(5.x) Merge 4.x

modules/README.md

@@ -42,7 +42,7 @@ $ cmake -D OPENCV_EXTRA_MODULES_PATH=<opencv_contrib>/modules -D BUILD_opencv_<r
 
 - **julia**: Julia language wrappers with samples and tests.
 
-- **line_descriptor**: Line Segment Extract and Match -- Methods of extracting, describing and latching line segments using binary descriptors.
+- **line_descriptor**: Line Segment Extract and Match -- Methods of extracting, describing and matching line segments using binary descriptors.
 
 - **matlab**: Matlab Interface -- OpenCV Matlab Mex wrapper code generator for certain opencv core modules.
 

modules/alphamat/src/cm.cpp

@@ -90,7 +90,7 @@ void lle(my_vector_of_vectors_t& indm, my_vector_of_vectors_t& samples, float ep
     Mat ptDotN(20, 1, DataType<float>::type), imd(20, 1, DataType<float>::type);
     Mat Cones(20, 1, DataType<float>::type), Cinv(20, 1, DataType<float>::type);
     float alpha, beta, lagrangeMult;
-    Cones += 1;
+    Cones = 1;
 
     C = 0;
     rhs = 1;

modules/aruco/CMakeLists.txt

@@ -1,2 +1,2 @@
 set(the_description "ArUco Marker Detection")
-ocv_define_module(aruco opencv_core opencv_imgproc opencv_3d opencv_calib WRAP python java objc)
+ocv_define_module(aruco opencv_core opencv_imgproc opencv_3d opencv_calib WRAP python java objc js)

modules/aruco/src/aruco.cpp

@@ -308,34 +308,36 @@ static void _filterTooCloseCandidates(const vector< vector< Point2f > > &candida
     vector< vector< Point > > smallerContours;
 
     // save possible candidates
-    for( unsigned int i = 0; i < groupedCandidates.size(); i++ ) {
-        int smallerIdx = groupedCandidates[i][0];
-        int biggerIdx = -1;
+    for(unsigned int i = 0; i < groupedCandidates.size(); i++) {
+        unsigned int smallerIdx = groupedCandidates[i][0];
+        unsigned int biggerIdx = smallerIdx;
+        double smallerArea = contourArea(candidatesIn[smallerIdx]);
+        double biggerArea = smallerArea;
 
         // evaluate group elements
-        for( unsigned int j = 1; j < groupedCandidates[i].size(); j++ ) {
-            size_t currPerim = contoursIn[ groupedCandidates[i][j] ].size();
+        for(unsigned int j = 1; j < groupedCandidates[i].size(); j++) {
+            unsigned int currIdx = groupedCandidates[i][j];
+            double currArea = contourArea(candidatesIn[currIdx]);
 
             // check if current contour is bigger
-            if ( biggerIdx < 0 )
-                biggerIdx = groupedCandidates[i][j];
-            else if(currPerim >= contoursIn[ biggerIdx ].size())
-                biggerIdx = groupedCandidates[i][j];
+            if(currArea >= biggerArea) {
+                biggerIdx = currIdx;
+                biggerArea = currArea;
+            }
 
             // check if current contour is smaller
-            if(currPerim < contoursIn[ smallerIdx ].size() && detectInvertedMarker)
-                smallerIdx = groupedCandidates[i][j];
+            if(currArea < smallerArea && detectInvertedMarker) {
+                smallerIdx = currIdx;
+                smallerArea = currArea;
+            }
         }
-        // add contours und candidates
-        if(biggerIdx > -1){
 
-            biggerCandidates.push_back(candidatesIn[biggerIdx]);
-            biggerContours.push_back(contoursIn[biggerIdx]);
-
-            if( detectInvertedMarker ){
-                smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
-                smallerContours.push_back(contoursIn[smallerIdx]);
-            }
+        // add contours and candidates
+        biggerCandidates.push_back(candidatesIn[biggerIdx]);
+        biggerContours.push_back(contoursIn[biggerIdx]);
+        if(detectInvertedMarker) {
+            smallerCandidates.push_back(alignContourOrder(candidatesIn[biggerIdx][0], candidatesIn[smallerIdx]));
+            smallerContours.push_back(contoursIn[smallerIdx]);
         }
     }
     // to preserve the structure :: candidateSet< defaultCandidates, whiteCandidates >
@@ -564,7 +566,7 @@ static uint8_t _identifyOneCandidate(const Ptr<Dictionary>& dictionary, InputArr
     Mat onlyBits =
         candidateBits.rowRange(params->markerBorderBits,
                                candidateBits.rows - params->markerBorderBits)
-            .colRange(params->markerBorderBits, candidateBits.rows - params->markerBorderBits);
+            .colRange(params->markerBorderBits, candidateBits.cols - params->markerBorderBits);
 
