, std::vector<DMatch>&) { throw_nogpu(); }
+void cv::gpu::BruteForceMatcher_GPU_base::matchDownload(const GpuMat&, const GpuMat&, const GpuMat&, std::vector<DMatch>&) { throw_nogpu(); }
 void cv::gpu::BruteForceMatcher_GPU_base::match(const GpuMat&, std::vector<DMatch>&, const std::vector<GpuMat>&) { throw_nogpu(); }
 void cv::gpu::BruteForceMatcher_GPU_base::knnMatch(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, const GpuMat&) { throw_nogpu(); }
 void cv::gpu::BruteForceMatcher_GPU_base::knnMatchDownload(const GpuMat&, const GpuMat&, std::vector< std::vector<DMatch> >&, bool) { throw_nogpu(); }
@@ -142,6 +142,9 @@ bool cv::gpu::BruteForceMatcher_GPU_base::isMaskSupported() const
 void cv::gpu::BruteForceMatcher_GPU_base::matchSingle(const GpuMat& queryDescs, const GpuMat& trainDescs,
     GpuMat& trainIdx, GpuMat& distance, const GpuMat& mask)
 {
+    if (queryDescs.empty() || trainDescs.empty())
+        return;
+
     using namespace cv::gpu::bfmatcher;
 
     typedef void (*match_caller_t)(const DevMem2D& queryDescs, const DevMem2D& trainDescs,
@@ -159,7 +162,7 @@ void cv::gpu::BruteForceMatcher_GPU_base::matchSingle(const GpuMat& queryDescs,
         }
     };
 
-    CV_Assert(queryDescs.channels() == 1);
+    CV_Assert(queryDescs.channels() == 1 && queryDescs.depth() < CV_64F);
     CV_Assert(trainDescs.cols == queryDescs.cols && trainDescs.type() == queryDescs.type());
 
     const int nQuery = queryDescs.rows;
@@ -178,6 +181,12 @@ void cv::gpu::BruteForceMatcher_GPU_base::matchSingle(const GpuMat& queryDescs,
 void cv::gpu::BruteForceMatcher_GPU_base::matchDownload(const GpuMat& trainIdx, const GpuMat& distance,
     vector<DMatch>& matches)
 {
+    if (trainIdx.empty() || distance.empty())
+        return;
+
+    CV_Assert(trainIdx.type() == CV_32SC1 && trainIdx.isContinuous());
+    CV_Assert(distance.type() == CV_32FC1 && distance.isContinuous() && distance.size().area() == trainIdx.size().area());
+
     const int nQuery = trainIdx.cols;
 
     Mat trainIdxCPU = trainIdx;
@@ -213,6 +222,9 @@ void cv::gpu::BruteForceMatcher_GPU_base::match(const GpuMat& queryDescs, const
 void cv::gpu::BruteForceMatcher_GPU_base::makeGpuCollection(GpuMat& trainCollection, GpuMat& maskCollection,
     const vector<GpuMat>& masks)
 {
+    if (empty())
+        return;
+
     if (masks.empty())
     {
         Mat trainCollectionCPU(1, trainDescCollection.size(), CV_8UC(sizeof(DevMem2D)));
@@ -238,7 +250,7 @@ void cv::gpu::BruteForceMatcher_GPU_base::makeGpuCollection(GpuMat& trainCollect
             const GpuMat& trainDescs = trainDescCollection[i];
             const GpuMat& mask = masks[i];
 
-            CV_Assert(mask.empty() || (mask.type() == CV_8UC1));
+            CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.cols == trainDescs.rows));
 
             trainCollectionCPU.ptr<DevMem2D>(0)[i] = trainDescs;
 
