Merge remote-tracking branch 'Itseez/2.4' into fix_bug_5599

modules/calib3d/src/fisheye.cpp

@@ -794,8 +794,42 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
 
     if (K.needed()) cv::Mat(_K).convertTo(K, K.empty() ? CV_64FC1 : K.type());
     if (D.needed()) cv::Mat(finalParam.k).convertTo(D, D.empty() ? CV_64FC1 : D.type());
-    if (rvecs.needed()) cv::Mat(omc).convertTo(rvecs, rvecs.empty() ? CV_64FC3 : rvecs.type());
-    if (tvecs.needed()) cv::Mat(Tc).convertTo(tvecs, tvecs.empty() ? CV_64FC3 : tvecs.type());
+
+    if (rvecs.needed())
+    {
+        if( rvecs.kind() == _InputArray::STD_VECTOR_MAT )
+        {
+            rvecs.create((int)objectPoints.total(), 1, CV_64FC3);
+            for( int i = 0; i < (int)objectPoints.total(); i++ )
+            {
+                rvecs.create(3, 1, CV_64F, i, true);
+                Mat rv = rvecs.getMat(i);
+                *rv.ptr<Vec3d>(0) = omc[i];
+            }
+        }
+        else
+        {
+            cv::Mat(omc).convertTo(rvecs, rvecs.fixedType() ? rvecs.type() : CV_64FC3);
+        }
+    }
+
+    if (tvecs.needed())
+    {
+        if( tvecs.kind() == _InputArray::STD_VECTOR_MAT )
+        {
+            tvecs.create((int)objectPoints.total(), 1, CV_64FC3);
+            for( int i = 0; i < (int)objectPoints.total(); i++ )
+            {
+                tvecs.create(3, 1, CV_64F, i, true);
+                Mat tv = tvecs.getMat(i);
+                *tv.ptr<Vec3d>(0) = Tc[i];
+            }
+        }
+        else
+        {
+            cv::Mat(Tc).convertTo(tvecs, tvecs.fixedType() ? tvecs.type() : CV_64FC3);
+        }
+    }
 
