bug fix

modules/gpu/src/cuda/fast.cu

@@ -223,6 +223,8 @@ namespace cv { namespace gpu { namespace device
         template <bool calcScore, class Mask>
         __global__ void calcKeypoints(const DevMem2Db img, const Mask mask, short2* kpLoc, const unsigned int maxKeypoints, PtrStepi score, const int threshold)
         {
+            #if __CUDA_ARCH__ >= 110
+
             const int j = threadIdx.x + blockIdx.x * blockDim.x + 3;
             const int i = threadIdx.y + blockIdx.y * blockDim.y + 3;
 
@@ -276,6 +278,8 @@ namespace cv { namespace gpu { namespace device
                         kpLoc[ind] = make_short2(j, i);
                 }
             }
+
+            #endif
         }
 
         int calcKeypoints_gpu(DevMem2Db img, DevMem2Db mask, short2* kpLoc, int maxKeypoints, DevMem2Di score, int threshold)
@@ -321,6 +325,8 @@ namespace cv { namespace gpu { namespace device
 
         __global__ void nonmaxSupression(const short2* kpLoc, int count, const DevMem2Di scoreMat, short2* locFinal, float* responseFinal)
         {
+            #if __CUDA_ARCH__ >= 110
+
             const int kpIdx = threadIdx.x + blockIdx.x * blockDim.x;
 
             if (kpIdx < count)
@@ -349,6 +355,8 @@ namespace cv { namespace gpu { namespace device
                     responseFinal[ind] = static_cast<float>(score);
                 }
             }
+
+            #endif
         }
 
         int nonmaxSupression_gpu(const short2* kpLoc, int count, DevMem2Di score, short2* loc, float* response)

modules/gpu/src/fast.cpp

@@ -124,6 +124,7 @@ int cv::gpu::FAST_GPU::calcKeyPointsLocation(const GpuMat& img, const GpuMat& ma
 
     CV_Assert(img.type() == CV_8UC1);
     CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == img.size()));
+    CV_Assert(TargetArchs::builtWith(GLOBAL_ATOMICS) && DeviceInfo().supports(GLOBAL_ATOMICS));
 
     int maxKeypoints = static_cast<int>(keypointsRatio * img.size().area());
 
@@ -145,6 +146,8 @@ int cv::gpu::FAST_GPU::getKeyPoints(GpuMat& keypoints)
 {
     using namespace cv::gpu::device::fast;
 
+    CV_Assert(TargetArchs::builtWith(GLOBAL_ATOMICS) && DeviceInfo().supports(GLOBAL_ATOMICS));
+
     if (count_ == 0)
         return 0;
 

modules/gpu/src/orb.cpp

@@ -666,7 +666,7 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
         mergeLocation_gpu(keyPointsPyr_[level].ptr<short2>(0), keyPointsRange.ptr<float>(0), keyPointsRange.ptr<float>(1), keyPointsCount_[level], locScale, 0);
 
         GpuMat range = keyPointsRange.rowRange(2, 4);
-        keyPointsPyr_[level].rowRange(1, 3).copyTo(range);
+        keyPointsPyr_[level](Range(1, 3), Range(0, keyPointsCount_[level])).copyTo(range);
         
         keyPointsRange.row(4).setTo(Scalar::all(level));
         keyPointsRange.row(5).setTo(Scalar::all(params_.patch_size_ * sf));