Version++.

(cherry picked from commit 84f33d0578)

modules/core/include/opencv2/core/version.hpp

@@ -50,7 +50,7 @@
 #define CV_VERSION_EPOCH    2
 #define CV_VERSION_MAJOR    4
 #define CV_VERSION_MINOR    10
-#define CV_VERSION_REVISION 0
+#define CV_VERSION_REVISION 1
 
 #define CVAUX_STR_EXP(__A)  #__A
 #define CVAUX_STR(__A)      CVAUX_STR_EXP(__A)

modules/gpu/perf/perf_imgproc.cpp

@@ -1413,7 +1413,7 @@ PERF_TEST_P(Sz_Depth_Code, ImgProc_CvtColor,
 
         TEST_CYCLE() cv::gpu::cvtColor(d_src, dst, info.code, info.dcn);
 
-        GPU_SANITY_CHECK(dst, 1e-4);
+        GPU_SANITY_CHECK(dst, 1e-2);
     }
     else
     {
@@ -1609,7 +1609,7 @@ PERF_TEST_P(Sz_Depth_Cn, ImgProc_ImagePyramidBuild,
         cv::gpu::GpuMat dst;
         d_pyr.getLayer(dst, dstSize);
 
-        GPU_SANITY_CHECK(dst);
+        GPU_SANITY_CHECK(dst, 1e-3);
     }
     else
     {
@@ -1646,7 +1646,7 @@ PERF_TEST_P(Sz_Depth_Cn, ImgProc_ImagePyramidGetLayer,
 
         TEST_CYCLE() d_pyr.getLayer(dst, dstSize);
 
-        GPU_SANITY_CHECK(dst);
+        GPU_SANITY_CHECK(dst, 1e-3);
     }
     else
     {

modules/gpu/perf/perf_video.cpp

@@ -143,7 +143,7 @@ PERF_TEST_P(ImagePair, Video_CreateOpticalFlowNeedleMap,
 
         TEST_CYCLE() cv::gpu::createOpticalFlowNeedleMap(u, v, vertex, colors);
 
-        GPU_SANITY_CHECK(vertex, 1e-6);
+        GPU_SANITY_CHECK(vertex, 1e-5);
         GPU_SANITY_CHECK(colors);
     }
     else

modules/gpu/src/cuda/stereocsbp.cu

@@ -103,16 +103,22 @@ namespace cv { namespace gpu { namespace device
         {
             static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
             {
-                return fmin(cdata_weight * ::abs((int)*left - *right), cdata_weight * cmax_data_term);
+                int l = *(left);
+                int r = *(right);
+
+                return fmin(cdata_weight * ::abs(l - r), cdata_weight * cmax_data_term);
             }
         };
         template <> struct DataCostPerPixel<3>
         {
             static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
             {
-                float tb = 0.114f * ::abs((int)left[0] - right[0]);
+                uchar3 l = *((const uchar3*)left);
-                float tg = 0.587f * ::abs((int)left[1] - right[1]);
+                uchar3 r = *((const uchar3*)right);
-                float tr = 0.299f * ::abs((int)left[2] - right[2]);
+
+                float tb = 0.114f * ::abs((int)l.x - r.x);
+                float tg = 0.587f * ::abs((int)l.y - r.y);
+                float tr = 0.299f * ::abs((int)l.z - r.z);
 
                 return fmin(cdata_weight * (tr + tg + tb), cdata_weight * cmax_data_term);
             }

modules/gpu/test/test_calib3d.cpp

@@ -158,7 +158,7 @@ GPU_TEST_P(StereoConstantSpaceBP, Regression)
     cv::Mat h_disp(disp);
     h_disp.convertTo(h_disp, disp_gold.depth());
 
-    EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0);
+    EXPECT_MAT_SIMILAR(disp_gold, h_disp, 1e-4);
 }
 
 INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoConstantSpaceBP, ALL_DEVICES);

modules/gpu/test/test_denoising.cpp

@@ -134,8 +134,8 @@ GPU_TEST_P(BruteForceNonLocalMeans, Regression)
     cv::resize(bgr_gold, bgr_gold, cv::Size(256, 256));
     cv::resize(gray_gold, gray_gold, cv::Size(256, 256));
 
-    EXPECT_MAT_NEAR(bgr_gold, dbgr, 1e-4);
+    EXPECT_MAT_NEAR(bgr_gold, dbgr, 1);
-    EXPECT_MAT_NEAR(gray_gold, dgray, 1e-4);
+    EXPECT_MAT_NEAR(gray_gold, dgray, 1);
 }
 
 INSTANTIATE_TEST_CASE_P(GPU_Denoising, BruteForceNonLocalMeans, ALL_DEVICES);