@@ -253,6 +265,9 @@ void cv::gpu::BruteForceMatcher_GPU_base::makeGpuCollection(GpuMat& trainCollect
 void cv::gpu::BruteForceMatcher_GPU_base::matchCollection(const GpuMat& queryDescs, const GpuMat& trainCollection,
     GpuMat& trainIdx, GpuMat& imgIdx, GpuMat& distance, const GpuMat& maskCollection)
 {
+    if (queryDescs.empty() || trainCollection.empty())
+        return;
+
     using namespace cv::gpu::bfmatcher;
 
     typedef void (*match_caller_t)(const DevMem2D& queryDescs, const DevMem2D& trainCollection,
@@ -273,7 +288,7 @@ void cv::gpu::BruteForceMatcher_GPU_base::matchCollection(const GpuMat& queryDes
         }
     };
 
-    CV_Assert(queryDescs.channels() == 1);
+    CV_Assert(queryDescs.channels() == 1 && queryDescs.depth() < CV_64F);
 
     const int nQuery = queryDescs.rows;
 
@@ -287,9 +302,16 @@ void cv::gpu::BruteForceMatcher_GPU_base::matchCollection(const GpuMat& queryDes
     func(queryDescs, trainCollection, maskCollection, trainIdx, imgIdx, distance);
 }
 
-void cv::gpu::BruteForceMatcher_GPU_base::matchDownload(const GpuMat& trainIdx, GpuMat& imgIdx,
+void cv::gpu::BruteForceMatcher_GPU_base::matchDownload(const GpuMat& trainIdx, const GpuMat& imgIdx,
     const GpuMat& distance, vector<DMatch>& matches)
 {
+    if (trainIdx.empty() || imgIdx.empty() || distance.empty())
+        return;
+
+    CV_Assert(trainIdx.type() == CV_32SC1 && trainIdx.isContinuous());
+    CV_Assert(imgIdx.type() == CV_32SC1 && imgIdx.isContinuous());
+    CV_Assert(distance.type() == CV_32FC1 && distance.isContinuous());
+
     const int nQuery = trainIdx.cols;
 
     Mat trainIdxCPU = trainIdx;
@@ -338,6 +360,9 @@ void cv::gpu::BruteForceMatcher_GPU_base::match(const GpuMat& queryDescs, vector
 void cv::gpu::BruteForceMatcher_GPU_base::knnMatch(const GpuMat& queryDescs, const GpuMat& trainDescs,
     GpuMat& trainIdx, GpuMat& distance, GpuMat& allDist, int k, const GpuMat& mask)
 {
+    if (queryDescs.empty() || trainDescs.empty())
+        return;
+
     using namespace cv::gpu::bfmatcher;
 
     typedef void (*match_caller_t)(const DevMem2D& queryDescs, const DevMem2D& trainDescs, int knn,
@@ -355,7 +380,8 @@ void cv::gpu::BruteForceMatcher_GPU_base::knnMatch(const GpuMat& queryDescs, con
         }
     };
 
-    CV_Assert(queryDescs.channels() == 1);
+    CV_Assert(queryDescs.channels() == 1 && queryDescs.depth() < CV_64F);
+    CV_Assert(trainDescs.type() == queryDescs.type() && trainDescs.cols == queryDescs.cols);
 
     const int nQuery = queryDescs.rows;
     const int nTrain = trainDescs.rows;
@@ -375,6 +401,12 @@ void cv::gpu::BruteForceMatcher_GPU_base::knnMatch(const GpuMat& queryDescs, con
 void cv::gpu::BruteForceMatcher_GPU_base::knnMatchDownload(const GpuMat& trainIdx, const GpuMat& distance,
     vector< vector<DMatch> >& matches, bool compactResult)
 {
+    if (trainIdx.empty() || distance.empty())
+        return;
+
+    CV_Assert(trainIdx.type() == CV_32SC1);
+    CV_Assert(distance.type() == CV_32FC1 && distance.size() == trainIdx.size());
+
     const int nQuery = distance.rows;
     const int k = trainIdx.cols;
 
