fixed build in gpu module (SURF and ORB)

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 opencv_video)
+ocv_add_module(gpu opencv_imgproc opencv_calib3d opencv_objdetect opencv_video opencv_nonfree)
 
 ocv_module_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/src/cuda")
 

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

@@ -1566,13 +1566,12 @@ public:
 
     void releaseMemory();
 
-    // SURF parameters;
-    int    extended;
-    int    upright;
+    // SURF parameters
     double hessianThreshold;
-    
     int nOctaves;
     int nOctaveLayers;
+    bool extended;
+    bool upright;
     
     //! max keypoints = min(keypointsRatio * img.size().area(), 65535)
     float keypointsRatio;
@@ -1662,9 +1661,8 @@ public:
     };
 
     //! Constructor
-    //! n_features - the number of desired features
-    //! detector_params - parameters to use
-    explicit ORB_GPU(size_t n_features = 500, float scaleFactor = 1.2f, int nlevels = 3);
+    explicit ORB_GPU(int nFeatures = 500, float scaleFactor = 1.2f, int nLevels = 3, int edgeThreshold = 31,
+                     int firstLevel = 0, int WTA_K = 2, int scoreType = 0, int patchSize = 31);
 
     //! Compute the ORB features on an image
     //! image - the image to compute the features (supports only CV_8UC1 images)
@@ -1690,7 +1688,6 @@ public:
     //! returns the descriptor size in bytes
     inline int descriptorSize() const { return kBytes; }
 
-    void setParams(size_t n_features, float scaleFactor, int nlevels);
     inline void setFastParams(int threshold, bool nonmaxSupression = true)
     {
         fastDetector_.threshold = threshold;
@@ -1714,7 +1711,14 @@ private:
 
     void mergeKeyPoints(GpuMat& keypoints);
 
-    ORB params_;
+    int nFeatures_;
+    float scaleFactor_;
+    int nLevels_;
+    int edgeThreshold_;
+    int firstLevel_;
+    int WTA_K_;
+    int scoreType_;
+    int patchSize_;
 
     // The number of desired features per scale
     std::vector<size_t> n_features_per_level_;

modules/gpu/src/orb.cpp

@@ -48,14 +48,13 @@ using namespace cv::gpu;
 
 #if !defined (HAVE_CUDA)
 
-cv::gpu::ORB_GPU::ORB_GPU(size_t, float, int) : fastDetector_(0) { throw_nogpu(); }
+cv::gpu::ORB_GPU::ORB_GPU(int, float, int, int, int, int, int, int) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&, GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::operator()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::downloadKeyPoints(GpuMat&, std::vector<KeyPoint>&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::convertKeyPoints(Mat&, std::vector<KeyPoint>&) { throw_nogpu(); }
-void cv::gpu::ORB_GPU::setParams(size_t, float, int) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::release() { throw_nogpu(); }
 void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat&, const GpuMat&) { throw_nogpu(); }
 void cv::gpu::ORB_GPU::computeKeyPointsPyramid() { throw_nogpu(); }
@@ -83,16 +82,6 @@ namespace cv { namespace gpu { namespace device
     }
 }}}
 
-cv::gpu::ORB_GPU::ORB_GPU(size_t n_features, float scaleFactor, int nlevels) :
-    fastDetector_(DEFAULT_FAST_THRESHOLD)
-{
-    setParams(n_features, scaleFactor, nlevels);
-    
-    blurFilter = createGaussianFilter_GPU(CV_8UC1, Size(7, 7), 2, 2, BORDER_REFLECT_101);
-
-    blurForDescriptor = false;
-}
-
 namespace
 {
     const float HARRIS_K = 0.04f;
@@ -407,27 +396,27 @@ namespace
     }
 }
 
