First gpu code draft. Interface might be significantly changed in future.

Simple implementation of StereoBM_GPU.
It is excluded from compilation now. 

OpenCVConfig.cmake.in

@@ -43,7 +43,7 @@ SET(OpenCV_LIB_DIR "@CMAKE_LIB_DIRS_CONFIGCMAKE@")
 # ====================================================================
 # Link libraries: e.g.   opencv_core220.so, opencv_imgproc220d.lib, etc...
 # ====================================================================
-set(OPENCV_LIB_COMPONENTS opencv_core opencv_imgproc opencv_features2d opencv_calib3d opencv_objdetect opencv_video opencv_highgui opencv_ml opencv_legacy opencv_contrib)
+set(OPENCV_LIB_COMPONENTS opencv_core opencv_imgproc opencv_features2d opencv_gpu opencv_calib3d opencv_objdetect opencv_video opencv_highgui opencv_ml opencv_legacy opencv_contrib)
 SET(OpenCV_LIBS "")
 foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
 	# CMake>=2.6 supports the notation "debug XXd optimized XX"

modules/CMakeLists.txt

@@ -22,3 +22,6 @@ endif()
 add_subdirectory(video)
 add_subdirectory(haartraining)
 add_subdirectory(traincascade)
+
+
+#add_subdirectory(gpu)

modules/gpu/CMakeLists.txt

+
+include(FindCUDA)
+
+if (CUDA_FOUND)
+    include_directories(${CUDA_INCLUDE_DIRS})
+    link_directories(${CUDA_LIBRARIES})
+
+	#CUDA_GENERATED_OUTPUT_DIR (Default CMAKE_CURRENT_BINARY_DIR)
+
+	#====================================================================================
+
+	
+	set(name "gpu")	
+	set(DEPS "opencv_core")
+		
+	project(opencv_${name})
+	add_definitions(-DCVAPI_EXPORTS)
+
+	include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include"
+						"${CMAKE_CURRENT_SOURCE_DIR}/cuda"
+						"${CMAKE_CURRENT_SOURCE_DIR}/src"
+						"${CMAKE_CURRENT_BINARY_DIR}")
+
+	foreach(d ${DEPS})
+		if(${d} MATCHES "opencv_")			
+			string(REPLACE "opencv_" "${CMAKE_CURRENT_SOURCE_DIR}/../" d_dir ${d})
+			include_directories("${d_dir}/include")			
+		endif()
+  	endforeach()		
+
+	file(GLOB lib_srcs "src/*.cpp")
+	file(GLOB lib_int_hdrs "src/*.h*")
+	file(GLOB lib_cuda "cuda/*.cu")
+	file(GLOB lib_cuda_hdrs "cuda/*.h*")	
+	source_group("Src" FILES ${lib_srcs} ${lib_int_hdrs})
+	source_group("Cuda" FILES ${lib_cuda} ${lib_cuda_hdrs})
+
+	file(GLOB lib_hdrs "include/opencv2/${name}/*.h*")		
+	source_group("Include" FILES ${lib_hdrs})
+
+	CUDA_COMPILE(cuda_objs ${lib_cuda})
+	#CUDA_BUILD_CLEAN_TARGET()
+		
+	set(the_target "opencv_${name}")
+	add_library(${the_target} ${lib_srcs} ${lib_hdrs} ${lib_int_hdrs} ${lib_cuda} ${lib_cuda_hdrs} ${cuda_objs})
+
+	if(PCHSupport_FOUND)
+		set(pch_header ${CMAKE_CURRENT_SOURCE_DIR}/src/precomp.hpp)
+		if(${CMAKE_GENERATOR} MATCHES "Visual*" OR ${CMAKE_GENERATOR} MATCHES "Xcode*")
+			if(${CMAKE_GENERATOR} MATCHES "Visual*")
+				set(${the_target}_pch "src/precomp.cpp")
+			endif()            
+			add_native_precompiled_header(${the_target} ${pch_header})
+		elseif(CMAKE_COMPILER_IS_GNUCXX AND ${CMAKE_GENERATOR} MATCHES ".*Makefiles")
+			add_precompiled_header(${the_target} ${pch_header})
+		endif()
+	endif()
+
+	# For dynamic link numbering convenions
+	set_target_properties(${the_target} PROPERTIES
+		VERSION ${OPENCV_VERSION}
+		SOVERSION ${OPENCV_SOVERSION}
+		OUTPUT_NAME "${the_target}${OPENCV_DLLVERSION}"
+		)
+
+	# Additional target properties
+	set_target_properties(${the_target} PROPERTIES
+		DEBUG_POSTFIX "${OPENCV_DEBUG_POSTFIX}"
+		ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/"
+		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/"
+		INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"
+		)
+
+	# Add the required libraries for linking:
+	target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} ${IPP_LIBS} ${DEPS} ${CUDA_LIBRARIES})
+
+	if(MSVC)
+		if(CMAKE_CROSSCOMPILING)
+			set_target_properties(${the_target} PROPERTIES
+				LINK_FLAGS "/NODEFAULTLIB:secchk"
+				)
+		endif()
+		set_target_properties(${the_target} PROPERTIES
+			LINK_FLAGS "/NODEFAULTLIB:libc"
+			)
+	endif()
+
+	# Dependencies of this target:
+	add_dependencies(${the_target} ${DEPS})
+
+	install(TARGETS ${the_target}
+		RUNTIME DESTINATION bin COMPONENT main
+		LIBRARY DESTINATION lib COMPONENT main
+		ARCHIVE DESTINATION lib COMPONENT main)
+
+	install(FILES ${lib_hdrs}
+		DESTINATION include/opencv2/${name}
+		COMPONENT main)
+
+endif()
+