@@ -434,6 +466,9 @@ namespace
 void cv::gpu::BruteForceMatcher_GPU_base::knnMatch(const GpuMat& queryDescs,
     vector< vector<DMatch> >& matches, int knn, const vector<GpuMat>& masks, bool compactResult)
 {
+    if (queryDescs.empty() || empty())
+        return;
+
     vector< vector<DMatch> > curMatches;
     vector<DMatch> temp;
     temp.reserve(2 * knn);
@@ -476,6 +511,9 @@ void cv::gpu::BruteForceMatcher_GPU_base::knnMatch(const GpuMat& queryDescs,
 void cv::gpu::BruteForceMatcher_GPU_base::radiusMatch(const GpuMat& queryDescs, const GpuMat& trainDescs,
     GpuMat& trainIdx, GpuMat& nMatches, GpuMat& distance, float maxDistance, const GpuMat& mask)
 {
+    if (queryDescs.empty() || trainDescs.empty())
+        return;
+
     using namespace cv::gpu::bfmatcher;
 
     typedef void (*radiusMatch_caller_t)(const DevMem2D& queryDescs, const DevMem2D& trainDescs, float maxDistance,
@@ -498,7 +536,7 @@ void cv::gpu::BruteForceMatcher_GPU_base::radiusMatch(const GpuMat& queryDescs,
     const int nQuery = queryDescs.rows;
     const int nTrain = trainDescs.rows;
 
-    CV_Assert(queryDescs.channels() == 1);
+    CV_Assert(queryDescs.channels() == 1 && queryDescs.depth() < CV_64F);
     CV_Assert(trainDescs.type() == queryDescs.type() && trainDescs.cols == queryDescs.cols);
     CV_Assert(trainIdx.empty() || trainIdx.rows == nQuery);
 
@@ -519,6 +557,13 @@ void cv::gpu::BruteForceMatcher_GPU_base::radiusMatch(const GpuMat& queryDescs,
 void cv::gpu::BruteForceMatcher_GPU_base::radiusMatchDownload(const GpuMat& trainIdx, const GpuMat& nMatches,
     const GpuMat& distance, std::vector< std::vector<DMatch> >& matches, bool compactResult)
 {
+    if (trainIdx.empty() || nMatches.empty() || distance.empty())
+        return;
+
+    CV_Assert(trainIdx.type() == CV_32SC1);
+    CV_Assert(nMatches.type() == CV_32SC1 && nMatches.isContinuous() && nMatches.size().area() == trainIdx.rows);
+    CV_Assert(distance.type() == CV_32FC1 && distance.size() == trainIdx.size());
+
     const int nQuery = trainIdx.rows;
 
     Mat trainIdxCPU = trainIdx;
@@ -570,9 +615,11 @@ void cv::gpu::BruteForceMatcher_GPU_base::radiusMatch(const GpuMat& queryDescs,
 }
 
 void cv::gpu::BruteForceMatcher_GPU_base::radiusMatch(const GpuMat& queryDescs, vector< vector<DMatch> >& matches,
-                float maxDistance, const vector<GpuMat>& masks, bool compactResult)
+    float maxDistance, const vector<GpuMat>& masks, bool compactResult)
-
 {
+    if (queryDescs.empty() || empty())
+        return;
+
     matches.resize(queryDescs.rows);
 
     vector< vector<DMatch> > curMatches;