-void cv::gpu::ORB_GPU::setParams(size_t n_features, float scaleFactor, int nlevels)
+cv::gpu::ORB_GPU::ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edgeThreshold, int firstLevel, int WTA_K, int scoreType, int patchSize) :
+    nFeatures_(nFeatures), scaleFactor_(scaleFactor), nLevels_(nLevels), edgeThreshold_(edgeThreshold), firstLevel_(firstLevel), WTA_K_(WTA_K),
+    scoreType_(scoreType), patchSize_(patchSize),
+    fastDetector_(DEFAULT_FAST_THRESHOLD)
 {    
-    params_ = ORB((int)n_features, scaleFactor, nlevels);
-    
     // fill the extractors and descriptors for the corresponding scales
-    int n_levels = static_cast<int>(params_.n_levels_);
-    float factor = 1.0f / params_.scale_factor_;
-    float n_desired_features_per_scale = n_features * (1.0f - factor) / (1.0f - std::pow(factor, n_levels));
+    float factor = 1.0f / scaleFactor_;
+    float n_desired_features_per_scale = nFeatures_ * (1.0f - factor) / (1.0f - std::pow(factor, nLevels_));
     
-    n_features_per_level_.resize(n_levels);
+    n_features_per_level_.resize(nLevels_);
     int sum_n_features = 0;
-    for (int level = 0; level < n_levels - 1; ++level)
+    for (int level = 0; level < nLevels_ - 1; ++level)
     {
         n_features_per_level_[level] = cvRound(n_desired_features_per_scale);
         sum_n_features += n_features_per_level_[level];
         n_desired_features_per_scale *= factor;
     }
-    n_features_per_level_[n_levels - 1] = n_features - sum_n_features;
+    n_features_per_level_[nLevels_ - 1] = nFeatures - sum_n_features;
 
     // pre-compute the end of a row in a circular patch
-    int half_patch_size = params_.patch_size_ / 2;
+    int half_patch_size = patchSize_ / 2;
     vector<int> u_max(half_patch_size + 1);
     for (int v = 0; v <= half_patch_size * std::sqrt(2.f) / 2 + 1; ++v)
         u_max[v] = cvRound(std::sqrt(static_cast<float>(half_patch_size * half_patch_size - v * v)));
@@ -447,17 +436,17 @@ void cv::gpu::ORB_GPU::setParams(size_t n_features, float scaleFactor, int nleve
     const int npoints = 512;
     Point pattern_buf[npoints];
     const Point* pattern0 = (const Point*)bit_pattern_31_;
-    if (params_.patch_size_ != 31)
+    if (patchSize_ != 31)
     {
         pattern0 = pattern_buf;
-        makeRandomPattern(params_.patch_size_, pattern_buf, npoints);
+        makeRandomPattern(patchSize_, pattern_buf, npoints);
     }
     
-    CV_Assert(params_.WTA_K_ == 2 || params_.WTA_K_ == 3 || params_.WTA_K_ == 4);    
+    CV_Assert(WTA_K_ == 2 || WTA_K_ == 3 || WTA_K_ == 4);    
 
     Mat h_pattern;
 
-    if (params_.WTA_K_ == 2)
+    if (WTA_K_ == 2)
     {
         h_pattern.create(2, npoints, CV_32SC1);
         
@@ -473,17 +462,21 @@ void cv::gpu::ORB_GPU::setParams(size_t n_features, float scaleFactor, int nleve
     else
     {
         int ntuples = descriptorSize() * 4;
-        initializeOrbPattern(pattern0, h_pattern, ntuples, params_.WTA_K_, npoints);
+        initializeOrbPattern(pattern0, h_pattern, ntuples, WTA_K_, npoints);
     }
 
     pattern_.upload(h_pattern);
+    
+    blurFilter = createGaussianFilter_GPU(CV_8UC1, Size(7, 7), 2, 2, BORDER_REFLECT_101);
+
+    blurForDescriptor = false;
 }
 
 namespace
 {
-    inline float getScale(const ORB::CommonParams& params, int level)
+    inline float getScale(float scaleFactor, int firstLevel, int level)
     {
-        return pow(params.scale_factor_, level - static_cast<int>(params.first_level_));
+        return pow(scaleFactor, level - firstLevel);
     }
 }
 
@@ -492,12 +485,12 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
     CV_Assert(image.type() == CV_8UC1);
     CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()));
 
