Merge pull request #1 from Itseez/master

merge with itseez/opencv/master

.gitignore

@@ -9,7 +9,6 @@ Thumbs.db
 tags
 tegra/
 bin/
-CMakeFiles/
 *.sdf
 *.opensdf
 *.obj
@@ -17,3 +16,9 @@ CMakeFiles/
 *.depend
 *.rule
 *.tmp
+*/debug
+*/CMakeFiles
+CMakeCache.txt
+*.suo
+*.log
+*.tlog
\ No newline at end of file

3rdparty/libjasper/jas_cm.c

@@ -842,7 +842,6 @@ static int jas_cmshapmat_apply(jas_cmpxform_t *pxform, jas_cmreal_t *in,
                 *dst++ = a2;
             }
         } else {
-assert(0);
             while (--cnt >= 0) {
                 a0 = *src++;
                 src++;

3rdparty/libjasper/jas_stream.c

@@ -345,6 +345,7 @@ jas_stream_t *jas_stream_tmpfile()
 {
     jas_stream_t *stream;
     jas_stream_fileobj_t *obj;
+    char *tmpname;
 
     if (!(stream = jas_stream_create())) {
         return 0;
@@ -365,10 +366,12 @@ jas_stream_t *jas_stream_tmpfile()
 
 #ifdef _WIN32
     /* Choose a file name. */
-    tmpnam(obj->pathname);
+    tmpname = tempnam(NULL, NULL);
+    strcpy(obj->pathname, tmpname);
+    free(tmpname);
 
     /* Open the underlying file. */
-    if ((obj->fd = open(obj->pathname, O_CREAT | O_EXCL | O_RDWR | O_TRUNC | O_BINARY,
+    if ((obj->fd = open(obj->pathname, O_CREAT | O_EXCL | O_RDWR | O_TRUNC | O_BINARY | O_TEMPORARY | _O_SHORT_LIVED,
       JAS_STREAM_PERMS)) < 0) {
         jas_stream_destroy(stream);
         return 0;

3rdparty/libjpeg/CMakeLists.txt

@@ -15,6 +15,13 @@ else()
   ocv_list_filterout(lib_srcs jmemnobs.c)
 endif()
 
+if(WINRT)
+    add_definitions(-DNO_GETENV)
+    get_directory_property( DirDefs COMPILE_DEFINITIONS )
+    message(STATUS "Adding NO_GETENV to compiler definitions for WINRT:")
+    message(STATUS "   COMPILE_DEFINITIONS = ${DirDefs}")
+endif()
+
 # ----------------------------------------------------------------------------------
 #         Define the library target:
 # ----------------------------------------------------------------------------------

3rdparty/libtiff/CMakeLists.txt

@@ -17,7 +17,7 @@ check_include_file(string.h HAVE_STRING_H)
 check_include_file(sys/types.h HAVE_SYS_TYPES_H)
 check_include_file(unistd.h HAVE_UNISTD_H)
 
-if(WIN32)
+if(WIN32 AND NOT WINRT)
   set(USE_WIN32_FILEIO 1)
 endif()
 
@@ -79,7 +79,7 @@ set(lib_srcs
     "${CMAKE_CURRENT_BINARY_DIR}/tif_config.h"
     )
 
-if(WIN32)
+if(WIN32 AND NOT WINRT)
   list(APPEND lib_srcs tif_win32.c)
 else()
   list(APPEND lib_srcs tif_unix.c)

CMakeLists.txt

@@ -244,6 +244,7 @@ OCV_OPTION(ENABLE_NOISY_WARNINGS      "Show all warnings even if they are too no
 OCV_OPTION(OPENCV_WARNINGS_ARE_ERRORS "Treat warnings as errors"                                 OFF )
 OCV_OPTION(ANDROID_EXAMPLES_WITH_LIBS "Build binaries of Android examples with native libraries" OFF  IF ANDROID )
 OCV_OPTION(ENABLE_IMPL_COLLECTION     "Collect implementation data on function call"             OFF )
+OCV_OPTION(GENERATE_ABI_DESCRIPTOR    "Generate XML file for abi_compliance_checker tool" OFF IF UNIX)
 
 if(ENABLE_IMPL_COLLECTION)
   add_definitions(-DCV_COLLECT_IMPL_DATA)
@@ -274,8 +275,6 @@ endif()
 
 if(ANDROID OR WIN32)
   set(OPENCV_DOC_INSTALL_PATH doc)
-elseif(INSTALL_TO_MANGLED_PATHS)
-  set(OPENCV_DOC_INSTALL_PATH share/OpenCV-${OPENCV_VERSION}/doc)
 else()
   set(OPENCV_DOC_INSTALL_PATH share/OpenCV/doc)
 endif()
@@ -309,6 +308,10 @@ if(NOT OPENCV_TEST_INSTALL_PATH)
   set(OPENCV_TEST_INSTALL_PATH "${OPENCV_BIN_INSTALL_PATH}")
 endif()
 
+if (OPENCV_TEST_DATA_PATH)
+  get_filename_component(OPENCV_TEST_DATA_PATH ${OPENCV_TEST_DATA_PATH} ABSOLUTE)
+endif()
+
 if(OPENCV_TEST_DATA_PATH AND NOT OPENCV_TEST_DATA_INSTALL_PATH)
   if(ANDROID)
     set(OPENCV_TEST_DATA_INSTALL_PATH "sdk/etc/testdata")
@@ -327,9 +330,11 @@ if(ANDROID)
   set(OPENCV_CONFIG_INSTALL_PATH  sdk/native/jni)
   set(OPENCV_INCLUDE_INSTALL_PATH sdk/native/jni/include)
   set(OPENCV_SAMPLES_SRC_INSTALL_PATH samples/native)
+  set(OPENCV_OTHER_INSTALL_PATH   sdk/etc)
 else()
   set(LIBRARY_OUTPUT_PATH         "${OpenCV_BINARY_DIR}/lib")
   set(3P_LIBRARY_OUTPUT_PATH      "${OpenCV_BINARY_DIR}/3rdparty/lib${LIB_SUFFIX}")
+
   if(WIN32 AND CMAKE_HOST_SYSTEM_NAME MATCHES Windows)
     if(OpenCV_STATIC)
       set(OPENCV_LIB_INSTALL_PATH   "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
@@ -338,10 +343,14 @@ else()
     endif()
     set(OPENCV_3P_LIB_INSTALL_PATH  "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
     set(OPENCV_SAMPLES_SRC_INSTALL_PATH    samples/native)
+    set(OPENCV_JAR_INSTALL_PATH java)
+    set(OPENCV_OTHER_INSTALL_PATH   etc)
   else()
     set(OPENCV_LIB_INSTALL_PATH     lib${LIB_SUFFIX})
     set(OPENCV_3P_LIB_INSTALL_PATH  share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH})
     set(OPENCV_SAMPLES_SRC_INSTALL_PATH    share/OpenCV/samples)
+    set(OPENCV_JAR_INSTALL_PATH share/OpenCV/java)
+    set(OPENCV_OTHER_INSTALL_PATH   share/OpenCV)
   endif()
   set(OPENCV_INCLUDE_INSTALL_PATH "include")
 
@@ -358,8 +367,16 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 if(INSTALL_TO_MANGLED_PATHS)
   set(OPENCV_INCLUDE_INSTALL_PATH ${OPENCV_INCLUDE_INSTALL_PATH}/opencv-${OPENCV_VERSION})
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_3P_LIB_INSTALL_PATH "${OPENCV_3P_LIB_INSTALL_PATH}")
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_SAMPLES_SRC_INSTALL_PATH "${OPENCV_SAMPLES_SRC_INSTALL_PATH}")
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_CONFIG_INSTALL_PATH "${OPENCV_CONFIG_INSTALL_PATH}")
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_DOC_INSTALL_PATH "${OPENCV_DOC_INSTALL_PATH}")
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_JAR_INSTALL_PATH "${OPENCV_JAR_INSTALL_PATH}")
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_TEST_DATA_INSTALL_PATH "${OPENCV_TEST_DATA_INSTALL_PATH}")
+  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OPENCV_OTHER_INSTALL_PATH "${OPENCV_OTHER_INSTALL_PATH}")
 endif()
 
