fixed cuda capable checks

corelib/src/Features2d.cpp

@@ -1211,13 +1211,13 @@ void SURF::parseParameters(const ParametersMap & parameters)
 
 #ifdef RTABMAP_NONFREE
 #if CV_MAJOR_VERSION < 3
-	if(gpuVersion_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
+	if(gpuVersion_ && cv::gpu::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of SURF not available! Using CPU version instead...");
 		gpuVersion_ = false;
 	}
 #else
-	if(gpuVersion_ && cv::cuda::getCudaEnabledDeviceCount() == 0)
+	if(gpuVersion_ && cv::cuda::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of SURF not available! Using CPU version instead...");
 		gpuVersion_ = false;
@@ -1650,7 +1650,7 @@ void ORB::parseParameters(const ParametersMap & parameters)
 
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
-	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
+	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of ORB not available! Using CPU version instead...");
 		gpu_ = false;
@@ -1670,7 +1670,7 @@ void ORB::parseParameters(const ParametersMap & parameters)
 		gpu_ = false;
 	}
 #endif
-	if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() == 0)
+	if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of ORB not available (no GPU found)! Using CPU version instead...");
 		gpu_ = false;
@@ -1906,7 +1906,7 @@ void FAST::parseParameters(const ParametersMap & parameters)
 
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
-	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() == 0)
+	if(gpu_ && cv::gpu::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of FAST not available! Using CPU version instead...");
 		gpu_ = false;
@@ -1920,7 +1920,7 @@ void FAST::parseParameters(const ParametersMap & parameters)
 #endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
-	if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() == 0)
+	if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of FAST not available! Using CPU version instead...");
 		gpu_ = false;
@@ -2215,7 +2215,7 @@ void GFTT::parseParameters(const ParametersMap & parameters)
 #endif
 
 #ifdef HAVE_OPENCV_CUDAIMGPROC
-	if(_gpu && cv::cuda::getCudaEnabledDeviceCount() == 0)
+	if(_gpu && cv::cuda::getCudaEnabledDeviceCount() <= 0)
 	{
 		UWARN("GPU version of GFTT not available! Using CPU version instead...");
 		_gpu = false;

corelib/src/VWDictionary.cpp

@@ -300,7 +300,7 @@ bool VWDictionary::setNNStrategy(NNStrategy strategy)
 {
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
-	if(strategy == kNNBruteForceGPU && !cv::gpu::getCudaEnabledDeviceCount())
+	if(strategy == kNNBruteForceGPU && cv::gpu::getCudaEnabledDeviceCount() <= 0)
 	{
 		UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
 		strategy = kNNBruteForce;
@@ -314,7 +314,7 @@ bool VWDictionary::setNNStrategy(NNStrategy strategy)
 #endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
-	if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
+	if(strategy == kNNBruteForceGPU && cv::cuda::getCudaEnabledDeviceCount() <= 0)
 	{
 		UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
 		strategy = kNNBruteForce;

corelib/test/CMakeLists.txt

@@ -30,7 +30,6 @@ add_test(NAME test_util3d_registration COMMAND test_util3d_registration)
 add_executable(test_util3d_features test_util3d_features.cpp)
 target_link_libraries(test_util3d_features gtest_main rtabmap_core)
 add_test(NAME test_util3d_features COMMAND test_util3d_features)
-set_tests_properties(test_util3d_features PROPERTIES TIMEOUT 600)
 
 #util3d_correspondences.h
 add_executable(test_util3d_correspondences test_util3d_correspondences.cpp)
@@ -71,7 +70,6 @@ add_test(NAME test_transform COMMAND test_transform)
 add_executable(test_stereo_dense test_stereo_dense.cpp)
 target_link_libraries(test_stereo_dense gtest_main rtabmap_core)
 add_test(NAME test_stereo_dense COMMAND test_stereo_dense)
-set_tests_properties(test_stereo_dense PROPERTIES TIMEOUT 600)
 
 #Stereo.h (tests both BlockMatching and OpticalFlow strategies)
 add_executable(test_stereo test_stereo.cpp)
@@ -162,7 +160,6 @@ add_test(NAME test_landmark COMMAND test_landmark)
 add_executable(test_localgrid test_localgrid.cpp)
 target_link_libraries(test_localgrid gtest_main rtabmap_core)
 add_test(NAME test_localgrid COMMAND test_localgrid)
-set_tests_properties(test_localgrid PROPERTIES TIMEOUT 600)
 
 #Features2d.h
 add_executable(test_features2d test_features2d.cpp)

corelib/test/test_rtabmap_integration.cpp

@@ -2029,7 +2029,7 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
 		// Probe GPU availability once per detector. Build the temp instance
 		// with the same asset paths the actual run uses; otherwise SuperPoint
 		// variants log a (harmless) load failure.
-		bool useGpu = false;
+		bool gpuAvailable = false;
 		{
 			ParametersMap probeParams;
 			if(detectorType == Feature2D::kFeatureSuperPointTorch)
@@ -2042,9 +2042,15 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
 				probeParams[Parameters::kSuperPointRpautratModelPath()]   = superpointRpautratModel;
 			}
 			std::unique_ptr<Feature2D> probe(Feature2D::create(detectorType, probeParams));
-			if(probe) useGpu = probe->isGpuAvailable();
+			if(probe) gpuAvailable = probe->isGpuAvailable();
 		}
 