-    imagePyr_.resize(params_.n_levels_);
-    maskPyr_.resize(params_.n_levels_);
+    imagePyr_.resize(nLevels_);
+    maskPyr_.resize(nLevels_);
 
-    for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level)
+    for (int level = 0; level < nLevels_; ++level)
     {
-        float scale = 1.0f / getScale(params_, level);
+        float scale = 1.0f / getScale(scaleFactor_, firstLevel_, level);
 
         Size sz(cvRound(image.cols * scale), cvRound(image.rows * scale));
 
@@ -506,9 +499,9 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
         maskPyr_[level].setTo(Scalar::all(255));
         
         // Compute the resized image
-        if (level != static_cast<int>(params_.first_level_))
+        if (level != firstLevel_)
         {
-            if (level < static_cast<int>(params_.first_level_))
+            if (level < firstLevel_)
             {
                 resize(image, imagePyr_[level], sz, 0, 0, INTER_LINEAR);
 
@@ -534,7 +527,7 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
         // Filter keypoints by image border
         ensureSizeIsEnough(sz, CV_8UC1, buf_);
         buf_.setTo(Scalar::all(0));
-        Rect inner(params_.edge_threshold_, params_.edge_threshold_, sz.width - 2 * params_.edge_threshold_, sz.height - 2 * params_.edge_threshold_);
+        Rect inner(edgeThreshold_, edgeThreshold_, sz.width - 2 * edgeThreshold_, sz.height - 2 * edgeThreshold_);
         buf_(inner).setTo(Scalar::all(255));
 
         bitwise_and(maskPyr_[level], buf_, maskPyr_[level]);
@@ -566,12 +559,12 @@ void cv::gpu::ORB_GPU::computeKeyPointsPyramid()
 {
     using namespace cv::gpu::device::orb;
 
-    int half_patch_size = params_.patch_size_ / 2;
+    int half_patch_size = patchSize_ / 2;
 
-    keyPointsPyr_.resize(params_.n_levels_);
-    keyPointsCount_.resize(params_.n_levels_);
+    keyPointsPyr_.resize(nLevels_);
+    keyPointsCount_.resize(nLevels_);
     
-    for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level)
+    for (int level = 0; level < nLevels_; ++level)
     {
         keyPointsCount_[level] = fastDetector_.calcKeyPointsLocation(imagePyr_[level], maskPyr_[level]);
 
@@ -582,7 +575,7 @@ void cv::gpu::ORB_GPU::computeKeyPointsPyramid()
 
         int n_features = n_features_per_level_[level];
         
-        if (params_.score_type_ == ORB::CommonParams::HARRIS_SCORE)
+        if (scoreType_ == ORB::HARRIS_SCORE)
         {
             // Keep more points than necessary as FAST does not give amazing corners
             cull(keyPointsPyr_[level], keyPointsCount_[level], 2 * n_features);
@@ -605,7 +598,7 @@ void cv::gpu::ORB_GPU::computeDescriptors(GpuMat& descriptors)
 
     int nAllkeypoints = 0;
 
-    for (size_t level = 0; level < params_.n_levels_; ++level)
+    for (int level = 0; level < nLevels_; ++level)
         nAllkeypoints += keyPointsCount_[level];
 
     if (nAllkeypoints == 0)
@@ -618,7 +611,7 @@ void cv::gpu::ORB_GPU::computeDescriptors(GpuMat& descriptors)
 
     int offset = 0;
 
-    for (size_t level = 0; level < params_.n_levels_; ++level)
+    for (int level = 0; level < nLevels_; ++level)
     {       
         GpuMat descRange = descriptors.rowRange(offset, offset + keyPointsCount_[level]);
 
@@ -630,7 +623,7 @@ void cv::gpu::ORB_GPU::computeDescriptors(GpuMat& descriptors)
         }
 
         computeOrbDescriptor_gpu(blurForDescriptor ? buf_ : imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(2), 
-            keyPointsCount_[level], pattern_.ptr<int>(0), pattern_.ptr<int>(1), descRange, descriptorSize(), params_.WTA_K_, 0);
+            keyPointsCount_[level], pattern_.ptr<int>(0), pattern_.ptr<int>(1), descRange, descriptorSize(), WTA_K_, 0);
 
         offset += keyPointsCount_[level];
     }
@@ -642,7 +635,7 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
 
     int nAllkeypoints = 0;
 