     return rms;
 }

modules/ts/misc/run_android.py

+#!/usr/bin/env python
+
+import sys
+from run_utils import *
+from run_suite import TestSuite
+
+def exe(program):
+    return program + ".exe" if hostos == 'nt' else program
+
+class ApkInfo:
+    def __init__(self):
+        self.pkg_name = None
+        self.pkg_target = None
+        self.pkg_runner = None
+
+    def forcePackage(self, package):
+        if package:
+            if package.startswith("."):
+                self.pkg_target += package
+            else:
+                self.pkg_target = package
+
+#==============================================================================
+
+class Tool:
+    def __init__(self):
+        self.cmd = []
+
+    def run(self, args = [], silent = False):
+        cmd = self.cmd[:]
+        cmd.extend(args)
+        return execute(self.cmd + args, silent)
+
+
+#==============================================================================
+
+class Adb(Tool):
+    def __init__(self, sdk_dir):
+        Tool.__init__(self)
+        exe_path = os.path.join(sdk_dir, exe("platform-tools/adb"))
+        if not os.path.isfile(exe_path) or not os.access(exe_path, os.X_OK):
+            exe_path = None
+        # fix adb tool location
+        if not exe_path:
+            exe_path = getRunningProcessExePathByName("adb")
+        if not exe_path:
+            exe_path = "adb"
+        self.cmd = [exe_path]
+        self.cpuinfo = ""
+
+    def init(self, serial):
+        # remember current device serial. Needed if another device is connected while this script runs
+        if not serial:
+            serial = self.detectSerial()
+        if serial:
+            self.cmd.extend(["-s", serial])
+        # read device cpuinfo
+        self.cpuinfo = self.run(["shell", "cat /proc/cpuinfo"], silent = True)
+        if not self.cpuinfo:
+            raise Err("Can not get cpuinfo from Android device")
+
+    def detectSerial(self):
+        adb_res = self.run(["devices"], silent = True)
+        # assume here that device name may consists of any characters except newline
+        connected_devices = re.findall(r"^[^\n]+[ \t]+device\r?$", adb_res, re.MULTILINE)
+        if not connected_devices:
+            raise Err("Can not find Android device")
+        elif len(connected_devices) != 1:
+            raise Err("Too many (%s) devices are connected. Please specify single device using --serial option:\n\n%s", len(connected_devices), adb_res)
+        else:
+            return connected_devices[0].split("\t")[0]
+
+    def getOSIdentifier(self):
+        return "Android" + self.run(["shell", "getprop ro.build.version.release"], silent = True).strip()
+
+    def getHardware(self):
+        hw = re.search(r"^Hardware[ \t]*:[ \t]*(.*?)$", self.cpuinfo, re.MULTILINE)
+        if hw:
+            return hw.group(1).strip()
+
+    def checkArmHardware(self, expected_abi):
+        if expected_abi and "armeabi-v7a" in expected_abi:
+            if "ARMv7" not in self.cpuinfo:
+                raise Err("Android device does not support ARMv7 commands, but tests are built for armeabi-v7a")
+            if "NEON" in expected_abi and "neon" not in self.cpuinfo:
+                raise Err("Android device has no NEON, but tests are built for %s", expected_abi)
+
+
+#==============================================================================
+
+class Aapt(Tool):
+    def __init__(self, sdk_dir):
+        Tool.__init__(self)
+        aapt_fn = exe("aapt")
+        aapt = None
+        for r, ds, fs in os.walk( os.path.join(sdk_dir, 'build-tools') ):
+            if aapt_fn in fs:
+                aapt = os.path.join(r, aapt_fn)
+                break
+        if not aapt:
+            raise Err("Can not find aapt tool: %s", aapt_fn)
+        self.cmd = [aapt]
+
+    def dump(self, exe):
+        res = ApkInfo()
+        output = self.run(["dump", "xmltree", exe, "AndroidManifest.xml"], silent = True)
+        if not output:
+            raise Err("Can not dump manifest from %s", exe)
+        tags = re.split(r"[ ]+E: ", output)
+        # get package name
+        manifest_tag = [t for t in tags if t.startswith("manifest ")]
+        if not manifest_tag:
+            raise Err("Can not read package name from: %s", exe)
+        res.pkg_name =  re.search(r"^[ ]+A: package=\"(?P<pkg>.*?)\" \(Raw: \"(?P=pkg)\"\)\r?$", manifest_tag[0], flags=re.MULTILINE).group("pkg")
+        # get test instrumentation info
+        instrumentation_tag = [t for t in tags if t.startswith("instrumentation ")]
+        if not instrumentation_tag:
+            raise Err("Can not find instrumentation detials in: %s", exe)
+        res.pkg_runner = re.search(r"^[ ]+A: android:name\(0x[0-9a-f]{8}\)=\"(?P<runner>.*?)\" \(Raw: \"(?P=runner)\"\)\r?$", instrumentation_tag[0], flags=re.MULTILINE).group("runner")
+        res.pkg_target =  re.search(r"^[ ]+A: android:targetPackage\(0x[0-9a-f]{8}\)=\"(?P<pkg>.*?)\" \(Raw: \"(?P=pkg)\"\)\r?$", instrumentation_tag[0], flags=re.MULTILINE).group("pkg")
+        if not res.pkg_name or not res.pkg_runner or not res.pkg_target:
+            raise Err("Can not find instrumentation detials in: %s", exe)
+        return res
+
+#===================================================================================================
+
+class AndroidTestSuite(TestSuite):
+    def __init__(self, options, cache, android_env = {}):
+        TestSuite.__init__(self, options, cache)
+        sdk_dir = options.android_sdk or os.environ.get("ANDROID_SDK", False) or os.path.dirname(os.path.dirname(self.cache.android_executable))
+        log.debug("Detecting Android tools in directory: %s", sdk_dir)
+        self.adb = Adb(sdk_dir)
+        self.aapt = Aapt(sdk_dir)
+        self.env = android_env
+
+    def isTest(self, fullpath):
+        if os.path.isfile(fullpath):
+            if fullpath.endswith(".apk") or os.access(fullpath, os.X_OK):
+                return True
+        return False
+
+    def getOS(self):
+        return self.adb.getOSIdentifier()
+
+    def getHardware(self):
+        return [self.adb.getHardware()]
+
+    def checkPrerequisites(self):
+        self.adb.init(self.options.serial)
+        self.adb.checkArmHardware(self.cache.android_abi)
+
+    def runTest(self, path, logfile, workingDir, args = []):
+        args = args[:]
+        exe = os.path.abspath(path)
+
+        if exe.endswith(".apk"):
+            info = self.aapt.dump(exe)
+            if not info:
+                raise Err("Can not read info from test package: %s", exe)
+            info.forcePackage(self.options.package)
+            self.adb.run(["uninstall", info.pkg_name])
+
+            output = self.adb.run(["install", exe], silent = True)
+            if not (output and "Success" in output):
+                raise Err("Can not install package: %s", exe)
+
+            params = ["-e package %s" % info.pkg_target]
+            ret = self.adb.run(["shell", "am instrument -w %s %s/%s" % (" ".join(params), info.pkg_name, info.pkg_runner)])
+            return None, ret
+        else:
+            device_dir = getpass.getuser().replace(" ","") + "_" + self.options.mode +"/"
+            if isColorEnabled(args):
+                args.append("--gtest_color=yes")
+            tempdir = "/data/local/tmp/"
+            android_dir = tempdir + device_dir
+            exename = os.path.basename(exe)
+            android_exe = android_dir + exename
+            self.adb.run(["push", exe, android_exe])
+            self.adb.run(["shell", "chmod 777 " + android_exe])
+            env_pieces = ["export %s=%s" % (a,b) for a,b in self.env.items()]
+            pieces = ["cd %s" % android_dir, "./%s %s" % (exename, " ".join(args))]
+            log.warning("Run: %s" % " && ".join(pieces))
+            ret = self.adb.run(["shell", " && ".join(env_pieces + pieces)])
+            # try get log
+            hostlogpath = os.path.join(workingDir, logfile)
+            self.adb.run(["pull", android_dir + logfile, hostlogpath])
+            # cleanup
+            self.adb.run(["shell", "rm " + android_dir + logfile])
+            self.adb.run(["shell", "rm " + tempdir + "__opencv_temp.*"], silent = True)
+            if os.path.isfile(hostlogpath):
+                return hostlogpath, ret
+            return None, ret
+
+#===================================================================================================
+
+if __name__ == "__main__":
+    log.error("This is utility file, please execute run.py script")