+
 if(WIN32)
   # Postfix of DLLs:
   set(OPENCV_DLLVERSION "${OPENCV_VERSION_MAJOR}${OPENCV_VERSION_MINOR}${OPENCV_VERSION_PATCH}")
@@ -623,6 +640,9 @@ include(cmake/OpenCVGenConfig.cmake)
 # Generate Info.plist for the IOS framework
 include(cmake/OpenCVGenInfoPlist.cmake)
 
+# Generate ABI descriptor
+include(cmake/OpenCVGenABI.cmake)
+
 # Generate environment setup file
 if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
   if(ANDROID)
@@ -963,8 +983,9 @@ if(DEFINED WITH_V4L)
   else()
     set(HAVE_CAMV4L2_STR "NO")
   endif()
-  status("    V4L/V4L2:"       HAVE_LIBV4L         THEN "Using libv4l (ver ${ALIASOF_libv4l1_VERSION})"
-                                                   ELSE "${HAVE_CAMV4L_STR}/${HAVE_CAMV4L2_STR}")
+  status("    V4L/V4L2:"       HAVE_LIBV4L
+             THEN "Using libv4l1 (ver ${ALIASOF_libv4l1_VERSION}) / libv4l2 (ver ${ALIASOF_libv4l2_VERSION})"
+             ELSE "${HAVE_CAMV4L_STR}/${HAVE_CAMV4L2_STR}")
 endif(DEFINED WITH_V4L)
 
 if(DEFINED WITH_DSHOW)

apps/traincascade/cascadeclassifier.cpp

@@ -135,7 +135,8 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
                                 const CvCascadeParams& _cascadeParams,
                                 const CvFeatureParams& _featureParams,
                                 const CvCascadeBoostParams& _stageParams,
-                                bool baseFormatSave )
+                                bool baseFormatSave,
+                                double acceptanceRatioBreakValue )
 {
     // Start recording clock ticks for training time output
     const clock_t begin_time = clock();
@@ -185,6 +186,7 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
     cout << "numStages: " << numStages << endl;
     cout << "precalcValBufSize[Mb] : " << _precalcValBufSize << endl;
     cout << "precalcIdxBufSize[Mb] : " << _precalcIdxBufSize << endl;
+    cout << "acceptanceRatioBreakValue : " << acceptanceRatioBreakValue << endl;
     cascadeParams.printAttrs();
     stageParams->printAttrs();
     featureParams->printAttrs();
@@ -207,13 +209,18 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
         if ( !updateTrainingSet( tempLeafFARate ) )
         {
             cout << "Train dataset for temp stage can not be filled. "
-                "Branch training terminated." << endl;
+                    "Branch training terminated." << endl;
             break;
         }
         if( tempLeafFARate <= requiredLeafFARate )
         {
             cout << "Required leaf false alarm rate achieved. "
-                 "Branch training terminated." << endl;
+                    "Branch training terminated." << endl;
+            break;
+        }
+        if( (tempLeafFARate <= acceptanceRatioBreakValue) && (acceptanceRatioBreakValue >= 0) ){
+            cout << "The required acceptanceRatio for the model has been reached to avoid overfitting of trainingdata. "
+                    "Branch training terminated." << endl;
             break;
         }
 

apps/traincascade/cascadeclassifier.h

@@ -94,7 +94,8 @@ public:
                 const CvCascadeParams& _cascadeParams,
                 const CvFeatureParams& _featureParams,
                 const CvCascadeBoostParams& _stageParams,
-                bool baseFormatSave = false );
+                bool baseFormatSave = false,
+                double acceptanceRatioBreakValue = -1.0 );
 private:
     int predict( int sampleIdx );
     void save( const std::string cascadeDirName, bool baseFormat = false );

apps/traincascade/imagestorage.cpp

@@ -33,20 +33,12 @@ bool CvCascadeImageReader::NegReader::create( const string _filename, Size _winS
     if ( !file.is_open() )
         return false;
 
-    size_t pos = _filename.rfind('\\');
-    char dlmrt = '\\';
-    if (pos == string::npos)
-    {
-        pos = _filename.rfind('/');
-        dlmrt = '/';
-    }
-    dirname = pos == string::npos ? "" : _filename.substr(0, pos) + dlmrt;
     while( !file.eof() )
     {
         std::getline(file, str);
         if (str.empty()) break;
         if (str.at(0) == '#' ) continue; /* comment */
-        imgFilenames.push_back(dirname + str);
+        imgFilenames.push_back(str);
     }
     file.close();
 

apps/traincascade/traincascade.cpp

@@ -12,9 +12,10 @@ int main( int argc, char* argv[] )
     int numNeg    = 1000;
     int numStages = 20;
     int numThreads = getNumThreads();
-    int precalcValBufSize = 256,
-        precalcIdxBufSize = 256;
+    int precalcValBufSize = 1024,
+        precalcIdxBufSize = 1024;
     bool baseFormatSave = false;
+    double acceptanceRatioBreakValue = -1.0;
 
     CvCascadeParams cascadeParams;
     CvCascadeBoostParams stageParams;
@@ -36,6 +37,7 @@ int main( int argc, char* argv[] )
         cout << "  [-precalcIdxBufSize <precalculated_idxs_buffer_size_in_Mb = " << precalcIdxBufSize << ">]" << endl;
         cout << "  [-baseFormatSave]" << endl;
         cout << "  [-numThreads <max_number_of_threads = " << numThreads << ">]" << endl;
+        cout << "  [-acceptanceRatioBreakValue <value> = " << acceptanceRatioBreakValue << ">]" << endl;
         cascadeParams.printDefaults();
         stageParams.printDefaults();
         for( int fi = 0; fi < fc; fi++ )
@@ -86,6 +88,10 @@ int main( int argc, char* argv[] )
         {
           numThreads = atoi(argv[++i]);
         }
+        else if( !strcmp( argv[i], "-acceptanceRatioBreakValue" ) )
+        {
+          acceptanceRatioBreakValue = atof(argv[++i]);
+        }
         else if ( cascadeParams.scanAttr( argv[i], argv[i+1] ) ) { i++; }
         else if ( stageParams.scanAttr( argv[i], argv[i+1] ) ) { i++; }
         else if ( !set )
@@ -112,6 +118,7 @@ int main( int argc, char* argv[] )
                       cascadeParams,
                       *featureParams[cascadeParams.featureType],
                       stageParams,
-                      baseFormatSave );
+                      baseFormatSave,
+                      acceptanceRatioBreakValue );
     return 0;
 }

cmake/OpenCVConfig.cmake

@@ -47,7 +47,7 @@ endif()
 
 if(NOT DEFINED OpenCV_STATIC)
   # look for global setting
-  if(NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
+  if(BUILD_SHARED_LIBS)
     set(OpenCV_STATIC OFF)
   else()
     set(OpenCV_STATIC ON)
@@ -89,7 +89,7 @@ elseif(MINGW)
   execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
                   OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
                   OUTPUT_STRIP_TRAILING_WHITESPACE)
-  if(CMAKE_OPENCV_GCC_TARGET_MACHINE MATCHES "64")
+  if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
     set(MINGW64 1)
     set(OpenCV_ARCH x64)
   else()

cmake/OpenCVDetectCXXCompiler.cmake

@@ -91,9 +91,9 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
 
   if(WIN32)
     execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
-              OUTPUT_VARIABLE CMAKE_OPENCV_GCC_TARGET_MACHINE
+              OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
               OUTPUT_STRIP_TRAILING_WHITESPACE)
-    if(CMAKE_OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
+    if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
       set(MINGW64 1)
     endif()
   endif()
@@ -147,11 +147,7 @@ if(MSVC)
 elseif(MINGW)
   set(OpenCV_RUNTIME mingw)
 