tests/gpu/src/brute_force_matcher.cpp

@@ -50,131 +50,453 @@ using namespace std;
 class CV_GpuBruteForceMatcherTest : public CvTest
 {
 public:
-    CV_GpuBruteForceMatcherTest() : CvTest( "GPU-BruteForceMatcher", "BruteForceMatcher" ) {}
+    CV_GpuBruteForceMatcherTest() :
-
+        CvTest( "GPU-BruteForceMatcher", "BruteForceMatcher" ), badPart(0.01f)
-protected:
-    void run(int) 
     {
-        try 
+    }
+protected:
+    static const int dim = 500;
+    static const int queryDescCount = 300; // must be even number because we split train data in some cases in two
+    static const int countFactor = 4; // do not change it
+    const float badPart;
+
+    virtual void run(int);
+    void generateData(GpuMat& query, GpuMat& train);
+
+    void emptyDataTest();
+    void matchTest(const GpuMat& query, const GpuMat& train);
+    void knnMatchTest(const GpuMat& query, const GpuMat& train);
+    void radiusMatchTest(const GpuMat& query, const GpuMat& train);
+
+    BruteForceMatcher_GPU< L2<float> > dmatcher;
+};
+
+void CV_GpuBruteForceMatcherTest::emptyDataTest()
+{
+    GpuMat queryDescriptors, trainDescriptors, mask;
+    vector<GpuMat> trainDescriptorCollection, masks;
+    vector<DMatch> matches;
+    vector< vector<DMatch> > vmatches;
+
+    try
+    {
+        dmatcher.match(queryDescriptors, trainDescriptors, matches, mask);
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "match() on empty descriptors must not generate exception (1).\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+    try
+    {
+        dmatcher.knnMatch(queryDescriptors, trainDescriptors, vmatches, 2, mask);
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "knnMatch() on empty descriptors must not generate exception (1).\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+    try
+    {
+        dmatcher.radiusMatch(queryDescriptors, trainDescriptors, vmatches, 10.f, mask);
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "radiusMatch() on empty descriptors must not generate exception (1).\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+    try
+    {
+        dmatcher.add(trainDescriptorCollection);
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "add() on empty descriptors must not generate exception.\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+    try
+    {
+        dmatcher.match(queryDescriptors, matches, masks);
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "match() on empty descriptors must not generate exception (2).\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+    try
+    {
+        dmatcher.knnMatch(queryDescriptors, vmatches, 2, masks);
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "knnMatch() on empty descriptors must not generate exception (2).\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+    try
+    {
+        dmatcher.radiusMatch( queryDescriptors, vmatches, 10.f, masks );
+    }
+    catch(...)
+    {
+        ts->printf( CvTS::LOG, "radiusMatch() on empty descriptors must not generate exception (2).\n" );
+        ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+    }
+
+}
+
+void CV_GpuBruteForceMatcherTest::generateData( GpuMat& queryGPU, GpuMat& trainGPU )
+{
+    Mat query, train;
+    RNG rng(*ts->get_rng());
+
+    // Generate query descriptors randomly.
+    // Descriptor vector elements are integer values.
+    Mat buf( queryDescCount, dim, CV_32SC1 );
+    rng.fill( buf, RNG::UNIFORM, Scalar::all(0), Scalar(3) );
+    buf.convertTo( query, CV_32FC1 );
+
+    // Generate train decriptors as follows:
+    // copy each query descriptor to train set countFactor times
+    // and perturb some one element of the copied descriptors in
+    // in ascending order. General boundaries of the perturbation
+    // are (0.f, 1.f).
+    train.create( query.rows*countFactor, query.cols, CV_32FC1 );
+    float step = 1.f / countFactor;
+    for( int qIdx = 0; qIdx < query.rows; qIdx++ )
+    {
+        Mat queryDescriptor = query.row(qIdx);
+        for( int c = 0; c < countFactor; c++ )
         {
-            BruteForceMatcher< L2<float> > matcherCPU;
+            int tIdx = qIdx * countFactor + c;
-            BruteForceMatcher_GPU< L2<float> > matcherGPU;
+            Mat trainDescriptor = train.row(tIdx);
+            queryDescriptor.copyTo( trainDescriptor );
+            int elem = rng(dim);
+            float diff = rng.uniform( step*c, step*(c+1) );
+            trainDescriptor.at<float>(0, elem) += diff;
+        }
+    }
 
-            vector<DMatch> matchesCPU, matchesGPU;
+    queryGPU.upload(query);
-            vector< vector<DMatch> > knnMatchesCPU, knnMatchesGPU;
+    trainGPU.upload(train);
-            vector< vector<DMatch> > radiusMatchesCPU, radiusMatchesGPU;
+}
 