     // try to indentify the marker
     if(!dictionary->identify(onlyBits, idx, rotation, params->errorCorrectionRate))
@@ -806,6 +808,7 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 
 	// saves extra group into corresponding
 	if( !cntPts[4].empty() ){
+            CV_CheckLT(group, 4, "FIXIT: avoiding infinite loop: implementation should be revised: https://github.com/opencv/opencv_contrib/issues/2738");
 		for( unsigned int i=0; i < cntPts[4].size() ; i++ )
 			cntPts[group].push_back(cntPts[4].at(i));
 		cntPts[4].clear();

modules/aruco/src/charuco.cpp

@@ -305,7 +305,7 @@ static int _selectAndRefineChessboardCorners(InputArray _allCorners, InputArray
     if(_image.type() == CV_8UC3)
         cvtColor(_image, grey, COLOR_BGR2GRAY);
     else
-        _image.copyTo(grey);
+        grey = _image.getMat();
 
     const Ptr<DetectorParameters> params = DetectorParameters::create(); // use default params for corner refinement
 
@@ -725,7 +725,7 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
     if(_image.type() == CV_8UC3)
         cvtColor(_image, grey, COLOR_BGR2GRAY);
     else
-        _image.copyTo(grey);
+        grey = _image.getMat();
 
     // for each of the detected markers, try to find a diamond
     for(unsigned int i = 0; i < _markerIds.total(); i++) {

modules/ccalib/src/omnidir.cpp

@@ -331,7 +331,7 @@ void cv::omnidir::undistortPoints( InputArray distorted, OutputArray undistorted
         Vec3d Xs = Xw / cv::norm(Xw);
 
         // reproject to camera plane
-        Vec3d ppu = Vec3d(Xs[0]/(Xs[2]+_xi), Xs[1]/(Xs[2]+_xi), 1.0);
+        Vec3d ppu = Vec3d(Xs[0]/Xs[2], Xs[1]/Xs[2], 1.0);
         if (undistorted.depth() == CV_32F)
         {
             dstf[i] = Vec2f((float)ppu[0], (float)ppu[1]);
@@ -2223,7 +2223,7 @@ void cv::omnidir::stereoRectify(InputArray R, InputArray T, OutputArray R1, Outp
     e1.copyTo(_R1.row(0));
     e2.copyTo(_R1.row(1));
     e3.copyTo(_R1.row(2));
-    _R2 = R21 * _R1;
+    _R2 = _R1 * R21;
 
 }
 

modules/cudaarithm/include/opencv2/cudaarithm.hpp

@@ -358,6 +358,31 @@ threshold types are not supported.
  */
 CV_EXPORTS_W double threshold(InputArray src, OutputArray dst, double thresh, double maxval, int type, Stream& stream = Stream::Null());
 
+/** @brief  Checks if array elements lie between two scalars.
+
+The function checks the range as follows:
+-   For every element of a single-channel input array:
+    \f[\texttt{dst} (I)= \texttt{lowerb}_0  \leq \texttt{src} (I)_0 \leq  \texttt{upperb}_0\f]
+-   For two-channel arrays:
+    \f[\texttt{dst} (I)= \texttt{lowerb}_0  \leq \texttt{src} (I)_0 \leq  \texttt{upperb}_0  \land \texttt{lowerb}_1  \leq \texttt{src} (I)_1 \leq  \texttt{upperb}_1\f]
+-   and so forth.
+
+That is, dst (I) is set to 255 (all 1 -bits) if src (I) is within the
+specified 1D, 2D, 3D, ... box and 0 otherwise.
+
+Note that unlike the CPU inRange, this does NOT accept an array for lowerb or
+upperb, only a cv::Scalar.
+
+@param src first input array.
+@param lowerb inclusive lower boundary cv::Scalar.
+@param upperb inclusive upper boundary cv::Scalar.
+@param dst output array of the same size as src and CV_8U type.
+@param stream Stream for the asynchronous version.
+
+@sa cv::inRange
+ */
+CV_EXPORTS_W void inRange(InputArray src, const Scalar& lowerb, const Scalar& upperb, OutputArray dst, Stream& stream = Stream::Null());
+
 /** @brief Computes magnitudes of complex matrix elements.
 