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
-                  OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
-                  OUTPUT_STRIP_TRAILING_WHITESPACE)
-  if(CMAKE_OPENCV_GCC_TARGET_MACHINE MATCHES "64")
-    set(MINGW64 1)
+  if(MINGW64)
     set(OpenCV_ARCH x64)
   else()
     set(OpenCV_ARCH x86)

cmake/OpenCVDetectPython.cmake

@@ -75,10 +75,10 @@ function(find_python preferred_version min_version library_env include_dir_env
 
     if(NOT ANDROID AND NOT IOS)
       ocv_check_environment_variables(${library_env} ${include_dir_env})
-      if(${${library_env}})
+      if(NOT ${${library_env}} EQUAL "")
           set(PYTHON_LIBRARY "${${library_env}}")
       endif()
-      if(${${include_dir_env}})
+      if(NOT ${${include_dir_env}} EQUAL "")
           set(PYTHON_INCLUDE_DIR "${${include_dir_env}}")
       endif()
 

cmake/OpenCVFindLibsVideo.cmake

@@ -153,7 +153,13 @@ endif(WITH_XINE)
 ocv_clear_vars(HAVE_LIBV4L HAVE_CAMV4L HAVE_CAMV4L2 HAVE_VIDEOIO)
 if(WITH_V4L)
   if(WITH_LIBV4L)
-    CHECK_MODULE(libv4l1 HAVE_LIBV4L)
+    CHECK_MODULE(libv4l1 HAVE_LIBV4L1)
+    CHECK_MODULE(libv4l2 HAVE_LIBV4L2)
+    if(HAVE_LIBV4L1 AND HAVE_LIBV4L2)
+      set(HAVE_LIBV4L YES)
+    else()
+      set(HAVE_LIBV4L NO)
+    endif()
   endif()
   CHECK_INCLUDE_FILE(linux/videodev.h HAVE_CAMV4L)
   CHECK_INCLUDE_FILE(linux/videodev2.h HAVE_CAMV4L2)
@@ -262,7 +268,9 @@ endif(WITH_MSMF)
 # --- Extra HighGUI and VideoIO libs on Windows ---
 if(WIN32)
   list(APPEND HIGHGUI_LIBRARIES comctl32 gdi32 ole32 setupapi ws2_32)
-  list(APPEND VIDEOIO_LIBRARIES vfw32)
+  if(HAVE_VFW)
+    list(APPEND VIDEOIO_LIBRARIES vfw32)
+  endif()
   if(MINGW64)
     list(APPEND VIDEOIO_LIBRARIES avifil32 avicap32 winmm msvfw32)
     list(REMOVE_ITEM VIDEOIO_LIBRARIES vfw32)

cmake/OpenCVGenABI.cmake

+if (NOT GENERATE_ABI_DESCRIPTOR)
+  return()
+endif()
+
+set(filename "opencv_abi.xml")
+set(path1 "${CMAKE_BINARY_DIR}/${filename}")
+
+set(modules "${OPENCV_MODULES_PUBLIC}")
+ocv_list_filterout(modules "opencv_ts")
+
+message(STATUS "Generating ABI compliance checker configuration: ${filename}")
+
+if (OPENCV_VCSVERSION AND NOT OPENCV_VCSVERSION STREQUAL "unknown")
+  set(OPENCV_ABI_VERSION "${OPENCV_VCSVERSION}")
+else()
+  set(OPENCV_ABI_VERSION "${OPENCV_VERSION}")
+endif()
+
+# Headers
+set(OPENCV_ABI_HEADERS "{RELPATH}/${OPENCV_INCLUDE_INSTALL_PATH}")
+
+# Libraries
+set(OPENCV_ABI_LIBRARIES "{RELPATH}/${OPENCV_LIB_INSTALL_PATH}")
+
+set(OPENCV_ABI_SKIP_HEADERS "")
+set(OPENCV_ABI_SKIP_LIBRARIES "")
+foreach(mod ${OPENCV_MODULES_BUILD})
+  string(REGEX REPLACE "^opencv_" "" mod "${mod}")
+  if(NOT "${OPENCV_MODULE_opencv_${mod}_LOCATION}" STREQUAL "${OpenCV_SOURCE_DIR}/modules/${mod}")
+    # headers
+    foreach(h ${OPENCV_MODULE_opencv_${mod}_HEADERS})
+      file(RELATIVE_PATH h "${OPENCV_MODULE_opencv_${mod}_LOCATION}/include" "${h}")
+      list(APPEND OPENCV_ABI_SKIP_HEADERS "${h}")
+    endforeach()
+    # libraries
+    set(lib_name "")
+    get_target_property(lib_name opencv_${mod} LOCATION)
+    get_filename_component(lib_name "${lib_name}" NAME)
+    list(APPEND OPENCV_ABI_SKIP_LIBRARIES "${lib_name}")
+  endif()
+endforeach()
+string(REPLACE ";" "\n    " OPENCV_ABI_SKIP_HEADERS "${OPENCV_ABI_SKIP_HEADERS}")
+string(REPLACE ";" "\n    " OPENCV_ABI_SKIP_LIBRARIES "${OPENCV_ABI_SKIP_LIBRARIES}")
+
+# Options
+set(OPENCV_ABI_GCC_OPTIONS "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_RELEASE}")
+string(REGEX REPLACE "([^ ]) +([^ ])" "\\1\\n    \\2" OPENCV_ABI_GCC_OPTIONS "${OPENCV_ABI_GCC_OPTIONS}")
+
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/opencv_abi.xml.in" "${path1}")

cmake/OpenCVGenConfig.cmake

@@ -101,10 +101,7 @@ configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.
 set(OpenCV_INCLUDE_DIRS_CONFIGCMAKE "\"\${OpenCV_INSTALL_PATH}/${OPENCV_INCLUDE_INSTALL_PATH}/opencv" "\${OpenCV_INSTALL_PATH}/${OPENCV_INCLUDE_INSTALL_PATH}\"")
 
 set(OpenCV2_INCLUDE_DIRS_CONFIGCMAKE "\"\"")
-if(INSTALL_TO_MANGLED_PATHS)
-  string(REPLACE "OpenCV" "OpenCV-${OPENCV_VERSION}" OpenCV_3RDPARTY_LIB_DIRS_CONFIGCMAKE "${OPENCV_3P_LIB_INSTALL_PATH}")
-  set(OpenCV_3RDPARTY_LIB_DIRS_CONFIGCMAKE "\"\${OpenCV_INSTALL_PATH}/${OpenCV_3RDPARTY_LIB_DIRS_CONFIGCMAKE}\"")
-endif()
+set(OpenCV_3RDPARTY_LIB_DIRS_CONFIGCMAKE "\"\${OpenCV_INSTALL_PATH}/${OPENCV_3P_LIB_INSTALL_PATH}\"")
 
 if(UNIX) # ANDROID configuration is created here also
   #http://www.vtk.org/Wiki/CMake/Tutorials/Packaging reference
@@ -114,23 +111,13 @@ if(UNIX) # ANDROID configuration is created here also
   #                <prefix>/(share|lib)/<name>*/                           (U)
   #                <prefix>/(share|lib)/<name>*/(cmake|CMake)/             (U)
   if(USE_IPPICV)
-    if(INSTALL_TO_MANGLED_PATHS)
-      file(RELATIVE_PATH INSTALL_PATH_RELATIVE_IPPICV "${CMAKE_INSTALL_PREFIX}/${OPENCV_CONFIG_INSTALL_PATH}-${OPENCV_VERSION}/" ${IPPICV_INSTALL_PATH})
-    else()
-      file(RELATIVE_PATH INSTALL_PATH_RELATIVE_IPPICV "${CMAKE_INSTALL_PREFIX}/${OPENCV_CONFIG_INSTALL_PATH}/" ${IPPICV_INSTALL_PATH})
-    endif()
+    file(RELATIVE_PATH INSTALL_PATH_RELATIVE_IPPICV "${CMAKE_INSTALL_PREFIX}/${OPENCV_CONFIG_INSTALL_PATH}/" ${IPPICV_INSTALL_PATH})
   endif()
   configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake" @ONLY)
   configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake" @ONLY)
-  if(INSTALL_TO_MANGLED_PATHS)
-    install(FILES ${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}-${OPENCV_VERSION}/ COMPONENT dev)
-    install(FILES ${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}-${OPENCV_VERSION}/ COMPONENT dev)
-    install(EXPORT OpenCVModules DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}-${OPENCV_VERSION}/ FILE OpenCVModules${modules_file_suffix}.cmake COMPONENT dev)
-  else()
-    install(FILES "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake" DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}/ COMPONENT dev)
-    install(FILES ${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}/ COMPONENT dev)
-    install(EXPORT OpenCVModules DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}/ FILE OpenCVModules${modules_file_suffix}.cmake COMPONENT dev)
-  endif()
+  install(FILES "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake" DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}/ COMPONENT dev)
+  install(FILES ${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}/ COMPONENT dev)
+  install(EXPORT OpenCVModules DESTINATION ${OPENCV_CONFIG_INSTALL_PATH}/ FILE OpenCVModules${modules_file_suffix}.cmake COMPONENT dev)
 endif()
 