modules/gpu/cuda/cuda_shared.hpp

+/*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_CUDA_SHARED_HPP__
+#define __OPENCV_CUDA_SHARED_HPP__
+
+#include "opencv2/gpu/devmem2d.hpp"
+
+namespace cv
+{
+    namespace gpu
+    {   
+        typedef unsigned char uchar;
+        typedef unsigned short ushort;
+        typedef unsigned int uint;
+
+        namespace impl
+        {   
+            static inline int divUp(int a, int b) { return (a % b == 0) ? a/b : a/b + 1; }
+
+            extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, DevMem2D& disp, int maxdisp, DevMem2D_<uint>& minSSD_buf);
+        }
+    }
+}
+
+#endif /* __OPENCV_CUDA_SHARED_HPP__ */

modules/gpu/include/opencv2/gpu/devmem2d.hpp

+/*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 GpuMaterials 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_GPU_DEVMEM2D_HPP__
+#define __OPENCV_GPU_DEVMEM2D_HPP__
+
+namespace cv
+{    
+    namespace gpu
+    {
+        // Simple lightweight structure that encapsulates image ptr on device, its pitch and its sizes.
+        // It is intended to pass to nvcc-compiled code.
+
+        template<typename T = unsigned char>
+        struct DevMem2D_
+        {
+            enum { elem_size = sizeof(T) };
+
+            int cols;
+            int rows;
+            T* ptr;
+            size_t step;
+
+            DevMem2D_(int rows_, int cols_, T *ptr_, size_t step_)
+                : cols(cols_), rows(rows_), ptr(ptr_), step(step_) {}
+
+            size_t elemSize() const { return elem_size; }
+        };
+
+        typedef DevMem2D_<> DevMem2D;
+    }
+}
+
+#endif /* __OPENCV_GPU_DEVMEM2D_HPP__ */
\ No newline at end of file