 @param xy Source complex matrix in the interleaved format ( CV_32FC2 ).

modules/cudaarithm/misc/python/test/test_cudaarithm.py

@@ -174,5 +174,24 @@ def test_convolution(self):
         self.assertTrue(np.allclose(cuMatDst.download(),
                     cv.filter2D(npMat,-1,kernel,anchor=(-1,-1))[iS[0]:iE[0]+1,iS[1]:iE[1]+1]))
 
+    def test_inrange(self):
+        npMat = (np.random.random((128, 128, 3)) * 255).astype(np.float32)
+
+        bound1 = np.random.random((4,)) * 255
+        bound2 = np.random.random((4,)) * 255
+        lowerb = np.minimum(bound1, bound2).tolist()
+        upperb = np.maximum(bound1, bound2).tolist()
+
+        cuMat = cv.cuda_GpuMat()
+        cuMat.upload(npMat)
+
+        self.assertTrue((cv.cuda.inRange(cuMat, lowerb, upperb).download() ==
+                         cv.inRange(npMat, np.array(lowerb), np.array(upperb))).all())
+
+        cuMatDst = cv.cuda_GpuMat(cuMat.size(), cv.CV_8UC1)
+        cv.cuda.inRange(cuMat, lowerb, upperb, cuMatDst)
+        self.assertTrue((cuMatDst.download() ==
+                         cv.inRange(npMat, np.array(lowerb), np.array(upperb))).all())
+
 if __name__ == '__main__':
-    NewOpenCVTests.bootstrap()
+    NewOpenCVTests.bootstrap()

modules/cudaarithm/perf/perf_element_operations.cpp

@@ -1501,4 +1501,41 @@ PERF_TEST_P(Sz_Depth_Op, Threshold,
     }
 }
 
+//////////////////////////////////////////////////////////////////////
+// InRange
+
+PERF_TEST_P(Sz_Depth_Cn, InRange,
+            Combine(CUDA_TYPICAL_MAT_SIZES,
+            Values(CV_8U, CV_16U, CV_32F, CV_64F),
+            CUDA_CHANNELS_1_3_4))
+{
+    const cv::Size size = GET_PARAM(0);
+    const int depth = GET_PARAM(1);
+    const int channels = GET_PARAM(2);
+
+    cv::Mat src(size, CV_MAKE_TYPE(depth, channels));
+    declare.in(src, WARMUP_RNG);
+
+    const cv::Scalar lowerb(10, 50, 100);
+    const cv::Scalar upperb(70, 85, 200);
+
+    if (PERF_RUN_CUDA())
+    {
+        const cv::cuda::GpuMat d_src(src);
+        cv::cuda::GpuMat dst;
+
+        TEST_CYCLE() cv::cuda::inRange(d_src, lowerb, upperb, dst);
+
+        CUDA_SANITY_CHECK(dst, 0);
+    }
+    else
+    {
+        cv::Mat dst;
+
+        TEST_CYCLE() cv::inRange(src, lowerb, upperb, dst);
+
+        CPU_SANITY_CHECK(dst);
+    }
+}
+
 }} // namespace

modules/cudaarithm/src/core.cpp

@@ -163,7 +163,7 @@ void cv::cuda::flip(InputArray _src, OutputArray _dst, int flipCode, Stream& str
 
     _dst.create(src.size(), src.type());
     GpuMat dst = getOutputMat(_dst, src.size(), src.type(), stream);
-    bool isInplace = (src.data == dst.data) || (src.refcount == dst.refcount);
+    bool isInplace = (src.data == dst.data);
     bool isSizeOdd = (src.cols & 1) == 1 || (src.rows & 1) == 1;
     if (isInplace && isSizeOdd)
         CV_Error(Error::BadROISize, "In-place version of flip only accepts even width/height");