 if(ANDROID)

cmake/checks/winrttest.cpp

-#include <wrl/client.h>
-
-int main(int, char**)
-{
-    return 0;
-}

cmake/templates/opencv_abi.xml.in

+<?xml version="1.0" encoding="utf-8"?>
+
+<!--
+
+    This file is auto-generated
+
+-->
+
+<descriptor>
+
+<version>
+    @OPENCV_ABI_VERSION@
+</version>
+
+<headers>
+    @OPENCV_ABI_HEADERS@
+</headers>
+
+<libs>
+    @OPENCV_ABI_LIBRARIES@
+</libs>
+
+<skip_headers>
+    opencv2/core/cuda*
+    opencv2/core/private*
+    opencv/cxeigen.hpp
+    opencv2/core/eigen.hpp
+    opencv2/flann/hdf5.h
+    opencv2/imgcodecs/ios.h
+    opencv2/videoio/cap_ios.h
+    opencv2/ts.hpp
+    opencv2/ts/*
+    opencv2/xobjdetect/private.hpp
+    @OPENCV_ABI_SKIP_HEADERS@
+</skip_headers>
+
+<skip_libs>
+    @OPENCV_ABI_SKIP_LIBRARIES@
+</skip_libs>
+
+<gcc_options>
+ @OPENCV_ABI_GCC_OPTIONS@
+</gcc_options>
+
+</descriptor>

data/CMakeLists.txt

 file(GLOB HAAR_CASCADES haarcascades/*.xml)
 file(GLOB LBP_CASCADES lbpcascades/*.xml)
 
-if(ANDROID)
-  install(FILES ${HAAR_CASCADES} DESTINATION sdk/etc/haarcascades COMPONENT libs)
-  install(FILES ${LBP_CASCADES}  DESTINATION sdk/etc/lbpcascades  COMPONENT libs)
-else()
-  install(FILES ${HAAR_CASCADES} DESTINATION share/OpenCV/haarcascades COMPONENT libs)
-  install(FILES ${LBP_CASCADES}  DESTINATION share/OpenCV/lbpcascades  COMPONENT libs)
-endif()
+install(FILES ${HAAR_CASCADES} DESTINATION ${OPENCV_OTHER_INSTALL_PATH}/haarcascades COMPONENT libs)
+install(FILES ${LBP_CASCADES}  DESTINATION ${OPENCV_OTHER_INSTALL_PATH}/lbpcascades  COMPONENT libs)
 
 if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
   install(DIRECTORY "${OPENCV_TEST_DATA_PATH}/" DESTINATION "${OPENCV_TEST_DATA_INSTALL_PATH}" COMPONENT "tests")
-endif()
\ No newline at end of file
+endif()

doc/CMakeLists.txt

@@ -27,15 +27,6 @@ if(HAVE_DOC_GENERATOR)
   set(FIXED_ORDER_MODULES core imgproc imgcodecs videoio highgui video calib3d features2d objdetect ml flann photo stitching)
   list(REMOVE_ITEM BASE_MODULES ${FIXED_ORDER_MODULES})
   set(BASE_MODULES ${FIXED_ORDER_MODULES} ${BASE_MODULES})
-
-  set(DOC_LIST
-      "${OpenCV_SOURCE_DIR}/doc/opencv-logo.png"
-      "${OpenCV_SOURCE_DIR}/doc/opencv-logo2.png"
-      "${OpenCV_SOURCE_DIR}/doc/opencv-logo-white.png"
-      "${OpenCV_SOURCE_DIR}/doc/opencv.ico"
-      "${OpenCV_SOURCE_DIR}/doc/pattern.png"
-      "${OpenCV_SOURCE_DIR}/doc/acircles_pattern.png")
-  set(OPTIONAL_DOC_LIST "")
 endif(HAVE_DOC_GENERATOR)
 
 # ========= Doxygen docs =========
@@ -160,18 +151,8 @@ if(BUILD_DOCS AND DOXYGEN_FOUND)
     COMMAND ${DOXYGEN_EXECUTABLE} ${doxyfile}
     DEPENDS ${doxyfile} ${rootfile} ${bibfile} ${deps}
   )
+  install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doxygen/html
+    DESTINATION "${OPENCV_DOC_INSTALL_PATH}"
+    COMPONENT "docs" OPTIONAL
+  )
 endif()
-
-if(HAVE_DOC_GENERATOR)
-  # installation
-  foreach(f ${DOC_LIST})
-    install(FILES "${f}" DESTINATION "${OPENCV_DOC_INSTALL_PATH}" COMPONENT docs)
-  endforeach()
-  foreach(f ${OPTIONAL_DOC_LIST})
-    install(FILES "${f}" DESTINATION "${OPENCV_DOC_INSTALL_PATH}" OPTIONAL COMPONENT docs)
-  endforeach()
-
-  # dummy targets
-  add_custom_target(docs)
-  add_custom_target(html_docs)
-endif(HAVE_DOC_GENERATOR)

doc/Doxyfile.in

@@ -243,11 +243,7 @@ PREDEFINED             = __cplusplus=1 \
                          CV_NORETURN= \
                          CV_DEFAULT(x)=" = x" \
                          CV_NEON=1 \
-                         FLANN_DEPRECATED= \
-                         "CV_PURE_PROPERTY(type, name)= /** \@see set##name */ virtual type get##name() const = 0; /** \@copybrief get##name \@see get##name */ virtual void set##name(type val) = 0;" \
-                         "CV_IMPL_PROPERTY(type, name, x)= /** \@see set##name */ virtual type get##name() const = 0; /** \@copybrief get##name \@see get##name */ virtual void set##name(type val) = 0;" \
-                         "CV_IMPL_PROPERTY_S(type, name, x)= /** \@see set##name */ virtual type get##name() const = 0; /** \@copybrief get##name \@see get##name */ virtual void set##name(const type & val);" \
-                         "CV_IMPL_PROPERTY_RO(type, name, x)= virtual type get##name() const;"
+                         FLANN_DEPRECATED=
 EXPAND_AS_DEFINED      =
 SKIP_FUNCTION_MACROS   = YES
 TAGFILES               =

doc/DoxygenLayout.xml

@@ -17,6 +17,7 @@
       <tab type="globals" visible="yes" title="Global objects" intro=""/>
     </tab>
     <tab type="examples" visible="yes" title="" intro=""/>
+    <tab type="user" url="/3.0-last-rst" title="Sphinx Documentation"/>
   </navindex>
 
   <!-- Layout definition for a class page -->

doc/tutorials/imgproc/histograms/template_matching/template_matching.markdown

@@ -74,7 +74,7 @@ available methods are 6:
 
 -#  **method=CV_TM_CCOEFF**
 
-    \f[R(x,y)= \sum _{x',y'} (T'(x',y')  \cdot I(x+x',y+y'))\f]
+    \f[R(x,y)= \sum _{x',y'} (T'(x',y')  \cdot I'(x+x',y+y'))\f]
 
     where
 

doc/tutorials/introduction/table_of_content_introduction.markdown

@@ -149,3 +149,9 @@ Additionally you can find very basic sample source code to introduce you to the
     _Author:_ Maksim Shabunin
 
     This tutorial describes new documenting process and some useful Doxygen features.
+
+-   @subpage tutorial_transition_guide
+
+    _Author:_ Maksim Shabunin
+
+    This document describes some aspects of 2.4 -> 3.0 transition process.

doc/user_guide/ug_traincascade.markdown

@@ -256,6 +256,12 @@ Command line arguments of opencv_traincascade application grouped by purposes:
         Maximum number of threads to use during training. Notice that the actual number of used
         threads may be lower, depending on your machine and compilation options.
 