-            RNG rng(*ts->get_rng());
+void CV_GpuBruteForceMatcherTest::matchTest( const GpuMat& query, const GpuMat& train )
+{
+    dmatcher.clear();
 
-            const int desc_len = rng.uniform(40, 300);
+    // test const version of match()
+    {
+        vector<DMatch> matches;
+        dmatcher.match( query, train, matches );
 
-            Mat queryCPU(rng.uniform(100, 300), desc_len, CV_32F);            
+        if( (int)matches.size() != queryDescCount )
-            rng.fill(queryCPU, cv::RNG::UNIFORM, cv::Scalar::all(0.0), cv::Scalar::all(10.0));
+        {
-            GpuMat queryGPU(queryCPU);
+            ts->printf(CvTS::LOG, "Incorrect matches count while test match() function (1).\n");
-
+            ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
-            const int nTrains = rng.uniform(1, 5);
+        }
-
+        else
-            vector<Mat> trainsCPU(nTrains);
+        {
-            vector<GpuMat> trainsGPU(nTrains);
+            int badCount = 0;
-
+            for( size_t i = 0; i < matches.size(); i++ )
-            vector<Mat> masksCPU(nTrains);
-            vector<GpuMat> masksGPU(nTrains);
-
-            for (int i = 0; i < nTrains; ++i)
             {
-                Mat train(rng.uniform(100, 300), desc_len, CV_32F);
+                DMatch match = matches[i];
-                rng.fill(train, cv::RNG::UNIFORM, cv::Scalar::all(0.0), cv::Scalar::all(10.0));
+                if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor) || (match.imgIdx != 0) )
+                    badCount++;
+            }
+            if( (float)badCount > (float)queryDescCount*badPart )
+            {
+                ts->printf( CvTS::LOG, "%f - too large bad matches part while test match() function (1).\n",
+                            (float)badCount/(float)queryDescCount );
+                ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+            }
+        }
+    }
 
-                trainsCPU[i] = train;
+    // test version of match() with add()
-                trainsGPU[i].upload(train);
+    {
+        vector<DMatch> matches;
+        // make add() twice to test such case
+        dmatcher.add( vector<GpuMat>(1,train.rowRange(0, train.rows/2)) );
+        dmatcher.add( vector<GpuMat>(1,train.rowRange(train.rows/2, train.rows)) );
+        // prepare masks (make first nearest match illegal)
+        vector<GpuMat> masks(2);
+        for(int mi = 0; mi < 2; mi++ )
+        {
+            masks[mi] = GpuMat(query.rows, train.rows/2, CV_8UC1, Scalar::all(1));
+            for( int di = 0; di < queryDescCount/2; di++ )
+                masks[mi].col(di*countFactor).setTo(Scalar::all(0));
+        }
 