modules/cudaarithm/src/cuda/in_range.cu

@@ -0,0 +1,99 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "opencv2/opencv_modules.hpp"
+
+#ifndef HAVE_OPENCV_CUDEV
+
+#error "opencv_cudev is required"
+
+#else
+
+#include "opencv2/core/private.cuda.hpp"
+#include "opencv2/cudaarithm.hpp"
+#include "opencv2/cudev.hpp"
+
+using namespace cv;
+using namespace cv::cuda;
+using namespace cv::cudev;
+
+namespace {
+
+template <typename T, int cn>
+void inRangeImpl(const GpuMat& src,
+                 const Scalar& lowerb,
+                 const Scalar& upperb,
+                 GpuMat& dst,
+                 Stream& stream) {
+    gridTransformUnary(globPtr<typename MakeVec<T, cn>::type>(src),
+                       globPtr<uchar>(dst),
+                       InRangeFunc<T, cn>(lowerb, upperb),
+                       stream);
+}
+
+}  // namespace
+
+void cv::cuda::inRange(InputArray _src,
+                       const Scalar& _lowerb,
+                       const Scalar& _upperb,
+                       OutputArray _dst,
+                       Stream& stream) {
+    const GpuMat src = getInputMat(_src, stream);
+
+    typedef void (*func_t)(const GpuMat& src,
+                           const Scalar& lowerb,
+                           const Scalar& upperb,
+                           GpuMat& dst,
+                           Stream& stream);
+
+    // Note: We cannot support 16F with the current implementation because we
+    // use a CUDA vector (e.g. int3) to store the bounds, and there is no CUDA
+    // vector type for float16
+    static constexpr const int MAX_CHANNELS = 4;
+    static constexpr const int NUM_DEPTHS = CV_64F + 1;
+
+    static const std::array<std::array<func_t, NUM_DEPTHS>, MAX_CHANNELS>
+            funcs = {std::array<func_t, NUM_DEPTHS>{inRangeImpl<uchar, 1>,
+                                                    inRangeImpl<schar, 1>,
+                                                    inRangeImpl<ushort, 1>,
+                                                    inRangeImpl<short, 1>,
+                                                    inRangeImpl<int, 1>,
+                                                    inRangeImpl<float, 1>,
+                                                    inRangeImpl<double, 1>},
+                     std::array<func_t, NUM_DEPTHS>{inRangeImpl<uchar, 2>,
+                                                    inRangeImpl<schar, 2>,
+                                                    inRangeImpl<ushort, 2>,
+                                                    inRangeImpl<short, 2>,
+                                                    inRangeImpl<int, 2>,
+                                                    inRangeImpl<float, 2>,
+                                                    inRangeImpl<double, 2>},
+                     std::array<func_t, NUM_DEPTHS>{inRangeImpl<uchar, 3>,
+                                                    inRangeImpl<schar, 3>,
+                                                    inRangeImpl<ushort, 3>,
+                                                    inRangeImpl<short, 3>,
+                                                    inRangeImpl<int, 3>,
+                                                    inRangeImpl<float, 3>,
+                                                    inRangeImpl<double, 3>},
+                     std::array<func_t, NUM_DEPTHS>{inRangeImpl<uchar, 4>,
+                                                    inRangeImpl<schar, 4>,
+                                                    inRangeImpl<ushort, 4>,
+                                                    inRangeImpl<short, 4>,
+                                                    inRangeImpl<int, 4>,
+                                                    inRangeImpl<float, 4>,
+                                                    inRangeImpl<double, 4>}};
+
+    CV_CheckLE(src.channels(), MAX_CHANNELS, "Src must have <= 4 channels");
+    CV_CheckLE(src.depth(),
+               CV_64F,
+               "Src must have depth 8U, 8S, 16U, 16S, 32S, 32F, or 64F");
+
+    GpuMat dst = getOutputMat(_dst, src.size(), CV_8UC1, stream);
+
+    const func_t func = funcs.at(src.channels() - 1).at(src.depth());
+    func(src, _lowerb, _upperb, dst, stream);
+
+    syncOutput(dst, _dst, stream);
+}
+
+#endif

modules/cudaarithm/src/element_operations.cpp

@@ -77,6 +77,8 @@ void cv::cuda::addWeighted(InputArray, double, InputArray, double, double, Outpu
 
 double cv::cuda::threshold(InputArray, OutputArray, double, double, int, Stream&) {throw_no_cuda(); return 0.0;}
 
+void cv::cuda::inRange(InputArray, const Scalar&, const Scalar&, OutputArray, Stream&) { throw_no_cuda(); }
+
 void cv::cuda::magnitude(InputArray, OutputArray, Stream&) { throw_no_cuda(); }
 void cv::cuda::magnitude(InputArray, InputArray, OutputArray, Stream&) { throw_no_cuda(); }
 void cv::cuda::magnitudeSqr(InputArray, OutputArray, Stream&) { throw_no_cuda(); }