fixed build under linux

added PyrLKOpticalFlowDense performance test

modules/gpu/CMakeLists.txt

@@ -3,7 +3,7 @@ if(ANDROID OR IOS)
 endif()
 
 set(the_description "GPU-accelerated Computer Vision")
-ocv_add_module(gpu opencv_imgproc opencv_calib3d opencv_objdetect)
+ocv_add_module(gpu opencv_imgproc opencv_calib3d opencv_objdetect opencv_video)
 
 ocv_module_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/src/cuda")
 

modules/gpu/perf/perf_video.cpp

@@ -193,4 +193,36 @@ INSTANTIATE_TEST_CASE_P(Video, PyrLKOpticalFlowSparse, testing::Combine
                             testing::Values(17, 21)
                         ));
 
+//////////////////////////////////////////////////////
+// PyrLKOpticalFlowDense
+
+GPU_PERF_TEST_1(PyrLKOpticalFlowDense, cv::gpu::DeviceInfo)
+{
+    cv::gpu::DeviceInfo devInfo = GetParam();
+
+    cv::gpu::setDevice(devInfo.deviceID());
+
+    cv::Mat frame0_host = readImage("gpu/perf/aloe.jpg", cv::IMREAD_GRAYSCALE);
+    cv::Mat frame1_host = readImage("gpu/perf/aloeR.jpg", cv::IMREAD_GRAYSCALE);
+
+    ASSERT_FALSE(frame0_host.empty());
+    ASSERT_FALSE(frame1_host.empty());
+
+    cv::gpu::GpuMat frame0(frame0_host);
+    cv::gpu::GpuMat frame1(frame1_host);
+    cv::gpu::GpuMat u; 
+    cv::gpu::GpuMat v;
+
+    cv::gpu::PyrLKOpticalFlow pyrLK;
+
+    declare.time(10);
+
+    TEST_CYCLE()
+    {
+        pyrLK.dense(frame0, frame1, u, v);
+    }
+}
+
+INSTANTIATE_TEST_CASE_P(Video, PyrLKOpticalFlowDense, ALL_DEVICES);
+
 #endif

modules/gpu/src/cuda/surf.cu

@@ -541,8 +541,8 @@ namespace cv { namespace gpu { namespace device
                     
                         angle = atan2f(Y, X);
                         if (angle < 0)
-                            angle += 2.0f * CV_PI;
-                        angle *= 180.0f / CV_PI;
+                            angle += 2.0f * CV_PI_F;
+                        angle *= 180.0f / CV_PI_F;
                     }
                 }
                 s_X[tid] = X;
@@ -636,8 +636,8 @@ namespace cv { namespace gpu { namespace device
                 {
                     float kp_dir = atan2f(besty, bestx);
                     if (kp_dir < 0)
-                        kp_dir += 2.0f * CV_PI;
-                    kp_dir *= 180.0f / CV_PI;
+                        kp_dir += 2.0f * CV_PI_F;
+                    kp_dir *= 180.0f / CV_PI_F;
 
                     featureDir[blockIdx.x] = kp_dir;
                 }
@@ -724,7 +724,7 @@ namespace cv { namespace gpu { namespace device
             const float centerX = featureX[blockIdx.x];
             const float centerY = featureY[blockIdx.x];
             const float size = featureSize[blockIdx.x];
-            const float descriptor_dir = featureDir[blockIdx.x] * (float)(CV_PI / 180);
+            const float descriptor_dir = featureDir[blockIdx.x] * (float)(CV_PI_F / 180.0f);
 
             /* The sampling intervals and wavelet sized for selecting an orientation
              and building the keypoint descriptor are defined relative to 's' */
@@ -817,6 +817,7 @@ namespace cv { namespace gpu { namespace device
             calc_dx_dy(sdx, sdy, featureX, featureY, featureSize, featureDir);
             __syncthreads();
 
+
             const int tid = threadIdx.y * blockDim.x + threadIdx.x;
 
             if (tid < 25)