+		// GPU-capable detectors are exercised twice (CPU + GPU) so both code
+		// paths stay covered. Detectors that don't report a GPU path run only
+		// once.
+		std::vector<bool> gpuVariants = {false};
+		if(gpuAvailable) gpuVariants.push_back(true);
+
 		// Run only the default likelihood variant for every detector;
 		// the TF-IDF variant adds a second run on the default detector
 		// (kFeatureGfttOrb) so the alternative likelihood path stays
@@ -2052,6 +2058,7 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
 		std::vector<bool> tfIdfVariants = {false};
 		if(detectorType == defaultDetector) tfIdfVariants.push_back(true);
 
+		for(bool useGpu : gpuVariants)
 		for(bool tfIdfUsed : tfIdfVariants)
 		{
 			const std::string detectorLabel = typeName
@@ -2079,9 +2086,10 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
 		params[Parameters::kKAZEThreshold()]              = "0.0001";
 		// GFTT-specific: tighten the minimum keypoint separation (default
 		// 7 px) so more candidates fit per frame.
-		params[Parameters::kGFTTMinDistance()]            = "5";
+		params[Parameters::kGFTTMinDistance()]            = "3";
 		params[Parameters::kMemBadSignaturesIgnored()]    = "false";
 		params[Parameters::kMemRehearsalSimilarity()]     = "0.20";
+		params[Parameters::kBRIEFBytes()]                 = "64";
 
 		// Backend-specific asset paths + GPU/CUDA toggle. `useGpu` only
 		// reaches here when this detector reports a usable GPU path; we

corelib/test/test_vwdictionary.cpp

@@ -62,17 +62,11 @@ TEST_F(VWDictionaryTest, AddNewWordsIncremental)
 
     for(VWDictionary::NNStrategy strategy : strategies)
     {
-        // Reset dictionary for each strategy
-        dict->clear();
-        dict->setNNStrategy(strategy);
-        
-        EXPECT_TRUE(dict->isIncremental());
-
         if(strategy == VWDictionary::kNNBruteForceGPU)
         {
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
-            if(!cv::gpu::getCudaEnabledDeviceCount())
+            if(cv::gpu::getCudaEnabledDeviceCount() <= 0)
             {
                 strategy = VWDictionary::kNNBruteForce;
             }
@@ -81,7 +75,7 @@ TEST_F(VWDictionaryTest, AddNewWordsIncremental)
 #endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
-            if(!cv::cuda::getCudaEnabledDeviceCount())
+            if(cv::cuda::getCudaEnabledDeviceCount() <= 0)
             {
                 strategy = VWDictionary::kNNBruteForce;
             }
@@ -90,6 +84,12 @@ TEST_F(VWDictionaryTest, AddNewWordsIncremental)
 #endif
 #endif
         }
+
+        // Reset dictionary for each strategy
+        dict->clear();
+        dict->setNNStrategy(strategy);
+
+        EXPECT_TRUE(dict->isIncremental());
         EXPECT_EQ(dict->getNNStrategy(), strategy);
         
         // Add initial words to dictionary (2D descriptors)
@@ -636,15 +636,11 @@ TEST_F(VWDictionaryTest, SerializeDeserializeIndex)
 
     for(VWDictionary::NNStrategy strategy : strategies)
     {
-        // Reset dictionary for each strategy
-        dict->clear();
-        dict->setNNStrategy(strategy);
-
         if(strategy == VWDictionary::kNNBruteForceGPU)
         {
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
-            if(!cv::gpu::getCudaEnabledDeviceCount())
+            if(cv::gpu::getCudaEnabledDeviceCount() <= 0)
             {
                 continue; // Skip if no GPU available
             }
@@ -653,7 +649,7 @@ TEST_F(VWDictionaryTest, SerializeDeserializeIndex)
 #endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
-            if(!cv::cuda::getCudaEnabledDeviceCount())
+            if(cv::cuda::getCudaEnabledDeviceCount() <= 0)
             {
                 continue; // Skip if no GPU available
             }
@@ -663,6 +659,10 @@ TEST_F(VWDictionaryTest, SerializeDeserializeIndex)
 #endif
         }
 
+        // Reset dictionary for each strategy
+        dict->clear();
+        dict->setNNStrategy(strategy);
+
         // Add words and build index
         cv::Mat descriptors(5, 32, CV_32F);
         cv::randu(descriptors, cv::Scalar(0), cv::Scalar(1));

guilib/src/PreferencesDialog.cpp

@@ -134,11 +134,11 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	bool haveCuda = false;
 #if CV_MAJOR_VERSION < 3
 #ifdef HAVE_OPENCV_GPU
-	haveCuda = cv::gpu::getCudaEnabledDeviceCount() != 0;
+	haveCuda = cv::gpu::getCudaEnabledDeviceCount() > 0;
 #endif
 #else
 #ifdef HAVE_OPENCV_CUDAFEATURES2D
-	haveCuda = cv::cuda::getCudaEnabledDeviceCount() != 0;
+	haveCuda = cv::cuda::getCudaEnabledDeviceCount() > 0;
 #endif
 #endif
 	if(!haveCuda)