modules/gpu/src/cudastream.cpp

+/*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*/
+
+#include "precomp.hpp"
+
+using namespace cv;
+using namespace cv::gpu;
+
+
+cv::gpu::CudaStream::CudaStream() : impl( fastMalloc(sizeof(cudaStream_t)) )
+{
+    cudaSafeCall( cudaStreamCreate((cudaStream_t*)impl) );
+}
+cv::gpu::CudaStream::~CudaStream() 
+{ 
+    cudaSafeCall( cudaStreamDestroy( *(cudaStream_t*)impl ) );
+    cv::fastFree( impl );     
+}
+
+bool cv::gpu::CudaStream::queryIfComplete()
+{
+    cudaError_t err = cudaStreamQuery( *(cudaStream_t*)impl );
+
+    if (err == cudaSuccess)
+        return true;
+
+    if (err == cudaErrorNotReady)
+        return false;
+
+    //cudaErrorInvalidResourceHandle  
+    cudaSafeCall( err );    
+    return true;
+}
+void cv::gpu::CudaStream::waitForCompletion()
+{
+    cudaSafeCall( cudaStreamSynchronize(  *(cudaStream_t*)impl ) );
+}
+
+void cv::gpu::CudaStream::enqueueDownload(const GpuMat& src, Mat& dst)
+{
+//    cudaMemcpy2DAsync(dst.data, dst.step, src.data, src.step, src.cols * src.elemSize(), src.rows, cudaMemcpyDeviceToHost, 
+}
+void cv::gpu::CudaStream::enqueueUpload(const Mat& src, GpuMat& dst)
+{
+    CV_Assert(!"Not implemented");
+}
+void cv::gpu::CudaStream::enqueueCopy(const GpuMat& src, GpuMat& dst)
+{
+    CV_Assert(!"Not implemented");
+}
+
+void cv::gpu::CudaStream::enqueueMemSet(const GpuMat& src, Scalar val)
+{
+    CV_Assert(!"Not implemented");
+}
+
+void cv::gpu::CudaStream::enqueueMemSet(const GpuMat& src, Scalar val, const GpuMat& mask)
+{
+    CV_Assert(!"Not implemented");
+}
+
+void cv::gpu::CudaStream::enqueueConvert(const GpuMat& src, GpuMat& dst, int type)
+{
+    CV_Assert(!"Not implemented");
+}
+
+//struct cudaStream_t& cv::gpu::CudaStream::getStream() { return stream; }
+
+    