+    -   -acceptanceRatioBreakValue \<break_value\>
+
+        This argument is used to determine how precise your model should keep learning and when to stop.
+        A good guideline is to train not further than 10e-5, to ensure the model does not overtrain on your training data.
+        By default this value is set to -1 to disable this feature.
+
 -#  Cascade parameters:
 
     -   -stageType \<BOOST(default)\>

include/opencv/cvaux.h

@@ -51,12 +51,6 @@
 #include "opencv2/photo/photo_c.h"
 #include "opencv2/video/tracking_c.h"
 #include "opencv2/objdetect/objdetect_c.h"
-#include "opencv2/contrib/compat.hpp"
-
-#include "opencv2/legacy.hpp"
-#include "opencv2/legacy/compat.hpp"
-#include "opencv2/legacy/blobtrack.hpp"
-
 
 #endif
 

modules/androidcamera/camera_wrapper/camera_wrapper.cpp

@@ -314,7 +314,9 @@ public:
         cameraId(0),
         cameraCallback(callback),
         userData(_userData),
-        emptyCameraCallbackReported(0)
+        emptyCameraCallbackReported(0),
+        width(),
+        height()
     {
         LOGD("Instantiated new CameraHandler (%p, %p)", callback, _userData);
         void* params_buffer = operator new(sizeof(CameraParameters) + MAGIC_TAIL);
@@ -1122,7 +1124,7 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
     if (handler == NULL) {
         LOGE("ERROR in applyProperties --- cannot reinit camera");
         handler=initCameraConnect(cameraCallback, cameraId, userData, NULL);
-        LOGD("CameraHandler::applyProperties(): repeate initCameraConnect after ERROR, handler=0x%x", (int)handler);
+        LOGD("CameraHandler::applyProperties(): repeat initCameraConnect after ERROR, handler=0x%x", (int)handler);
         if (handler == NULL) {
             LOGE("ERROR in applyProperties --- cannot reinit camera AGAIN --- cannot do anything else");
         }

modules/calib3d/include/opencv2/calib3d.hpp

@@ -184,7 +184,8 @@ namespace cv
 
 //! type of the robust estimation algorithm
 enum { LMEDS  = 4, //!< least-median algorithm
-       RANSAC = 8  //!< RANSAC algorithm
+       RANSAC = 8, //!< RANSAC algorithm
+       RHO    = 16 //!< RHO algorithm
      };
 
 enum { SOLVEPNP_ITERATIVE = 0,
@@ -265,8 +266,9 @@ a vector\<Point2f\> .
 -   **0** - a regular method using all the points
 -   **RANSAC** - RANSAC-based robust method
 -   **LMEDS** - Least-Median robust method
+-   **RHO**    - PROSAC-based robust method
 @param ransacReprojThreshold Maximum allowed reprojection error to treat a point pair as an inlier
-(used in the RANSAC method only). That is, if
+(used in the RANSAC and RHO methods only). That is, if
 \f[\| \texttt{dstPoints} _i -  \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|  >  \texttt{ransacReprojThreshold}\f]
 then the point \f$i\f$ is considered an outlier. If srcPoints and dstPoints are measured in pixels,
 it usually makes sense to set this parameter somewhere in the range of 1 to 10.
@@ -289,7 +291,7 @@ pairs to compute an initial homography estimate with a simple least-squares sche
 
 However, if not all of the point pairs ( \f$srcPoints_i\f$, \f$dstPoints_i\f$ ) fit the rigid perspective
 transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
-you can use one of the two robust methods. Both methods, RANSAC and LMeDS , try many different
+you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
 random subsets of the corresponding point pairs (of four pairs each), estimate the homography matrix
 using this subset and a simple least-square algorithm, and then compute the quality/goodness of the
 computed homography (which is the number of inliers for RANSAC or the median re-projection error for
@@ -300,7 +302,7 @@ Regardless of the method, robust or not, the computed homography matrix is refin
 inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
 re-projection error even more.
 
-The method RANSAC can handle practically any ratio of outliers but it needs a threshold to
+The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
 distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
 correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
 noise is rather small, use the default method (method=0).
@@ -512,6 +514,16 @@ projections, as well as the camera matrix and the distortion coefficients.
 @note
    -   An example of how to use solvePnP for planar augmented reality can be found at
         opencv_source_code/samples/python2/plane_ar.py
+   -   If you are using Python:
+        - Numpy array slices won't work as input because solvePnP requires contiguous
+        arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
+        modules/calib3d/src/solvepnp.cpp version 2.4.9)
+        - The P3P algorithm requires image points to be in an array of shape (N,1,2) due
+        to its calling of cv::undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
+        which requires 2-channel information.
+        - Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
+        it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
+        np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
  */
 CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
                             InputArray cameraMatrix, InputArray distCoeffs,

modules/calib3d/perf/perf_pnp.cpp

@@ -19,8 +19,8 @@ typedef perf::TestBaseWithParam<int> PointsNum;
 
 PERF_TEST_P(PointsNum_Algo, solvePnP,
             testing::Combine(
-                testing::Values(4, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
+                testing::Values(5, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
+                testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_UPNP, (int)SOLVEPNP_DLS)
                 )
             )
 {
@@ -64,13 +64,15 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
 
 PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
             testing::Combine(
-                testing::Values(4), //TODO: find why results on 4 points are too unstable
-                testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP)
+                testing::Values(5),
+                testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP)
                 )
             )
 {
     int pointsNum = get<0>(GetParam());
     pnpAlgo algo = get<1>(GetParam());
+    if( algo == SOLVEPNP_P3P )
+        pointsNum = 4;
 
     vector<Point2f> points2d(pointsNum);
     vector<Point3f> points3d(pointsNum);
@@ -92,7 +94,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
 
     //add noise
     Mat noise(1, (int)points2d.size(), CV_32FC2);
-    randu(noise, 0, 0.01);
+    randu(noise, -0.001, 0.001);
     add(points2d, noise, points2d);
 
     declare.in(points3d, points2d);
@@ -107,7 +109,7 @@ PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
     SANITY_CHECK(tvec, 1e-2);
 }
 
-PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(4, 3*9, 7*13))
+PERF_TEST_P(PointsNum, DISABLED_SolvePnPRansac, testing::Values(5, 3*9, 7*13))
 {
     int count = GetParam();
 

modules/calib3d/src/calibration.cpp

@@ -1595,7 +1595,10 @@ void cvCalibrationMatrixValues( const CvMat *calibMatr, CvSize imgSize,
         my = imgHeight / apertureHeight;
     } else {
         mx = 1.0;
-        my = *pasp;
+        if(pasp)
+            my = *pasp;
+        else
+            my = 1.0;
     }
 
     /* Calculate fovx and fovy. */

modules/calib3d/src/epnp.cpp

@@ -2,7 +2,10 @@
 #include "precomp.hpp"
 #include "epnp.h"
 
-epnp::epnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints)
+namespace cv
+{
+
+epnp::epnp(const Mat& cameraMatrix, const Mat& opoints, const Mat& ipoints)
 {
   if (cameraMatrix.depth() == CV_32F)
       init_camera_parameters<float>(cameraMatrix);
@@ -17,14 +20,14 @@ epnp::epnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& i
   if (opoints.depth() == ipoints.depth())
   {
     if (opoints.depth() == CV_32F)
-      init_points<cv::Point3f,cv::Point2f>(opoints, ipoints);
+      init_points<Point3f,Point2f>(opoints, ipoints);
     else
-      init_points<cv::Point3d,cv::Point2d>(opoints, ipoints);
+      init_points<Point3d,Point2d>(opoints, ipoints);
   }
   else if (opoints.depth() == CV_32F)
-    init_points<cv::Point3f,cv::Point2d>(opoints, ipoints);
+    init_points<Point3f,Point2d>(opoints, ipoints);
   else
-    init_points<cv::Point3d,cv::Point2f>(opoints, ipoints);
+    init_points<Point3d,Point2f>(opoints, ipoints);
 
   alphas.resize(4 * number_of_correspondences);
   pcs.resize(3 * number_of_correspondences);
@@ -144,7 +147,7 @@ void epnp::compute_pcs(void)
   }
 }
 
-void epnp::compute_pose(cv::Mat& R, cv::Mat& t)
+void epnp::compute_pose(Mat& R, Mat& t)
 {
   choose_control_points();
   compute_barycentric_coordinates();
@@ -189,8 +192,8 @@ void epnp::compute_pose(cv::Mat& R, cv::Mat& t)
   if (rep_errors[2] < rep_errors[1]) N = 2;
   if (rep_errors[3] < rep_errors[N]) N = 3;
 
