Merge branch 'sjbeskur-unit/feature2d-bfmatcher'

* sjbeskur-unit/feature2d-bfmatcher:
  Switch back to jobserver to drop the transitive syn dependency
  updated unit test/example
  unit: a failing unit test to feature2d::BFMatcher

tests/features2d.rs

@@ -1,6 +1,6 @@
 #![cfg(ocvrs_has_module_features2d)]
 
-use opencv::core::{Size, Vector};
+use opencv::core::{no_array, Size, Vector, NORM_HAMMING};
 use opencv::prelude::*;
 use opencv::{features2d, imgcodecs, Result};
 
@@ -18,3 +18,32 @@ fn orb() -> Result<()> {
 	assert_eq!(Size::new(32, i32::try_from(size)?), des.size()?);
 	Ok(())
 }
+
+#[test]
+fn orb_bruteforce_match() -> Result<()> {
+	let img_a = imgcodecs::imdecode(&BLOX, imgcodecs::IMREAD_GRAYSCALE)?;
+	let img_b = img_a.clone(); // yep this is the same
+
+	let mut orb = features2d::ORB::create_def()?;
+	let mut kp_a = Vector::new();
+	let mut des_a = Mat::default();
+	orb.detect_and_compute(&img_a, &Mat::default(), &mut kp_a, &mut des_a, false)?;
+
+	let mut kp_b = Vector::new();
+	let mut des_b = Mat::default();
+	orb.detect_and_compute(&img_b, &Mat::default(), &mut kp_b, &mut des_b, false)?;
+
+	let size = 290;
+	assert_eq!(size, kp_a.len());
+	assert_eq!(Size::new(32, size as i32), des_a.size()?);
+	assert_eq!(size, kp_b.len());
+	assert_eq!(Size::new(32, size as i32), des_b.size()?);
+
+	let bf_matcher = features2d::BFMatcher::create(NORM_HAMMING, true).unwrap();
+
+	let mut matches = opencv::types::VectorOfDMatch::new();
+	bf_matcher.train_match(&des_a, &des_b, &mut matches, &no_array()).unwrap();
+
+	assert_ne!(matches.len(), 0); // expected many matches since images are equal
+	Ok(())
+}