-    for (size_t level = 0; level < params_.n_levels_; ++level)
+    for (int level = 0; level < nLevels_; ++level)
         nAllkeypoints += keyPointsCount_[level];
 
     if (nAllkeypoints == 0)
@@ -655,13 +648,13 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
 
     int offset = 0;
     
-    for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level)
+    for (int level = 0; level < nLevels_; ++level)
     {
-        float sf = getScale(params_, level);
+        float sf = getScale(scaleFactor_, firstLevel_, level);
 
         GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]);        
         
-        float locScale = level != static_cast<int>(params_.first_level_) ? sf : 1.0f;
+        float locScale = level != firstLevel_ ? sf : 1.0f;
 
         mergeLocation_gpu(keyPointsPyr_[level].ptr<short2>(0), keyPointsRange.ptr<float>(0), keyPointsRange.ptr<float>(1), keyPointsCount_[level], locScale, 0);
 
@@ -669,7 +662,7 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
         keyPointsPyr_[level](Range(1, 3), Range(0, keyPointsCount_[level])).copyTo(range);
         
         keyPointsRange.row(4).setTo(Scalar::all(level));
-        keyPointsRange.row(5).setTo(Scalar::all(params_.patch_size_ * sf));
+        keyPointsRange.row(5).setTo(Scalar::all(patchSize_ * sf));
 
         offset += keyPointsCount_[level];
     }

modules/gpu/src/surf.cpp

@@ -109,32 +109,26 @@ namespace
         return (HAAR_SIZE0 + HAAR_SIZE_INC * layer) << octave;
     }
     
-    class SURF_GPU_Invoker : private CvSURFParams
+    class SURF_GPU_Invoker
     {
     public:
         SURF_GPU_Invoker(SURF_GPU& surf, const GpuMat& img, const GpuMat& mask) :
-            CvSURFParams(surf),
-
-            sum(surf.sum), mask1(surf.mask1), maskSum(surf.maskSum), intBuffer(surf.intBuffer), det(surf.det), trace(surf.trace),
-
-            maxPosBuffer(surf.maxPosBuffer), 
-
+            surf_(surf),
             img_cols(img.cols), img_rows(img.rows),
-
             use_mask(!mask.empty())
         {
             CV_Assert(!img.empty() && img.type() == CV_8UC1);
             CV_Assert(mask.empty() || (mask.size() == img.size() && mask.type() == CV_8UC1));
-            CV_Assert(nOctaves > 0 && nOctaveLayers > 0);
+            CV_Assert(surf_.nOctaves > 0 && surf_.nOctaveLayers > 0);
             CV_Assert(TargetArchs::builtWith(GLOBAL_ATOMICS) && DeviceInfo().supports(GLOBAL_ATOMICS));
                 
-            const int min_size = calcSize(nOctaves - 1, 0);
+            const int min_size = calcSize(surf_.nOctaves - 1, 0);
             CV_Assert(img_rows - min_size >= 0);
             CV_Assert(img_cols - min_size >= 0);
             
-            const int layer_rows = img_rows >> (nOctaves - 1);
-            const int layer_cols = img_cols >> (nOctaves - 1);
-            const int min_margin = ((calcSize((nOctaves - 1), 2) >> 1) >> (nOctaves - 1)) + 1;
+            const int layer_rows = img_rows >> (surf_.nOctaves - 1);
+            const int layer_cols = img_cols >> (surf_.nOctaves - 1);
+            const int min_margin = ((calcSize((surf_.nOctaves - 1), 2) >> 1) >> (surf_.nOctaves - 1)) + 1;
             CV_Assert(layer_rows - 2 * min_margin > 0);
             CV_Assert(layer_cols - 2 * min_margin > 0);
 
@@ -143,44 +137,44 @@ namespace
 
             CV_Assert(maxFeatures > 0);
 