-  cv::Mat(3, 1, CV_64F, ts[N]).copyTo(t);
-  cv::Mat(3, 3, CV_64F, Rs[N]).copyTo(R);
+  Mat(3, 1, CV_64F, ts[N]).copyTo(t);
+  Mat(3, 3, CV_64F, Rs[N]).copyTo(R);
 }
 
 void epnp::copy_R_and_t(const double R_src[3][3], const double t_src[3],
@@ -621,3 +624,5 @@ void epnp::qr_solve(CvMat * A, CvMat * b, CvMat * X)
     pX[i] = (pb[i] - sum) / A2[i];
   }
 }
+
+}

modules/calib3d/src/epnp.h

@@ -4,6 +4,9 @@
 #include "precomp.hpp"
 #include "opencv2/core/core_c.h"
 
+namespace cv
+{
+
 class epnp {
  public:
   epnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& ipoints);
@@ -78,4 +81,6 @@ class epnp {
   double * A1, * A2;
 };
 
+}
+
 #endif

modules/calib3d/src/fundam.cpp

@@ -41,6 +41,7 @@
 //M*/
 
 #include "precomp.hpp"
+#include "rho.h"
 #include <iostream>
 
 namespace cv
@@ -69,20 +70,6 @@ static bool haveCollinearPoints( const Mat& m, int count )
 }
 
 
-template<typename T> int compressPoints( T* ptr, const uchar* mask, int mstep, int count )
-{
-    int i, j;
-    for( i = j = 0; i < count; i++ )
-        if( mask[i*mstep] )
-        {
-            if( i > j )
-                ptr[j] = ptr[i];
-            j++;
-        }
-    return j;
-}
-
-
 class HomographyEstimatorCallback : public PointSetRegistrator::Callback
 {
 public:
@@ -273,6 +260,85 @@ public:
 }
 
 
+
+namespace cv{
+static bool createAndRunRHORegistrator(double confidence,
+                                       int    maxIters,
+                                       double ransacReprojThreshold,
+                                       int    npoints,
+                                       InputArray  _src,
+                                       InputArray  _dst,
+                                       OutputArray _H,
+                                       OutputArray _tempMask){
+    Mat    src = _src.getMat();
+    Mat    dst = _dst.getMat();
+    Mat    tempMask;
+    bool   result;
+    double beta = 0.35;/* 0.35 is a value that often works. */
+
+    /* Create temporary output matrix (RHO outputs a single-precision H only). */
+    Mat tmpH = Mat(3, 3, CV_32FC1);
+
+    /* Create output mask. */
+    tempMask = Mat(npoints, 1, CV_8U);
+
+    /**
+     * Make use of the RHO estimator API.
+     *
+     * This is where the math happens. A homography estimation context is
+     * initialized, used, then finalized.
+     */
+
+    Ptr<RHO_HEST> p = rhoInit();
+
+    /**
+     * Optional. Ideally, the context would survive across calls to
+     * findHomography(), but no clean way appears to exit to do so. The price
+     * to pay is marginally more computational work than strictly needed.
+     */
+
+    rhoEnsureCapacity(p, npoints, beta);
+
+    /**
+     * The critical call. All parameters are heavily documented in rhorefc.h.
+     *
+     * Currently, NR (Non-Randomness criterion) and Final Refinement (with
+     * internal, optimized Levenberg-Marquardt method) are enabled. However,
+     * while refinement seems to correctly smooth jitter most of the time, when
+     * refinement fails it tends to make the estimate visually very much worse.
+     * It may be necessary to remove the refinement flags in a future commit if
+     * this behaviour is too problematic.
+     */
+
+    result = !!rhoHest(p,
+                      (const float*)src.data,
+                      (const float*)dst.data,
+                      (char*)       tempMask.data,
+                      (unsigned)    npoints,
+                      (float)       ransacReprojThreshold,
+                      (unsigned)    maxIters,
+                      (unsigned)    maxIters,
+                      confidence,
+                      4U,
+                      beta,
+                      RHO_FLAG_ENABLE_NR | RHO_FLAG_ENABLE_FINAL_REFINEMENT,
+                      NULL,
+                      (float*)tmpH.data);
+
+    /* Convert float homography to double precision. */
+    tmpH.convertTo(_H, CV_64FC1);
+
+    /* Maps non-zero mask elems to 1, for the sake of the testcase. */
+    for(int k=0;k<npoints;k++){
+        tempMask.data[k] = !!tempMask.data[k];
+    }
+    tempMask.copyTo(_tempMask);
+
+    return result;
+}
+}
+
+
 cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
                             int method, double ransacReprojThreshold, OutputArray _mask,
                             const int maxIters, const double confidence)
@@ -317,13 +383,15 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
         result = createRANSACPointSetRegistrator(cb, 4, ransacReprojThreshold, confidence, maxIters)->run(src, dst, H, tempMask);
     else if( method == LMEDS )
         result = createLMeDSPointSetRegistrator(cb, 4, confidence, maxIters)->run(src, dst, H, tempMask);
+    else if( method == RHO )
+        result = createAndRunRHORegistrator(confidence, maxIters, ransacReprojThreshold, npoints, src, dst, H, tempMask);
     else
         CV_Error(Error::StsBadArg, "Unknown estimation method");
 
-    if( result && npoints > 4 )
+    if( result && npoints > 4 && method != RHO)
     {
-        compressPoints( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
-        npoints = compressPoints( dst.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
+        compressElems( src.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
+        npoints = compressElems( dst.ptr<Point2f>(), tempMask.ptr<uchar>(), 1, npoints );
         if( npoints > 0 )
         {
             Mat src1 = src.rowRange(0, npoints);

modules/calib3d/src/precomp.hpp

@@ -102,6 +102,19 @@ CV_EXPORTS Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const Ptr<Po
 CV_EXPORTS Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
                                                                    int modelPoints, double confidence=0.99, int maxIters=1000 );
 
+template<typename T> inline int compressElems( T* ptr, const uchar* mask, int mstep, int count )
+{
+    int i, j;
+    for( i = j = 0; i < count; i++ )
+        if( mask[i*mstep] )
+        {
+            if( i > j )
+                ptr[j] = ptr[i];
+            j++;
+        }
+    return j;
+}
+
 }
 
 #endif

modules/calib3d/src/solvepnp.cpp

@@ -48,41 +48,43 @@
 #include "opencv2/calib3d/calib3d_c.h"
 
 #include <iostream>
-using namespace cv;
 
-bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
-                  InputArray _cameraMatrix, InputArray _distCoeffs,
-                  OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
+namespace cv
+{
+
+bool solvePnP( InputArray _opoints, InputArray _ipoints,
+               InputArray _cameraMatrix, InputArray _distCoeffs,
+               OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )
 {
     Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
     int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
     CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
     _rvec.create(3, 1, CV_64F);
     _tvec.create(3, 1, CV_64F);
-    Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
+    Mat cameraMatrix = Mat_<double>(_cameraMatrix.getMat()), distCoeffs = Mat_<double>(_distCoeffs.getMat());
 
-    if (flags == SOLVEPNP_EPNP)
+    if (flags == SOLVEPNP_EPNP || flags == SOLVEPNP_DLS || flags == SOLVEPNP_UPNP)
     {
-        cv::Mat undistortedPoints;
-        cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+        Mat undistortedPoints;
+        undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
         epnp PnP(cameraMatrix, opoints, undistortedPoints);
 
-        cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+        Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
         PnP.compute_pose(R, tvec);
-        cv::Rodrigues(R, rvec);
+        Rodrigues(R, rvec);
         return true;
     }
     else if (flags == SOLVEPNP_P3P)
     {
         CV_Assert( npoints == 4);
-        cv::Mat undistortedPoints;
-        cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+        Mat undistortedPoints;
+        undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
         p3p P3Psolver(cameraMatrix);
 
