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#include "test_precomp.hpp"

#if defined(HAVE_OPENCV_GPU) && defined(HAVE_CUDA)

using namespace cvtest;

/////////////////////////////////////////////////////////////////////////////////////////////////
// SURF

namespace
{
    IMPLEMENT_PARAM_CLASS(SURF_HessianThreshold, double)
    IMPLEMENT_PARAM_CLASS(SURF_Octaves, int)
    IMPLEMENT_PARAM_CLASS(SURF_OctaveLayers, int)
    IMPLEMENT_PARAM_CLASS(SURF_Extended, bool)
    IMPLEMENT_PARAM_CLASS(SURF_Upright, bool)
}

PARAM_TEST_CASE(SURF, cv::gpu::DeviceInfo, SURF_HessianThreshold, SURF_Octaves, SURF_OctaveLayers, SURF_Extended, SURF_Upright)
{
    cv::gpu::DeviceInfo devInfo;
    double hessianThreshold;
    int nOctaves;
    int nOctaveLayers;
    bool extended;
    bool upright;

    virtual void SetUp()
    {
        devInfo = GET_PARAM(0);
        hessianThreshold = GET_PARAM(1);
        nOctaves = GET_PARAM(2);
        nOctaveLayers = GET_PARAM(3);
        extended = GET_PARAM(4);
        upright = GET_PARAM(5);

        cv::gpu::setDevice(devInfo.deviceID());
    }
};

GPU_TEST_P(SURF, Detector)
{
    cv::Mat image = readImage("../gpu/features2d/aloe.png", cv::IMREAD_GRAYSCALE);
    ASSERT_FALSE(image.empty());

    cv::gpu::SURF_GPU surf;
    surf.hessianThreshold = hessianThreshold;
    surf.nOctaves = nOctaves;
    surf.nOctaveLayers = nOctaveLayers;
    surf.extended = extended;
    surf.upright = upright;
    surf.keypointsRatio = 0.05f;

    if (!supportFeature(devInfo, cv::gpu::GLOBAL_ATOMICS))
    {
        try
        {
            std::vector<cv::KeyPoint> keypoints;
            surf(loadMat(image), cv::gpu::GpuMat(), keypoints);
        }
        catch (const cv::Exception& e)
        {
            ASSERT_EQ(CV_StsNotImplemented, e.code);
        }
    }
    else
    {
        std::vector<cv::KeyPoint> keypoints;
        surf(loadMat(image), cv::gpu::GpuMat(), keypoints);

        cv::SURF surf_gold;
        surf_gold.hessianThreshold = hessianThreshold;
        surf_gold.nOctaves = nOctaves;
        surf_gold.nOctaveLayers = nOctaveLayers;
        surf_gold.extended = extended;
        surf_gold.upright = upright;

        std::vector<cv::KeyPoint> keypoints_gold;
        surf_gold(image, cv::noArray(), keypoints_gold);

        ASSERT_EQ(keypoints_gold.size(), keypoints.size());
        int matchedCount = getMatchedPointsCount(keypoints_gold, keypoints);
        double matchedRatio = static_cast<double>(matchedCount) / keypoints_gold.size();

        EXPECT_GT(matchedRatio, 0.95);
    }
}

GPU_TEST_P(SURF, Detector_Masked)
{
    cv::Mat image = readImage("../gpu/features2d/aloe.png", cv::IMREAD_GRAYSCALE);
    ASSERT_FALSE(image.empty());

    cv::Mat mask(image.size(), CV_8UC1, cv::Scalar::all(1));
    mask(cv::Range(0, image.rows / 2), cv::Range(0, image.cols / 2)).setTo(cv::Scalar::all(0));

    cv::gpu::SURF_GPU surf;
    surf.hessianThreshold = hessianThreshold;
    surf.nOctaves = nOctaves;
    surf.nOctaveLayers = nOctaveLayers;
    surf.extended = extended;
    surf.upright = upright;
    surf.keypointsRatio = 0.05f;

    if (!supportFeature(devInfo, cv::gpu::GLOBAL_ATOMICS))
    {
        try
        {
            std::vector<cv::KeyPoint> keypoints;
            surf(loadMat(image), loadMat(mask), keypoints);
        }
        catch (const cv::Exception& e)
        {
            ASSERT_EQ(CV_StsNotImplemented, e.code);
        }
    }
    else
    {
        std::vector<cv::KeyPoint> keypoints;
        surf(loadMat(image), loadMat(mask), keypoints);

        cv::SURF surf_gold;
        surf_gold.hessianThreshold = hessianThreshold;
        surf_gold.nOctaves = nOctaves;
        surf_gold.nOctaveLayers = nOctaveLayers;
        surf_gold.extended = extended;
        surf_gold.upright = upright;

        std::vector<cv::KeyPoint> keypoints_gold;
        surf_gold(image, mask, keypoints_gold);

