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The problem is in drawMatches call.

You match descriptors_test_GPU -> descriptors_tmp_GPU:

matcher.knnMatch(descriptors_test_GPU, descriptors_tmp_GPU, matches, 2);

But call drawMatches with keypoints_tmp_CPU -> keypoints_test_CPU:

 drawMatches(img, keypoints_tmp_CPU, frame_cpu, keypoints_test_CPU, ...);

Swap parameters in drawMatches call:

 drawMatches(frame_cpu, keypoints_test_CPU, img, keypoints_tmp_CPU, ...);