-        cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+        Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
         bool result = P3Psolver.solve(R, tvec, opoints, undistortedPoints);
         if (result)
-            cv::Rodrigues(R, rvec);
+            Rodrigues(R, rvec);
         return result;
     }
     else if (flags == SOLVEPNP_ITERATIVE)
@@ -95,32 +97,32 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
                                      &c_rvec, &c_tvec, useExtrinsicGuess );
         return true;
     }
-    else if (flags == SOLVEPNP_DLS)
+    /*else if (flags == SOLVEPNP_DLS)
     {
-        cv::Mat undistortedPoints;
-        cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+        Mat undistortedPoints;
+        undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
         dls PnP(opoints, undistortedPoints);
 
-        cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+        Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
         bool result = PnP.compute_pose(R, tvec);
         if (result)
-            cv::Rodrigues(R, rvec);
+            Rodrigues(R, rvec);
         return result;
     }
     else if (flags == SOLVEPNP_UPNP)
     {
         upnp PnP(cameraMatrix, opoints, ipoints);
 
-        cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
+        Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
         double f = PnP.compute_pose(R, tvec);
-        cv::Rodrigues(R, rvec);
+        Rodrigues(R, rvec);
         if(cameraMatrix.type() == CV_32F)
             cameraMatrix.at<float>(0,0) = cameraMatrix.at<float>(1,1) = (float)f;
         else
             cameraMatrix.at<double>(0,0) = cameraMatrix.at<double>(1,1) = f;
         return true;
-    }
+    }*/
     else
         CV_Error(CV_StsBadArg, "The flags argument must be one of SOLVEPNP_ITERATIVE, SOLVEPNP_P3P, SOLVEPNP_EPNP or SOLVEPNP_DLS");
     return false;
@@ -131,7 +133,7 @@ class PnPRansacCallback : public PointSetRegistrator::Callback
 
 public:
 
-    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=cv::SOLVEPNP_ITERATIVE,
+    PnPRansacCallback(Mat _cameraMatrix=Mat(3,3,CV_64F), Mat _distCoeffs=Mat(4,1,CV_64F), int _flags=SOLVEPNP_ITERATIVE,
             bool _useExtrinsicGuess=false, Mat _rvec=Mat(), Mat _tvec=Mat() )
         : cameraMatrix(_cameraMatrix), distCoeffs(_distCoeffs), flags(_flags), useExtrinsicGuess(_useExtrinsicGuess),
           rvec(_rvec), tvec(_tvec) {}
@@ -142,12 +144,11 @@ public:
     {
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
 
-
-        bool correspondence = cv::solvePnP( _m1, _m2, cameraMatrix, distCoeffs,
+        bool correspondence = solvePnP( _m1, _m2, cameraMatrix, distCoeffs,
                                             rvec, tvec, useExtrinsicGuess, flags );
 
         Mat _local_model;
-        cv::hconcat(rvec, tvec, _local_model);
+        hconcat(rvec, tvec, _local_model);
         _local_model.copyTo(_model);
 
         return correspondence;
@@ -166,7 +167,7 @@ public:
 
 
         Mat projpoints(count, 2, CV_32FC1);
-        cv::projectPoints(opoints, _rvec, _tvec, cameraMatrix, distCoeffs, projpoints);
+        projectPoints(opoints, _rvec, _tvec, cameraMatrix, distCoeffs, projpoints);
 
         const Point2f* ipoints_ptr = ipoints.ptr<Point2f>();
         const Point2f* projpoints_ptr = projpoints.ptr<Point2f>();
@@ -175,7 +176,7 @@ public:
         float* err = _err.getMat().ptr<float>();
 
         for ( i = 0; i < count; ++i)
-            err[i] = (float)cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
+            err[i] = (float)norm( ipoints_ptr[i] - projpoints_ptr[i] );
 
     }
 
@@ -188,7 +189,7 @@ public:
     Mat tvec;
 };
 
-bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
+bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         InputArray _cameraMatrix, InputArray _distCoeffs,
                         OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
                         int iterationsCount, float reprojectionError, double confidence,
@@ -214,23 +215,45 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Mat tvec = useExtrinsicGuess ? _tvec.getMat() : Mat(3, 1, CV_64FC1);
     Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
 
-    Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
-    cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
+    int model_points = 5;
+    int ransac_kernel_method = SOLVEPNP_EPNP;
 
-    int model_points = 4;                             // minimum of number of model points
-    if( flags == cv::SOLVEPNP_ITERATIVE ) model_points = 6;
-    else if( flags == cv::SOLVEPNP_UPNP ) model_points = 6;
-    else if( flags == cv::SOLVEPNP_EPNP ) model_points = 5;
+    if( npoints == 4 )
+    {
+        model_points = 4;
+        ransac_kernel_method = SOLVEPNP_P3P;
+    }
+
+    Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
+    cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, ransac_kernel_method, useExtrinsicGuess, rvec, tvec);
 
     double param1 = reprojectionError;                // reprojection error
     double param2 = confidence;                       // confidence
     int param3 = iterationsCount;                     // number maximum iterations
 
-    cv::Mat _local_model(3, 2, CV_64FC1);
-    cv::Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
+    Mat _local_model(3, 2, CV_64FC1);
+    Mat _mask_local_inliers(1, opoints.rows, CV_8UC1);
 
     // call Ransac
-    int result = createRANSACPointSetRegistrator(cb, model_points, param1, param2, param3)->run(opoints, ipoints, _local_model, _mask_local_inliers);
+    int result = createRANSACPointSetRegistrator(cb, model_points,
+        param1, param2, param3)->run(opoints, ipoints, _local_model, _mask_local_inliers);
+
+    if( result > 0 )
+    {
+        vector<Point3d> opoints_inliers;
+        vector<Point2d> ipoints_inliers;
+        opoints.convertTo(opoints_inliers, CV_64F);
+        ipoints.convertTo(ipoints_inliers, CV_64F);
+
+        const uchar* mask = _mask_local_inliers.ptr<uchar>();
+        int npoints1 = compressElems(&opoints_inliers[0], mask, 1, npoints);
+        compressElems(&ipoints_inliers[0], mask, 1, npoints);
+
+        opoints_inliers.resize(npoints1);
+        ipoints_inliers.resize(npoints1);
+        result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
+                          distCoeffs, rvec, tvec, false, flags == SOLVEPNP_P3P ? SOLVEPNP_EPNP : flags) ? 1 : -1;
+    }
 
     if( result <= 0 || _local_model.rows <= 0)
     {
@@ -260,3 +283,5 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     }
     return true;
 }
+
+}

modules/core/include/opencv2/core/base.hpp

@@ -442,6 +442,10 @@ template<typename _Tp> static inline _Tp saturate_cast(int v)      { return _Tp(
 template<typename _Tp> static inline _Tp saturate_cast(float v)    { return _Tp(v); }
 /** @overload */
 template<typename _Tp> static inline _Tp saturate_cast(double v)   { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(int64 v)    { return _Tp(v); }
+/** @overload */
+template<typename _Tp> static inline _Tp saturate_cast(uint64 v)   { return _Tp(v); }
 
 //! @cond IGNORED
 
@@ -452,6 +456,8 @@ template<> inline uchar saturate_cast<uchar>(short v)        { return saturate_c
 template<> inline uchar saturate_cast<uchar>(unsigned v)     { return (uchar)std::min(v, (unsigned)UCHAR_MAX); }
 template<> inline uchar saturate_cast<uchar>(float v)        { int iv = cvRound(v); return saturate_cast<uchar>(iv); }
 template<> inline uchar saturate_cast<uchar>(double v)       { int iv = cvRound(v); return saturate_cast<uchar>(iv); }
+template<> inline uchar saturate_cast<uchar>(int64 v)        { return (uchar)((uint64)v <= (uint64)UCHAR_MAX ? v : v > 0 ? UCHAR_MAX : 0); }
+template<> inline uchar saturate_cast<uchar>(uint64 v)       { return (uchar)std::min(v, (uint64)UCHAR_MAX); }
 
 template<> inline schar saturate_cast<schar>(uchar v)        { return (schar)std::min((int)v, SCHAR_MAX); }
 template<> inline schar saturate_cast<schar>(ushort v)       { return (schar)std::min((unsigned)v, (unsigned)SCHAR_MAX); }
@@ -460,6 +466,8 @@ template<> inline schar saturate_cast<schar>(short v)        { return saturate_c
 template<> inline schar saturate_cast<schar>(unsigned v)     { return (schar)std::min(v, (unsigned)SCHAR_MAX); }
 template<> inline schar saturate_cast<schar>(float v)        { int iv = cvRound(v); return saturate_cast<schar>(iv); }
 template<> inline schar saturate_cast<schar>(double v)       { int iv = cvRound(v); return saturate_cast<schar>(iv); }
+template<> inline schar saturate_cast<schar>(int64 v)        { return (schar)((uint64)((int64)v-SCHAR_MIN) <= (uint64)UCHAR_MAX ? v : v > 0 ? SCHAR_MAX : SCHAR_MIN); }
+template<> inline schar saturate_cast<schar>(uint64 v)       { return (schar)std::min(v, (uint64)SCHAR_MAX); }
 
