added SURF_GPU.

added support of CV_32FC1 type to gpu copyMakeBorder.

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -591,7 +591,7 @@ namespace cv
         CV_EXPORTS void rotate(const GpuMat& src, GpuMat& dst, Size dsize, double angle, double xShift = 0, double yShift = 0, int interpolation = INTER_LINEAR);
 
         //! copies 2D array to a larger destination array and pads borders with user-specifiable constant
-        //! supports CV_8UC1, CV_8UC4, CV_32SC1 types
+        //! supports CV_8UC1, CV_8UC4, CV_32SC1 and CV_32FC1 types
         CV_EXPORTS void copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom, int left, int right, const Scalar& value = Scalar());
 
         //! computes the integral image and integral for the squared image
@@ -1366,6 +1366,100 @@ namespace cv
             Ptr<CvHaarClassifierCascade> oldCascade;
         };
 
+        ////////////////////////////////// SURF //////////////////////////////////////////
+        
+        struct CV_EXPORTS SURFParams_GPU 
+        {
+            SURFParams_GPU() :
+                threshold(0.1f), 
+                nOctaves(4),
+                nIntervals(4),
+                initialScale(2.f),
+
+                l1(3.f/1.5f),
+                l2(5.f/1.5f),
+                l3(3.f/1.5f),
+                l4(1.f/1.5f),
+                edgeScale(0.81f),
+                initialStep(1),
+
+                extended(true),
+
+                featuresRatio(0.01f)
+            {
+            }
+
+            //! The interest operator threshold
+            float threshold;
+            //! The number of octaves to process
+            int nOctaves;
+            //! The number of intervals in each octave
+            int nIntervals;
+            //! The scale associated with the first interval of the first octave
+            float initialScale;
+
+            //! mask parameter l_1
+            float l1;
+            //! mask parameter l_2 
+            float l2;
+            //! mask parameter l_3
+            float l3;
+            //! mask parameter l_4
+            float l4;
+            //! The amount to scale the edge rejection mask
+            float edgeScale;
+            //! The initial sampling step in pixels.
+            int initialStep;
+
+            //! True, if generate 128-len descriptors, false - 64-len descriptors
+            bool extended;
+
+            //! max features = featuresRatio * img.size().srea()
+            float featuresRatio;
+        };
+
+        class CV_EXPORTS SURF_GPU : public SURFParams_GPU
+        {
+        public:
+            //! returns the descriptor size in float's (64 or 128)
+            int descriptorSize() const;
+
+            //! upload host keypoints to device memory
+            static void uploadKeypoints(const vector<KeyPoint>& keypoints, GpuMat& keypointsGPU);
+            //! download keypoints from device to host memory
+            static void downloadKeypoints(const GpuMat& keypointsGPU, vector<KeyPoint>& keypoints);
+
+            //! download descriptors from device to host memory
+            static void downloadDescriptors(const GpuMat& descriptorsGPU, vector<float>& descriptors);
+            
+            //! finds the keypoints using fast hessian detector used in SURF
+            //! supports CV_8UC1 (0..255) and CV_32FC1 (0..1) images
+            //! keypoints will have 1 row and type CV_32FC(6)
+            //! keypoints.at<float6>(1, i) contains i'th keypoint
+            //! format: (x, y, size, response, angle, octave)
+            void operator()(const GpuMat& img, GpuMat& keypoints);
+            //! finds the keypoints and computes their descriptors. 
+            //! Optionally it can compute descriptors for the user-provided keypoints and recompute keypoints direction
+            void operator()(const GpuMat& img, GpuMat& keypoints, GpuMat& descriptors, 
+                bool useProvidedKeypoints = false, bool calcOrientation = true);
+        
+            void operator()(const GpuMat& img, std::vector<KeyPoint>& keypoints);
+            void operator()(const GpuMat& img, std::vector<KeyPoint>& keypoints, GpuMat& descriptors, 
+                bool useProvidedKeypoints = false, bool calcOrientation = true);
+            
+            void operator()(const GpuMat& img, std::vector<KeyPoint>& keypoints, std::vector<float>& descriptors, 
+                bool useProvidedKeypoints = false, bool calcOrientation = true);
+
+            GpuMat img_float;
+            GpuMat img_float_tr;
+
+            GpuMat sum;
+
+            GpuMat hessianBuffer;
+            GpuMat maxPosBuffer;
+            GpuMat featuresBuffer;
+        };
+
     }
 
     //! Speckle filtering - filters small connected components on diparity image.

modules/gpu/src/brute_force_matcher.cpp

@@ -493,9 +493,7 @@ void cv::gpu::BruteForceMatcher_GPU_base::radiusMatch(const GpuMat& queryDescs,
         }
     };
 
-    int major, minor;
-    getComputeCapability(getDevice(), major, minor);
-    CV_Assert(100 * major + 10 * minor >= 110); // works onle on device with CC >= 1.1
+    CV_Assert(hasAtomicsSupport(getDevice()));
 
     const int nQuery = queryDescs.rows;
     const int nTrain = trainDescs.rows;

modules/gpu/src/cuda/surf_key_point.h

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_SURF_KEY_POINT_H__
+#define __OPENCV_SURF_KEY_POINT_H__
+
+namespace cv
+{
+    namespace gpu
+    {
+        namespace surf
+        {
+            struct KeyPoint_GPU
+            {
+                float x;
+                float y;
+                float size;
+                float response;
+                float angle;
+                float octave;
+            };
+
+            enum KeypointLayout 
+            {
+                SF_X,
+                SF_Y,
+                SF_SIZE,
+                SF_RESPONSE,
+                SF_ANGLE,
+                SF_OCTAVE,
+                SF_FEATURE_STRIDE
+            };
+        }
+    }
+}
+
+#endif // __OPENCV_SURF_KEY_POINT_H__

modules/gpu/src/imgproc_gpu.cpp

@@ -304,7 +304,7 @@ void cv::gpu::resize(const GpuMat& src, GpuMat& dst, Size dsize, double fx, doub
 
 void cv::gpu::copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom, int left, int right, const Scalar& value)
 {
-    CV_Assert(src.type() == CV_8UC1 || src.type() == CV_8UC4 || src.type() == CV_32SC1);
+    CV_Assert(src.type() == CV_8UC1 || src.type() == CV_8UC4 || src.type() == CV_32SC1 || src.type() == CV_32FC1);
 
     dst.create(src.rows + top + bottom, src.cols + left + right, src.type());
 
@@ -338,6 +338,14 @@ void cv::gpu::copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom
                 dst.ptr<Npp32s>(), dst.step, dstsz, top, left, nVal) );
             break;
         }
+    case CV_32FC1:
+        {
+            float val = static_cast<float>(value[0]);
+            Npp32s nVal = *(reinterpret_cast<Npp32s*>(&val));
+            nppSafeCall( nppiCopyConstBorder_32s_C1R(src.ptr<Npp32s>(), src.step, srcsz,
+                dst.ptr<Npp32s>(), dst.step, dstsz, top, left, nVal) );
+            break;
+        }
     default:
         CV_Assert(!"Unsupported source type");
     }

modules/gpu/src/precomp.hpp

@@ -67,6 +67,7 @@
     #include "opencv2/gpu/stream_accessor.hpp"
     #include "npp.h"    
     #include "npp_staging.h"
+    #include "surf_key_point.h"
 
 #define CUDART_MINIMUM_REQUIRED_VERSION 3020
 #define NPP_MINIMUM_REQUIRED_VERSION 3216