-                bool with_mask = rng.uniform(0, 10) < 5;
+        dmatcher.match( query, matches, masks );
-                if (with_mask)
+
+        if( (int)matches.size() != queryDescCount )
+        {
+            ts->printf(CvTS::LOG, "Incorrect matches count while test match() function (2).\n");
+            ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+        }
+        else
+        {
+            int badCount = 0;
+            for( size_t i = 0; i < matches.size(); i++ )
+            {
+                DMatch match = matches[i];
+                int shift = dmatcher.isMaskSupported() ? 1 : 0;
                 {
-                    Mat mask(queryCPU.rows, train.rows, CV_8U);
+                    if( i < queryDescCount/2 )
-                    rng.fill(mask, cv::RNG::UNIFORM, cv::Scalar::all(0), cv::Scalar::all(200));
+                    {
-
+                        if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor + shift) || (match.imgIdx != 0) )
-                    masksCPU[i] = mask;
+                            badCount++;
-                    masksGPU[i].upload(mask);
+                    }
+                    else
+                    {
+                        if( (match.queryIdx != (int)i) || (match.trainIdx != ((int)i-queryDescCount/2)*countFactor + shift) || (match.imgIdx != 1) )
+                            badCount++;
+                    }
                 }
             }
-
+            if( (float)badCount > (float)queryDescCount*badPart )
-            matcherCPU.add(trainsCPU);
-            matcherGPU.add(trainsGPU);
-
-            matcherCPU.match(queryCPU, matchesCPU, masksCPU);
-            matcherGPU.match(queryGPU, matchesGPU, masksGPU);
-
-            if (!compareMatches(matchesCPU, matchesGPU))
             {
-                ts->printf(CvTS::LOG, "Match FAIL\n");
+                ts->printf( CvTS::LOG, "%f - too large bad matches part while test match() function (2).\n",
-                ts->set_failed_test_info(CvTS::FAIL_MISMATCH);
+                            (float)badCount/(float)queryDescCount );
-                return;
+                ts->set_failed_test_info( CvTS::FAIL_BAD_ACCURACY );
-            }
-
-            const int knn = rng.uniform(3, 10);
-
-            matcherCPU.knnMatch(queryCPU, knnMatchesCPU, knn, masksCPU, true);
-            matcherGPU.knnMatch(queryGPU, knnMatchesGPU, knn, masksGPU, true);
-
-            if (!compareMatches(knnMatchesCPU, knnMatchesGPU))
-            {
-                ts->printf(CvTS::LOG, "KNN Match FAIL\n");
-                ts->set_failed_test_info(CvTS::FAIL_MISMATCH);
-                return;
-            }
-
-            const float maxDistance = rng.uniform(25.0f, 65.0f);
-            
-            matcherCPU.radiusMatch(queryCPU, radiusMatchesCPU, maxDistance, masksCPU, true);
-            matcherGPU.radiusMatch(queryGPU, radiusMatchesGPU, maxDistance, masksGPU, true);
-
-            if (!compareMatches(radiusMatchesCPU, radiusMatchesGPU))
-            {
-                ts->printf(CvTS::LOG, "Radius Match FAIL\n");
-                ts->set_failed_test_info(CvTS::FAIL_MISMATCH);
-                return;
             }
         }
-        catch (const cv::Exception& e) 
+    }
+}
+
+void CV_GpuBruteForceMatcherTest::knnMatchTest( const GpuMat& query, const GpuMat& train )
+{
+    dmatcher.clear();
+
+    // test const version of knnMatch()
+    {
+        const int knn = 3;
+
+        vector< vector<DMatch> > matches;
+        dmatcher.knnMatch( query, train, matches, knn );
+
+        if( (int)matches.size() != queryDescCount )
         {
-            if (!check_and_treat_gpu_exception(e, ts))
+            ts->printf(CvTS::LOG, "Incorrect matches count while test knnMatch() function (1).\n");
-                throw;
+            ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
-            return;
         }
-
+        else
-        ts->set_failed_test_info(CvTS::OK);
-    }
-
-private:
-    static void convertMatches(const vector< vector<DMatch> >& knnMatches, vector<DMatch>& matches)
-    {
-        matches.clear();
-        for (size_t i = 0; i < knnMatches.size(); ++i)
-            copy(knnMatches[i].begin(), knnMatches[i].end(), back_inserter(matches));
-    }
-
-    struct DMatchEqual : public binary_function<DMatch, DMatch, bool>
-    {
-        bool operator()(const DMatch& m1, const DMatch& m2) const
         {
-            return m1.imgIdx == m2.imgIdx && m1.queryIdx == m2.queryIdx && m1.trainIdx == m2.trainIdx;
+            int badCount = 0;
+            for( size_t i = 0; i < matches.size(); i++ )
+            {
+                if( (int)matches[i].size() != knn )
+                    badCount++;
+                else
+                {
+                    int localBadCount = 0;
+                    for( int k = 0; k < knn; k++ )
+                    {
+                        DMatch match = matches[i][k];
+                        if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor+k) || (match.imgIdx != 0) )
+                            localBadCount++;
+                    }
+                    badCount += localBadCount > 0 ? 1 : 0;
+                }
+            }
+            if( (float)badCount > (float)queryDescCount*badPart )
+            {
+                ts->printf( CvTS::LOG, "%f - too large bad matches part while test knnMatch() function (1).\n",
+                            (float)badCount/(float)queryDescCount );
+                ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+            }
         }
-    };
-    
-    static bool compareMatches(const vector<DMatch>& matches1, const vector<DMatch>& matches2)
-    {
-        if (matches1.size() != matches2.size())
-            return false;
-
-        return equal(matches1.begin(), matches1.end(), matches2.begin(), DMatchEqual());
     }
 