 template<> inline ushort saturate_cast<ushort>(schar v)      { return (ushort)std::max((int)v, 0); }
 template<> inline ushort saturate_cast<ushort>(short v)      { return (ushort)std::max((int)v, 0); }
@@ -467,12 +475,16 @@ template<> inline ushort saturate_cast<ushort>(int v)        { return (ushort)((
 template<> inline ushort saturate_cast<ushort>(unsigned v)   { return (ushort)std::min(v, (unsigned)USHRT_MAX); }
 template<> inline ushort saturate_cast<ushort>(float v)      { int iv = cvRound(v); return saturate_cast<ushort>(iv); }
 template<> inline ushort saturate_cast<ushort>(double v)     { int iv = cvRound(v); return saturate_cast<ushort>(iv); }
+template<> inline ushort saturate_cast<ushort>(int64 v)      { return (ushort)((uint64)v <= (uint64)USHRT_MAX ? v : v > 0 ? USHRT_MAX : 0); }
+template<> inline ushort saturate_cast<ushort>(uint64 v)     { return (ushort)std::min(v, (uint64)USHRT_MAX); }
 
 template<> inline short saturate_cast<short>(ushort v)       { return (short)std::min((int)v, SHRT_MAX); }
 template<> inline short saturate_cast<short>(int v)          { return (short)((unsigned)(v - SHRT_MIN) <= (unsigned)USHRT_MAX ? v : v > 0 ? SHRT_MAX : SHRT_MIN); }
 template<> inline short saturate_cast<short>(unsigned v)     { return (short)std::min(v, (unsigned)SHRT_MAX); }
 template<> inline short saturate_cast<short>(float v)        { int iv = cvRound(v); return saturate_cast<short>(iv); }
 template<> inline short saturate_cast<short>(double v)       { int iv = cvRound(v); return saturate_cast<short>(iv); }
+template<> inline short saturate_cast<short>(int64 v)        { return (short)((uint64)((int64)v - SHRT_MIN) <= (uint64)USHRT_MAX ? v : v > 0 ? SHRT_MAX : SHRT_MIN); }
+template<> inline short saturate_cast<short>(uint64 v)       { return (short)std::min(v, (uint64)SHRT_MAX); }
 
 template<> inline int saturate_cast<int>(float v)            { return cvRound(v); }
 template<> inline int saturate_cast<int>(double v)           { return cvRound(v); }

modules/core/include/opencv2/core/cvdef.h

@@ -480,16 +480,14 @@ CV_INLINE int cvRound( double value )
         fistp t;
     }
     return t;
-#elif defined _MSC_VER && defined _M_ARM && defined HAVE_TEGRA_OPTIMIZATION
-    TEGRA_ROUND(value);
+#elif ((defined _MSC_VER && defined _M_ARM) || defined CV_ICC || defined __GNUC__) && defined HAVE_TEGRA_OPTIMIZATION
+    TEGRA_ROUND_DBL(value);
 #elif defined CV_ICC || defined __GNUC__
-#  ifdef HAVE_TEGRA_OPTIMIZATION
-    TEGRA_ROUND(value);
-#  elif CV_VFP
+# if CV_VFP
     ARM_ROUND_DBL(value)
-#  else
+# else
     return (int)lrint(value);
-#  endif
+# endif
 #else
     double intpart, fractpart;
     fractpart = modf(value, &intpart);
@@ -505,7 +503,9 @@ CV_INLINE int cvRound( double value )
 /** @overload */
 CV_INLINE int cvRound(float value)
 {
-#if CV_VFP && !defined HAVE_TEGRA_OPTIMIZATION
+#if defined ANDROID && (defined CV_ICC || defined __GNUC__) && defined HAVE_TEGRA_OPTIMIZATION
+    TEGRA_ROUND_FLT(value);
+#elif CV_VFP && !defined HAVE_TEGRA_OPTIMIZATION
     ARM_ROUND_FLT(value)
 #else
     return cvRound((double)value);

modules/core/include/opencv2/core/cvstd.hpp

@@ -1040,9 +1040,11 @@ static inline bool operator>= (const String& lhs, const char*   rhs) { return lh
 
 #ifndef OPENCV_NOSTL_TRANSITIONAL
 namespace std
+{
+    static inline void swap(cv::String& a, cv::String& b) { a.swap(b); }
+}
 #else
 namespace cv
-#endif
 {
     template<> inline
     void swap<cv::String>(cv::String& a, cv::String& b)
@@ -1050,6 +1052,7 @@ namespace cv
         a.swap(b);
     }
 }
+#endif
 
 #include "opencv2/core/ptr.inl.hpp"
 

modules/core/include/opencv2/core/persistence.hpp

@@ -257,7 +257,7 @@ Here is how to read the file created by the code sample above:
             cout << " " << (int)lbpval[i];
         cout << ")" << endl;
     }
-    fs.release();
+    fs2.release();
 @endcode
 
 Format specification    {#format_spec}

modules/core/include/opencv2/core/private.hpp

@@ -172,6 +172,27 @@ namespace cv
 CV_EXPORTS void scalarToRawData(const cv::Scalar& s, void* buf, int type, int unroll_to = 0);
 }
 
+// property implementation macros
+
+#define CV_IMPL_PROPERTY_RO(type, name, member) \
+    inline type get##name() const { return member; }
+
+#define CV_HELP_IMPL_PROPERTY(r_type, w_type, name, member) \
+    CV_IMPL_PROPERTY_RO(r_type, name, member) \
+    inline void set##name(w_type val) { member = val; }
+
+#define CV_HELP_WRAP_PROPERTY(r_type, w_type, name, internal_name, internal_obj) \
+    r_type get##name() const { return internal_obj.get##internal_name(); } \
+    void set##name(w_type val) { internal_obj.set##internal_name(val); }
+
+#define CV_IMPL_PROPERTY(type, name, member) CV_HELP_IMPL_PROPERTY(type, type, name, member)
+#define CV_IMPL_PROPERTY_S(type, name, member) CV_HELP_IMPL_PROPERTY(type, const type &, name, member)
+
+#define CV_WRAP_PROPERTY(type, name, internal_name, internal_obj)  CV_HELP_WRAP_PROPERTY(type, type, name, internal_name, internal_obj)
+#define CV_WRAP_PROPERTY_S(type, name, internal_name, internal_obj) CV_HELP_WRAP_PROPERTY(type, const type &, name, internal_name, internal_obj)
+
+#define CV_WRAP_SAME_PROPERTY(type, name, internal_obj) CV_WRAP_PROPERTY(type, name, name, internal_obj)
+#define CV_WRAP_SAME_PROPERTY_S(type, name, internal_obj) CV_WRAP_PROPERTY_S(type, name, name, internal_obj)
 
 /****************************************************************************************\
 *                     Structures and macros for integration with IPP                     *

modules/core/include/opencv2/core/utility.hpp

@@ -61,7 +61,7 @@ CV_EXPORTS void addImpl(int flag, const char* func = 0); // add implementation a
 // Each implementation entry correspond to function name entry, so you can find which implementation was executed in which fucntion
 CV_EXPORTS int getImpl(std::vector<int> &impl, std::vector<String> &funName);
 
-CV_EXPORTS bool useCollection(); // return implementation colelction state
+CV_EXPORTS bool useCollection(); // return implementation collection state
 CV_EXPORTS void setUseCollection(bool flag); // set implementation collection state
 
 #define CV_IMPL_PLAIN  0x01 // native CPU OpenCV implementation

modules/core/src/ocl.cpp

@@ -3957,6 +3957,7 @@ public:
             derived()._releaseBufferEntry(entry);
         }
         reservedEntries_.clear();
+        currentReservedSize = 0;
     }
 };