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  #include "test_precomp.hpp"
  
  #if defined(HAVE_CUDA) && defined(OPENCV_ENABLE_NONFREE)
  
  namespace opencv_test { namespace {
  
  /////////////////////////////////////////////////////////////////////////////////////////////////
  // SURF
  
  #ifdef HAVE_OPENCV_CUDAARITHM
  
  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, SURF_HessianThreshold, SURF_Octaves, SURF_OctaveLayers, SURF_Extended, SURF_Upright)
  {
      double hessianThreshold;
      int nOctaves;
      int nOctaveLayers;
      bool extended;
      bool upright;
  
      virtual void SetUp()
      {
          hessianThreshold = GET_PARAM(0);
          nOctaves = GET_PARAM(1);
          nOctaveLayers = GET_PARAM(2);
          extended = GET_PARAM(3);
          upright = GET_PARAM(4);
      }
  };
  
  CUDA_TEST_P(SURF, Detector)
  {
      cv::Mat image = readImage("../gpu/features2d/aloe.png", cv::IMREAD_GRAYSCALE);
      ASSERT_FALSE(image.empty());
  
      cv::cuda::SURF_CUDA surf;
      surf.hessianThreshold = hessianThreshold;
      surf.nOctaves = nOctaves;
      surf.nOctaveLayers = nOctaveLayers;
      surf.extended = extended;
      surf.upright = upright;
      surf.keypointsRatio = 0.05f;
  
      std::vector<cv::KeyPoint> keypoints;
      surf(loadMat(image), cv::cuda::GpuMat(), keypoints);
  
      cv::Ptr<cv::Feature2D> surf_gold = cv::xfeatures2d::SURF::create(hessianThreshold, nOctaves, nOctaveLayers, extended, upright);
  
      std::vector<cv::KeyPoint> keypoints_gold;
      surf_gold->detect(image, 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);
  }
  
  CUDA_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::cuda::SURF_CUDA surf;
      surf.hessianThreshold = hessianThreshold;
      surf.nOctaves = nOctaves;
      surf.nOctaveLayers = nOctaveLayers;
      surf.extended = extended;
      surf.upright = upright;
      surf.keypointsRatio = 0.05f;
  
      std::vector<cv::KeyPoint> keypoints;
      surf(loadMat(image), loadMat(mask), keypoints);
  
      cv::Ptr<cv::Feature2D> surf_gold = cv::xfeatures2d::SURF::create(hessianThreshold, nOctaves, nOctaveLayers, extended, upright);
  
      std::vector<cv::KeyPoint> keypoints_gold;
      surf_gold->detect(image, keypoints_gold, mask);
  
      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);
  }
  
  CUDA_TEST_P(SURF, Descriptor)
  {
      cv::Mat image = readImage("../gpu/features2d/aloe.png", cv::IMREAD_GRAYSCALE);
      ASSERT_FALSE(image.empty());
  
      cv::cuda::SURF_CUDA surf;
      surf.hessianThreshold = hessianThreshold;
      surf.nOctaves = nOctaves;
      surf.nOctaveLayers = nOctaveLayers;
      surf.extended = extended;
      surf.upright = upright;
      surf.keypointsRatio = 0.05f;
  
      cv::Ptr<cv::Feature2D> surf_gold = cv::xfeatures2d::SURF::create(hessianThreshold, nOctaves, nOctaveLayers, extended, upright);
  
      std::vector<cv::KeyPoint> keypoints;
      surf_gold->detect(image, keypoints);
  
      cv::cuda::GpuMat descriptors;
      surf(loadMat(image), cv::cuda::GpuMat(), keypoints, descriptors, true);
  
      cv::Mat descriptors_gold;
      surf_gold->compute(image, keypoints, descriptors_gold);
  
      cv::BFMatcher matcher(surf.defaultNorm());
      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(CUDA_Features2D, SURF, testing::Combine(
      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))));
  
  #endif // HAVE_OPENCV_CUDAARITHM
  
  }} // namespace
  #endif // HAVE_CUDA && OPENCV_ENABLE_NONFREE
  