-    static bool compareMatches(const vector< vector<DMatch> >& matches1, const vector< vector<DMatch> >& matches2)
+    // test version of knnMatch() with add()
     {
-        vector<DMatch> m1, m2;
+        const int knn = 2;
-        convertMatches(matches1, m1);
+        vector<vector<DMatch> > matches;
-        convertMatches(matches2, m2);
+        // make add() twice to test such case
-        return compareMatches(m1, m2);
+        dmatcher.add( vector<GpuMat>(1,train.rowRange(0, train.rows/2)) );
+        dmatcher.add( vector<GpuMat>(1,train.rowRange(train.rows/2, train.rows)) );
+        // prepare masks (make first nearest match illegal)
+        vector<GpuMat> masks(2);
+        for(int mi = 0; mi < 2; mi++ )
+        {
+            masks[mi] = GpuMat(query.rows, train.rows/2, CV_8UC1, Scalar::all(1));
+            for( int di = 0; di < queryDescCount/2; di++ )
+                masks[mi].col(di*countFactor).setTo(Scalar::all(0));
+        }
+
+        dmatcher.knnMatch( query, matches, knn, masks );
+
+        if( (int)matches.size() != queryDescCount )
+        {
+            ts->printf(CvTS::LOG, "Incorrect matches count while test knnMatch() function (2).\n");
+            ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+        }
+        else
+        {
+            int badCount = 0;
+            int shift = dmatcher.isMaskSupported() ? 1 : 0;
+            for( size_t i = 0; i < matches.size(); i++ )
+            {
+                if( (int)matches[i].size() != knn )
+                    badCount++;
+                else
+                {
+                    int localBadCount = 0;
+                    for( int k = 0; k < knn; k++ )
+                    {
+                        DMatch match = matches[i][k];
+                        {
+                            if( i < queryDescCount/2 )
+                            {
+                                if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor + k + shift) ||
+                                    (match.imgIdx != 0) )
+                                    localBadCount++;
+                            }
+                            else
+                            {
+                                if( (match.queryIdx != (int)i) || (match.trainIdx != ((int)i-queryDescCount/2)*countFactor + k + shift) ||
+                                    (match.imgIdx != 1) )
+                                    localBadCount++;
+                            }
+                        }
+                    }
+                    badCount += localBadCount > 0 ? 1 : 0;
+                }
+            }
+            if( (float)badCount > (float)queryDescCount*badPart )
+            {
+                ts->printf( CvTS::LOG, "%f - too large bad matches part while test knnMatch() function (2).\n",
+                            (float)badCount/(float)queryDescCount );
+                ts->set_failed_test_info( CvTS::FAIL_BAD_ACCURACY );
+            }
+        }
     }
-} brute_force_matcher_test;
+}
+
+void CV_GpuBruteForceMatcherTest::radiusMatchTest( const GpuMat& query, const GpuMat& train )
+{
+    dmatcher.clear();
+    // test const version of match()
+    {
+        const float radius = 1.f/countFactor;
+        vector< vector<DMatch> > matches;
+        dmatcher.radiusMatch( query, train, matches, radius );
+
+        if( (int)matches.size() != queryDescCount )
+        {
+            ts->printf(CvTS::LOG, "Incorrect matches count while test radiusMatch() function (1).\n");
+            ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+        }
+        else
+        {
+            int badCount = 0;
+            for( size_t i = 0; i < matches.size(); i++ )
+            {
+                if( (int)matches[i].size() != 1 )
