integrate pre-Kepler architectures

modules/gpu/src/cuda/isf-sc.cu

@@ -209,6 +209,7 @@ __device void CascadeInvoker<Policy>::detect(Detection* objects, const uint ndet
         const int lShift = (next - 1) * 2 + (int)(sum >= threshold);
         float impact = leaves[(st + threadIdx.x) * 4 + lShift];
 
+#if defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 300
 #pragma unroll
         // scan on shuffl functions
         for (int i = 1; i < Policy::WARP; i *= 2)
@@ -218,7 +219,21 @@ __device void CascadeInvoker<Policy>::detect(Detection* objects, const uint ndet
             if (threadIdx.x >= i)
                 impact += n;
         }
+#else
+        __shared__ volatile float ptr[Policy::STA_X * Policy::STA_Y];
+
+        const int idx = threadIdx.y * Policy::STA_X + threadIdx.x;
+
+        ptr[idx] = impact;
 
+        if ( threadIdx.x >=  1) ptr [idx ] = (ptr [idx -  1] + ptr [idx]);
+        if ( threadIdx.x >=  2) ptr [idx ] = (ptr [idx -  2] + ptr [idx]);
+        if ( threadIdx.x >=  4) ptr [idx ] = (ptr [idx -  4] + ptr [idx]);
+        if ( threadIdx.x >=  8) ptr [idx ] = (ptr [idx -  8] + ptr [idx]);
+        if ( threadIdx.x >= 16) ptr [idx ] = (ptr [idx - 16] + ptr [idx]);
+
+        impact = ptr[idx];
+#endif
         confidence += impact;
         if(__any((confidence <= stages[(st + threadIdx.x)]))) st += 2048;
     }

modules/gpu/src/softcascade.cpp

@@ -298,14 +298,14 @@ struct cv::gpu::SCascade::Fields
         leaves.upload(hleaves);
         levels.upload(hlevels);
 
-        invoker = device::icf::CascadeInvoker<device::icf::GK107PolicyX4>(levels, octaves, stages, nodes, leaves);
-
     }
 
     void detect(int scale, const cv::gpu::GpuMat& roi, const cv::gpu::GpuMat& count, cv::gpu::GpuMat& objects, const cudaStream_t& stream) const
     {
         cudaMemset(count.data, 0, sizeof(Detection));
         cudaSafeCall( cudaGetLastError());
+        device::icf::CascadeInvoker<device::icf::GK107PolicyX4> invoker
+        = device::icf::CascadeInvoker<device::icf::GK107PolicyX4>(levels, octaves, stages, nodes, leaves);
         invoker(roi, hogluv, objects, count, downscales, scale, stream);
     }
 
@@ -407,8 +407,14 @@ private:
 
         GpuMat channels(plane, cv::Rect(0, 0, fw, fh * Fields::HOG_LUV_BINS));
         cv::gpu::resize(channels, shrunk, cv::Size(), 0.25, 0.25, CV_INTER_AREA, s);
-        cudaStream_t stream = StreamAccessor::getStream(s);
-        device::imgproc::shfl_integral_gpu_buffered(shrunk, integralBuffer, hogluv, 12, stream);
+
+        if (info.majorVersion() < 3)
+            cv::gpu::integralBuffered(shrunk, hogluv, integralBuffer, s);
+        else
+        {
+            cudaStream_t stream = StreamAccessor::getStream(s);
+            device::imgproc::shfl_integral_gpu_buffered(shrunk, integralBuffer, hogluv, 12, stream);
+        }
     }
 
 public:
@@ -452,7 +458,7 @@ public:
 
     GpuMat sobelBuf;
 
-    device::icf::CascadeInvoker<device::icf::GK107PolicyX4> invoker;
+    DeviceInfo info;
 
     enum { BOOST = 0 };
     enum