-            counters.create(1, nOctaves + 1, CV_32SC1);
+            counters.create(1, surf_.nOctaves + 1, CV_32SC1);
             counters.setTo(Scalar::all(0));
 
-            loadGlobalConstants(maxCandidates, maxFeatures, img_rows, img_cols, nOctaveLayers, static_cast<float>(hessianThreshold));
+            loadGlobalConstants(maxCandidates, maxFeatures, img_rows, img_cols, surf_.nOctaveLayers, static_cast<float>(surf_.hessianThreshold));
 
             bindImgTex(img);
 
-            integralBuffered(img, sum, intBuffer);
-            bindSumTex(sum);
+            integralBuffered(img, surf_.sum, surf_.intBuffer);
+            bindSumTex(surf_.sum);
 
             if (use_mask)
             {
-                min(mask, 1.0, mask1);
-                integralBuffered(mask1, maskSum, intBuffer);
-                bindMaskSumTex(maskSum);
+                min(mask, 1.0, surf_.mask1);
+                integralBuffered(surf_.mask1, surf_.maskSum, surf_.intBuffer);
+                bindMaskSumTex(surf_.maskSum);
             }
         }
 
         void detectKeypoints(GpuMat& keypoints)
         {
-            ensureSizeIsEnough(img_rows * (nOctaveLayers + 2), img_cols, CV_32FC1, det);
-            ensureSizeIsEnough(img_rows * (nOctaveLayers + 2), img_cols, CV_32FC1, trace);
+            ensureSizeIsEnough(img_rows * (surf_.nOctaveLayers + 2), img_cols, CV_32FC1, surf_.det);
+            ensureSizeIsEnough(img_rows * (surf_.nOctaveLayers + 2), img_cols, CV_32FC1, surf_.trace);
             
-            ensureSizeIsEnough(1, maxCandidates, CV_32SC4, maxPosBuffer);
+            ensureSizeIsEnough(1, maxCandidates, CV_32SC4, surf_.maxPosBuffer);
             ensureSizeIsEnough(SURF_GPU::SF_FEATURE_STRIDE, maxFeatures, CV_32FC1, keypoints);
             keypoints.setTo(Scalar::all(0));
 
-            for (int octave = 0; octave < nOctaves; ++octave)
+            for (int octave = 0; octave < surf_.nOctaves; ++octave)
             {
                 const int layer_rows = img_rows >> octave;
                 const int layer_cols = img_cols >> octave;
 
                 loadOctaveConstants(octave, layer_rows, layer_cols);
 
-                icvCalcLayerDetAndTrace_gpu(det, trace, img_rows, img_cols, octave, nOctaveLayers);
+                icvCalcLayerDetAndTrace_gpu(surf_.det, surf_.trace, img_rows, img_cols, octave, surf_.nOctaveLayers);
 
-                icvFindMaximaInLayer_gpu(det, trace, maxPosBuffer.ptr<int4>(), counters.ptr<unsigned int>() + 1 + octave,
-                    img_rows, img_cols, octave, use_mask, nOctaveLayers);
+                icvFindMaximaInLayer_gpu(surf_.det, surf_.trace, surf_.maxPosBuffer.ptr<int4>(), counters.ptr<unsigned int>() + 1 + octave,
+                    img_rows, img_cols, octave, use_mask, surf_.nOctaveLayers);
 
                 unsigned int maxCounter;
                 cudaSafeCall( cudaMemcpy(&maxCounter, counters.ptr<unsigned int>() + 1 + octave, sizeof(unsigned int), cudaMemcpyDeviceToHost) );
@@ -188,7 +182,7 @@ namespace
 
                 if (maxCounter > 0)
                 {
-                    icvInterpolateKeypoint_gpu(det, maxPosBuffer.ptr<int4>(), maxCounter, 
+                    icvInterpolateKeypoint_gpu(surf_.det, surf_.maxPosBuffer.ptr<int4>(), maxCounter, 
                         keypoints.ptr<float>(SURF_GPU::SF_X), keypoints.ptr<float>(SURF_GPU::SF_Y),
                         keypoints.ptr<int>(SURF_GPU::SF_LAPLACIAN), keypoints.ptr<float>(SURF_GPU::SF_SIZE),
                         keypoints.ptr<float>(SURF_GPU::SF_HESSIAN), counters.ptr<unsigned int>());
@@ -200,7 +194,7 @@ namespace
 
             keypoints.cols = featureCounter;
 