+                    badCount++;
+                else
+                {
+                    DMatch match = matches[i][0];
+                    if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor) || (match.imgIdx != 0) )
+                        badCount++;
+                }
+            }
+            if( (float)badCount > (float)queryDescCount*badPart )
+            {
+                ts->printf( CvTS::LOG, "%f - too large bad matches part while test radiusMatch() function (1).\n",
+                            (float)badCount/(float)queryDescCount );
+                ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+            }
+        }
+    }
+
+    // test version of match() with add()
+    {
+        int n = 3;
+        const float radius = 1.f/countFactor * n;
+        vector< vector<DMatch> > matches;
+        // make add() twice to test such case
+        dmatcher.add( vector<GpuMat>(1,train.rowRange(0, train.rows/2)) );
+        dmatcher.add( vector<GpuMat>(1,train.rowRange(train.rows/2, train.rows)) );
+        // prepare masks (make first nearest match illegal)
+        vector<GpuMat> masks(2);
+        for(int mi = 0; mi < 2; mi++ )
+        {
+            masks[mi] = GpuMat(query.rows, train.rows/2, CV_8UC1, Scalar::all(1));
+            for( int di = 0; di < queryDescCount/2; di++ )
+                masks[mi].col(di*countFactor).setTo(Scalar::all(0));
+        }
+
+        dmatcher.radiusMatch( query, matches, radius, masks );
+
+        int curRes = CvTS::OK;
+        if( (int)matches.size() != queryDescCount )
+        {
+            ts->printf(CvTS::LOG, "Incorrect matches count while test radiusMatch() function (1).\n");
+            ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
+        }
+
+        int badCount = 0;
+        int shift = dmatcher.isMaskSupported() ? 1 : 0;
+        int needMatchCount = dmatcher.isMaskSupported() ? n-1 : n;
+        for( size_t i = 0; i < matches.size(); i++ )
+        {
+            if( (int)matches[i].size() != needMatchCount )
+                badCount++;
+            else
+            {
+                int localBadCount = 0;
+                for( int k = 0; k < needMatchCount; k++ )
+                {
+                    DMatch match = matches[i][k];
+                    {
+                        if( i < queryDescCount/2 )
+                        {
+                            if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor + k + shift) ||
+                                (match.imgIdx != 0) )
+                                localBadCount++;
+                        }
+                        else
+                        {
+                            if( (match.queryIdx != (int)i) || (match.trainIdx != ((int)i-queryDescCount/2)*countFactor + k + shift) ||
+                                (match.imgIdx != 1) )
+                                localBadCount++;
+                        }
+                    }
+                }
+                badCount += localBadCount > 0 ? 1 : 0;
+            }
+        }
+        if( (float)badCount > (float)queryDescCount*badPart )
+        {
+            curRes = CvTS::FAIL_INVALID_OUTPUT;
+            ts->printf( CvTS::LOG, "%f - too large bad matches part while test radiusMatch() function (2).\n",
+                        (float)badCount/(float)queryDescCount );
+            ts->set_failed_test_info( CvTS::FAIL_BAD_ACCURACY );
+        }
+    }
+}
+
+void CV_GpuBruteForceMatcherTest::run( int )
+{
+    emptyDataTest();
+
+    GpuMat query, train;
+    generateData( query, train );
+
+    matchTest( query, train );
+
+    knnMatchTest( query, train );
+
+    radiusMatchTest( query, train );
+
+    dmatcher.clear();
+}
+
+CV_GpuBruteForceMatcherTest CV_GpuBruteForceMatcher_test;