modules/gpu/src/gpumat.cpp

+/*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*/
+
+#include "precomp.hpp"
+
+using namespace cv;
+using namespace cv::gpu;
+
+//////////////////////////////// GpuMat ////////////////////////////////
+
+void GpuMat::upload(const Mat& m)
+{
+    CV_DbgAssert(!m.empty());
+    create(m.size(), m.type());
+    cudaSafeCall( cudaMemcpy2D(data, step, m.data, m.step, cols * elemSize(), rows, cudaMemcpyHostToDevice) );
+}
+
+void GpuMat::download(cv::Mat& m) const
+{
+    CV_DbgAssert(!this->empty());
+    m.create(size(), type());
+    cudaSafeCall( cudaMemcpy2D(m.data, m.step, data, step, cols * elemSize(), rows, cudaMemcpyDeviceToHost) );
+}
+
+void GpuMat::copyTo( GpuMat& m ) const
+{
+    CV_DbgAssert(!this->empty());
+    m.create(size(), type());
+    cudaSafeCall( cudaMemcpy2D(m.data, m.step, data, step, cols * elemSize(), rows, cudaMemcpyDeviceToDevice) );
+    cudaSafeCall( cudaThreadSynchronize() );
+}
+            
+void GpuMat::copyTo( GpuMat& /*m*/, const GpuMat&/* mask */) const
+{    
+    CV_Assert(!"Not implemented");
+}
+ 
+void GpuMat::convertTo( GpuMat& /*m*/, int /*rtype*/, double /*alpha*/, double /*beta*/ ) const
+{
+    CV_Assert(!"Not implemented");
+}
+
+GpuMat& GpuMat::operator = (const Scalar& /*s*/)
+{
+    CV_Assert(!"Not implemented"); 
+    return *this;
+}
+
+GpuMat& GpuMat::setTo(const Scalar& /*s*/, const GpuMat& /*mask*/)
+{
+    CV_Assert(!"Not implemented");    
+    return *this;
+}
+
+
+GpuMat GpuMat::reshape(int new_cn, int new_rows) const
+{
+    GpuMat hdr = *this;
+
+    int cn = channels();
+    if( new_cn == 0 )
+        new_cn = cn;
+
+    int total_width = cols * cn;
+
+    if( (new_cn > total_width || total_width % new_cn != 0) && new_rows == 0 )
+        new_rows = rows * total_width / new_cn;
+
+    if( new_rows != 0 && new_rows != rows )
+    {
+        int total_size = total_width * rows;
+        if( !isContinuous() )
+            CV_Error( CV_BadStep, "The matrix is not continuous, thus its number of rows can not be changed" );
+
+        if( (unsigned)new_rows > (unsigned)total_size )
+            CV_Error( CV_StsOutOfRange, "Bad new number of rows" );
+
+        total_width = total_size / new_rows;
+
+        if( total_width * new_rows != total_size )
+            CV_Error( CV_StsBadArg, "The total number of matrix elements is not divisible by the new number of rows" );
+
+        hdr.rows = new_rows;
+        hdr.step = total_width * elemSize1();
+    }
+
+    int new_width = total_width / new_cn;
+
+    if( new_width * new_cn != total_width )
+        CV_Error( CV_BadNumChannels, "The total width is not divisible by the new number of channels" );
+
+    hdr.cols = new_width;
+    hdr.flags = (hdr.flags & ~CV_MAT_CN_MASK) | ((new_cn-1) << CV_CN_SHIFT);
+    return hdr;
+}
+
+void GpuMat::create(int _rows, int _cols, int _type)
+{
+    _type &= TYPE_MASK;
+    if( rows == _rows && cols == _cols && type() == _type && data )
+        return;
+    if( data )
+        release();
+    CV_DbgAssert( _rows >= 0 && _cols >= 0 );
+    if( _rows > 0 && _cols > 0 )
+    {
+        flags = Mat::MAGIC_VAL + _type;
+        rows = _rows;
+        cols = _cols;
+
+        size_t esz = elemSize();                
+        
+        void *dev_ptr;
+        cudaSafeCall( cudaMallocPitch(&dev_ptr, &step, esz * cols, rows) );
+
+        if (esz * cols == step)
+            flags |= Mat::CONTINUOUS_FLAG;
+
+        int64 _nettosize = (int64)step*rows;
+        size_t nettosize = (size_t)_nettosize;
+                
+        datastart = data = (uchar*)dev_ptr;
+        dataend = data + nettosize;            
+        
+        refcount = (int*)fastMalloc(sizeof(*refcount));
+        *refcount = 1;
+    }
+}
+
+void GpuMat::release()
+{
+    if( refcount && CV_XADD(refcount, -1) == 1 )
+    {
+        fastFree(refcount);
+        cudaSafeCall( cudaFree(datastart) );        
+    }
+    data = datastart = dataend = 0;
+    step = rows = cols = 0;
+    refcount = 0;
+}
+
+
+
+
+
+

