Merge pull request #196 from jet47/gpu-bug-2581

fixed Bug #2581

modules/gpu/src/gftt.cpp

@@ -85,6 +85,12 @@ void cv::gpu::GoodFeaturesToTrackDetector_GPU::operator ()(const GpuMat& image,
 
     int total = findCorners_gpu(eig_, static_cast<float>(maxVal * qualityLevel), mask, tmpCorners_.ptr<float2>(), tmpCorners_.cols);
 
+    if (total == 0)
+    {
+        corners.release();
+        return;
+    }
+
     sortCorners_gpu(eig_, tmpCorners_.ptr<float2>(), total);
 
     if (minDistance < 1)

modules/gpu/test/test_video.cpp

@@ -203,6 +203,21 @@ TEST_P(GoodFeaturesToTrack, Accuracy)
     }
 }
 
+TEST_P(GoodFeaturesToTrack, EmptyCorners)
+{
+    int maxCorners = 1000;
+    double qualityLevel = 0.01;
+
+    cv::gpu::GoodFeaturesToTrackDetector_GPU detector(maxCorners, qualityLevel, minDistance);
+
+    cv::gpu::GpuMat src(100, 100, CV_8UC1, cv::Scalar::all(0));
+    cv::gpu::GpuMat corners(1, maxCorners, CV_32FC2);
+
+    detector(src, corners);
+
+    ASSERT_TRUE( corners.empty() );
+}
+
 INSTANTIATE_TEST_CASE_P(GPU_Video, GoodFeaturesToTrack, testing::Combine(
     ALL_DEVICES,
     testing::Values(MinDistance(0.0), MinDistance(3.0))));