        ASSERT_EQ(keypoints_gold.size(), keypoints.size());
        int matchedCount = getMatchedPointsCount(keypoints_gold, keypoints);
        double matchedRatio = static_cast<double>(matchedCount) / keypoints_gold.size();

        EXPECT_GT(matchedRatio, 0.95);
    }
}

GPU_TEST_P(SURF, Descriptor)
{
    cv::Mat image = readImage("../gpu/features2d/aloe.png", cv::IMREAD_GRAYSCALE);
    ASSERT_FALSE(image.empty());

    cv::gpu::SURF_GPU surf;
    surf.hessianThreshold = hessianThreshold;
    surf.nOctaves = nOctaves;
    surf.nOctaveLayers = nOctaveLayers;
    surf.extended = extended;
    surf.upright = upright;
    surf.keypointsRatio = 0.05f;

    cv::SURF surf_gold;
    surf_gold.hessianThreshold = hessianThreshold;
    surf_gold.nOctaves = nOctaves;
    surf_gold.nOctaveLayers = nOctaveLayers;
    surf_gold.extended = extended;
    surf_gold.upright = upright;

    if (!supportFeature(devInfo, cv::gpu::GLOBAL_ATOMICS))
    {
        try
        {
            std::vector<cv::KeyPoint> keypoints;
            cv::gpu::GpuMat descriptors;
            surf(loadMat(image), cv::gpu::GpuMat(), keypoints, descriptors);
        }
        catch (const cv::Exception& e)
        {
            ASSERT_EQ(CV_StsNotImplemented, e.code);
        }
    }
    else
    {
        std::vector<cv::KeyPoint> keypoints;
        surf_gold(image, cv::noArray(), keypoints);

        cv::gpu::GpuMat descriptors;
        surf(loadMat(image), cv::gpu::GpuMat(), keypoints, descriptors, true);

        cv::Mat descriptors_gold;
        surf_gold(image, cv::noArray(), keypoints, descriptors_gold, true);

        cv::BFMatcher matcher(cv::NORM_L2);
        std::vector<cv::DMatch> matches;
        matcher.match(descriptors_gold, cv::Mat(descriptors), matches);

        int matchedCount = getMatchedPointsCount(keypoints, keypoints, matches);
        double matchedRatio = static_cast<double>(matchedCount) / keypoints.size();

        EXPECT_GT(matchedRatio, 0.6);
    }
}

INSTANTIATE_TEST_CASE_P(GPU_Features2D, SURF, testing::Combine(
    ALL_DEVICES,
    testing::Values(SURF_HessianThreshold(100.0), SURF_HessianThreshold(500.0), SURF_HessianThreshold(1000.0)),
    testing::Values(SURF_Octaves(3), SURF_Octaves(4)),
    testing::Values(SURF_OctaveLayers(2), SURF_OctaveLayers(3)),
    testing::Values(SURF_Extended(false), SURF_Extended(true)),
    testing::Values(SURF_Upright(false), SURF_Upright(true))));

//////////////////////////////////////////////////////
// VIBE

PARAM_TEST_CASE(VIBE, cv::gpu::DeviceInfo, cv::Size, MatType, UseRoi)
{
};

GPU_TEST_P(VIBE, Accuracy)
{
    const cv::gpu::DeviceInfo devInfo = GET_PARAM(0);
    cv::gpu::setDevice(devInfo.deviceID());
    const cv::Size size = GET_PARAM(1);
    const int type = GET_PARAM(2);
    const bool useRoi = GET_PARAM(3);

    const cv::Mat fullfg(size, CV_8UC1, cv::Scalar::all(255));

    cv::Mat frame = randomMat(size, type, 0.0, 100);
    cv::gpu::GpuMat d_frame = loadMat(frame, useRoi);

    cv::gpu::VIBE_GPU vibe;
    cv::gpu::GpuMat d_fgmask = createMat(size, CV_8UC1, useRoi);
    vibe.initialize(d_frame);

    for (int i = 0; i < 20; ++i)
        vibe(d_frame, d_fgmask);

    frame = randomMat(size, type, 160, 255);
    d_frame = loadMat(frame, useRoi);
    vibe(d_frame, d_fgmask);

    // now fgmask should be entirely foreground
    ASSERT_MAT_NEAR(fullfg, d_fgmask, 0);
}

INSTANTIATE_TEST_CASE_P(GPU_Video, VIBE, testing::Combine(
    ALL_DEVICES,
    DIFFERENT_SIZES,
    testing::Values(MatType(CV_8UC1), MatType(CV_8UC3), MatType(CV_8UC4)),
    WHOLE_SUBMAT));

#endif