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

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

modules/gpu/src/precomp.hpp

@@ -0,0 +1,88 @@
+/*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.
+//
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+// and on any theory of liability, whether in contract, strict liability,
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+//
+//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