unit: a failing unit test to feature2d::BFMatcher

Author: sjbeskur

tests/features2d.rs

@@ -20,3 +20,42 @@ fn orb() -> Result<()> {
 	assert_eq!(Size::new(32, size as i32), des.size()?);
 	Ok(())
 }
+
+
+/// cargo test --package opencv --test features2d -- orb_bruteforce_match --exact --nocapture 
+#[test]
+fn orb_bruteforce_match() -> Result<()> {
+	let blox_path = PathBuf::from(env!("CARGO_MANIFEST_DIR")).join("tests/blox.jpg");
+	let img_a = imgcodecs::imread(blox_path.to_str().unwrap(), imgcodecs::IMREAD_GRAYSCALE)?;
+	let img_b = img_a.clone();  // yep this is the same 
+
+	let mut orb = features2d::ORB::default()?;
+	let mut kp_a = VectorOfKeyPoint::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 = VectorOfKeyPoint::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 mut bf_matcher = features2d::BFMatcher::create(NORM_HAMMING, true).unwrap();
+
+    // Match descriptors
+    let mut query_descriptors: Vector<Mat> = Vector::new();
+	query_descriptors.push(des_a);
+	query_descriptors.push(des_b);
+
+    let mut matches = opencv::types::VectorOfDMatch::new();
+    bf_matcher.match_(&query_descriptors, &mut matches, &no_array()).unwrap();
+
+	assert_ne!(matches.len(), 0);  // expected many matches since images are equal
+	println!("Match  {:?}", matches);
+	Ok(())
+}