modules/gpu/src/initialization.cpp

+/*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*/
+
+#include "precomp.hpp"
+
+using namespace cv;
+using namespace cv::gpu;
+
+CV_EXPORTS int cv::gpu::getCudaEnabledDeviceCount()
+{
+    int count;
+    cudaSafeCall( cudaGetDeviceCount( &count ) );
+    return count;
+}
+
+CV_EXPORTS string cv::gpu::getDeviceName(int device)
+{
+    cudaDeviceProp prop;
+    cudaSafeCall( cudaGetDeviceProperties( &prop, device) );
+    return prop.name;
+}
+
+CV_EXPORTS void cv::gpu::setDevice(int device)
+{
+    cudaSafeCall( cudaSetDevice( device ) );
+}
+
+CV_EXPORTS int cv::gpu::getComputeCapability(int device)
+{    
+    cudaDeviceProp prop;
+    cudaSafeCall( cudaGetDeviceProperties( &prop, device) );
+
+    if (prop.major == 2)
+        return CV_GPU_CC_20;
+
+    if (prop.major == 1)
+        switch (prop.minor)
+        {
+        case 0: return CV_GPU_CC_10;
+        case 1: return CV_GPU_CC_11;
+        case 2: return CV_GPU_CC_12;
+        case 3: return CV_GPU_CC_13;        
+        }
+    
+    return -1;
+}
+
+
+CV_EXPORTS int cv::gpu::getNumberOfSMs(int device)
+{
+    cudaDeviceProp prop;
+    cudaSafeCall( cudaGetDeviceProperties( &prop, device ) );
+    return prop.multiProcessorCount;
+}
\ No newline at end of file

modules/gpu/src/precomp.cpp

+/*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.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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*/
+
+#include "precomp.hpp"
+
+/* End of file. */

modules/gpu/src/precomp.hpp

+/*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_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#if _MSC_VER >= 1200
+#pragma warning( disable: 4251 4710 4711 4514 4996 )
+#endif
+
+#ifdef HAVE_CONFIG_H 
+#include <cvconfig.h> 
+#endif
+
+#include "opencv2/gpu/gpu.hpp"
+#include "opencv2/gpu/gpumat.hpp"
+
+#include "cuda_shared.hpp"
+
+#include "cuda_runtime.h"
+
+
+#define cudaSafeCall(err)  __cudaSafeCall(err, __FILE__, __LINE__)
+
+//inline void __cudaSafeCall( cudaError err, const char *file, const int line )
+//{
+//    if( cudaSuccess != err) 
+//        CV_Error_(CV_StsAssert, ("%s(%i) : Runtime API error : %s.\n", cudaGetErrorString(err)));
+//}
+
+namespace cv
+{
+    namespace gpu
+    {
+        
+        inline void __cudaSafeCall( cudaError err, const char *file, const int line )
+        {
+            if( cudaSuccess != err) 
+            {
+		        fprintf(stderr, "%s(%i) : cudaSafeCall() Runtime API error : %s.\n", file, line, cudaGetErrorString(err) );
+                exit(-1);
+            }
+        }
+
+        template<class T>
+        inline DevMem2D_<T> getDevMem(const GpuMat& mat) { return DevMem2D_<T>(m.rows, m.cols, m.data, m.step); }
+    }
+}
+
+#endif

modules/gpu/src/stereobm_gpu.cpp

+/*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 GpuMaterials 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*/
+
+#include "precomp.hpp"
+#include <limits>
+
+using namespace cv;
+using namespace cv::gpu;
+   
+StereoBM_GPU::StereoBM_GPU() : preset(BASIC_PRESET), ndisp(64)  {}
+StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_) : preset(preset_), ndisp(ndisparities_) 
+{
+    CV_Assert(ndisp <= std::numeric_limits<unsigned char>::max());
+}
+  
+void StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity) const
+{
+    CV_DbgAssert(left.rows == right.rows && left.cols == right.cols);
+    CV_DbgAssert(left.type() == CV_8UC1);
+    CV_DbgAssert(right.type() == CV_8UC1);
+
+    disparity.create(left.size(), CV_8U);
+    minSSD.create(left.size(), CV_32S);
+
+    if (preset == PREFILTER_XSOBEL)
+    {
+         CV_Assert(!"Not implemented");
+    }   
+
+    DevMem2D disp = disparity;
+    DevMem2D_<uint> mssd = minSSD;    
+    impl::stereoBM_GPU(left, right, disp, ndisp, mssd);     
+}