-            if (upright)
+            if (surf_.upright)
                 keypoints.row(SURF_GPU::SF_DIR).setTo(Scalar::all(90.0));
             else
                 findOrientation(keypoints);
@@ -228,15 +222,7 @@ namespace
         }
 
     private:
-        GpuMat& sum;
-        GpuMat& mask1;
-        GpuMat& maskSum;
-        GpuMat& intBuffer;
-
-        GpuMat& det;
-        GpuMat& trace;
-
-        GpuMat& maxPosBuffer;
+        SURF_GPU& surf_;
 
         int img_cols, img_rows;
 
@@ -306,7 +292,7 @@ void cv::gpu::SURF_GPU::uploadKeypoints(const vector<KeyPoint>& keypoints, GpuMa
 
 namespace
 {
-    int getPointOctave(float size, const CvSURFParams& params)
+    int getPointOctave(float size, const SURF_GPU& params)
     {
         int best_octave = 0;
         float min_diff = numeric_limits<float>::max();

modules/gpu/test/precomp.hpp

@@ -61,6 +61,7 @@
 #include "opencv2/ts/ts.hpp"
 #include "opencv2/ts/ts_perf.hpp"
 #include "opencv2/gpu/gpu.hpp"
+#include "opencv2/nonfree/nonfree.hpp"
 
 #include "utility.hpp"
 #include "interpolation.hpp"

modules/gpu/test/test_arithm.cpp

@@ -385,7 +385,7 @@ TEST_P(Sqrt, Array)
 
     gpuRes.download(dst);
 
-    EXPECT_MAT_NEAR(dst_gold, dst, 0.0);
+    EXPECT_MAT_NEAR(dst_gold, dst, 1e-6);
 }
 
 INSTANTIATE_TEST_CASE_P(Arithm, Sqrt, Combine(

modules/gpu/test/test_features2d.cpp

@@ -135,7 +135,7 @@ TEST_P(SURF, Accuracy)
 
     dev_descriptors.download(descriptors);
 
-    cv::BruteForceMatcher< cv::L2<float> > matcher;
+    cv::BFMatcher matcher(cv::NORM_L2);
     std::vector<cv::DMatch> matches;
 
     matcher.match(cv::Mat(static_cast<int>(keypoints_gold.size()), 64, CV_32FC1, &descriptors_gold[0]), descriptors, matches);
@@ -696,7 +696,7 @@ TEST_P(ORB, Accuracy)
 
     d_descriptors.download(descriptors);
 
-    cv::BruteForceMatcher<cv::Hamming> matcher;
+    cv::BFMatcher matcher(cv::NORM_HAMMING);
     std::vector<cv::DMatch> matches;
 
     matcher.match(descriptors_gold, descriptors, matches);

modules/gpu/test/test_filters.cpp

@@ -334,6 +334,9 @@ PARAM_TEST_CASE(GaussianBlur, cv::gpu::DeviceInfo, cv::Size, UseRoi)
 
 TEST_P(GaussianBlur, Rgba)
 {
+    if (!devInfo.supports(cv::gpu::FEATURE_SET_COMPUTE_20) && ksize.height > 16)
+        return;
+
     cv::Mat dst_rgba;
 
     cv::gpu::GpuMat dev_dst_rgba;
@@ -347,6 +350,9 @@ TEST_P(GaussianBlur, Rgba)
 
 TEST_P(GaussianBlur, Gray)
 {
+    if (!devInfo.supports(cv::gpu::FEATURE_SET_COMPUTE_20) && ksize.height > 16)
+        return;
+
     cv::Mat dst_gray;
 
     cv::gpu::GpuMat dev_dst_gray;