modules/ts/misc/run_suite.py

+#!/usr/bin/env python
+
+import datetime
+from run_utils import *
+
+class TestSuite(object):
+    def __init__(self, options, cache):
+        self.options = options
+        self.cache = cache
+        self.nameprefix = "opencv_" + self.options.mode + "_"
+        self.tests = self.cache.gatherTests(self.nameprefix + "*", self.isTest)
+
+    def getOS(self):
+        return getPlatformVersion() or self.cache.getOS()
+
+    def getHardware(self):
+        res = []
+        if self.cache.getArch() in ["x86", "x64"] and self.cache.withCuda():
+            res.append("CUDA")
+        return res
+
+    def getLogName(self, app, timestamp):
+        app = self.getAlias(app)
+        rev = self.cache.getGitVersion()
+        if isinstance(timestamp, datetime.datetime):
+            timestamp = timestamp.strftime("%Y%m%d-%H%M%S")
+        if self.options.longname:
+            small_pieces = [self.getOS(), self.cache.getArch()] + self.cache.getDependencies() + self.getHardware() + [self.cache.getSIMDFeatures()]
+            big_pieces = [app, str(rev), timestamp, "_".join([p for p in small_pieces if p])]
+            l = "__".join(big_pieces)
+        else:
+            pieces = [app, self.cache.getOS(), self.cache.getArch()] + self.getHardware() + [rev, timestamp]
+            lname = "_".join([p for p in pieces if p])
+            lname = re.sub(r'[\(\)\[\]\s,]', '_', lname)
+            l = re.sub(r'_+', '_', lname)
+        return l + ".xml"
+
+    def listTests(self, short = False, main = False):
+        if len(self.tests) == 0:
+            raise Err("No tests found")
+        for t in self.tests:
+            if short:
+                t = self.getAlias(t)
+            if not main or self.cache.isMainModule(t):
+                log.info("%s", t)
+
+    def getAlias(self, fname):
+        return sorted(self.getAliases(fname), key = len)[0]
+
+    def getAliases(self, fname):
+        # input is full path ('/home/.../bin/opencv_test_core') or 'java'
+        res = [fname]
+        fname = os.path.basename(fname)
+        res.append(fname) # filename (opencv_test_core.exe)
+        noext = re.sub(r"\.(exe|apk)$", '', fname)
+        res.append(noext) # filename w/o extension (opencv_test_core)
+        nopref = None
+        if fname.startswith(self.nameprefix):
+            nopref = fname[len(self.nameprefix):]
+            res.append(nopref) # filename w/o prefix (core)
+        if noext.startswith(self.nameprefix):
+            res.append(noext[len(self.nameprefix):])
+        if self.options.configuration == "Debug":
+            res.append(re.sub(r"d$", '', noext))  # MSVC debug config, remove 'd' suffix
+            if nopref:
+                res.append(re.sub(r"d$", '', nopref))  # MSVC debug config, remove 'd' suffix
+        return set(res)
+
+    def getTest(self, name):
+        # return stored test name by provided alias
+        for t in self.tests:
+            if name in self.getAliases(t):
+                return t
+        raise Err("Can not find test: %s", name)
+
+    def getTestList(self, white, black):
+        res = [t for t in white or self.tests if self.getAlias(t) not in black]
+        if len(res) == 0:
+            raise Err("No tests found")
+        return set(res)
+
+    def isTest(self, fullpath):
+        if fullpath == "java":
+            return True
+        if not os.path.isfile(fullpath):
+            return False
+        if self.cache.getOS() == "nt" and not fullpath.endswith(".exe"):
+            return False
+        return os.access(fullpath, os.X_OK)
+
+    def wrapInValgrind(self, cmd = []):
+        if self.options.valgrind:
+            res = ['valgrind']
+            if self.options.valgrind_supp:
+                res.append("--suppressions=%s" % self.options.valgrind_supp)
+            res.extend(self.options.valgrind_opt)
+            return res + cmd
+        return cmd
+
+    def runTest(self, path, logfile, workingDir, args = []):
+        args = args[:]
+        exe = os.path.abspath(path)
+        if path == "java":
+            cfg = self.cache.build_type
+            if self.options.configuration:
+                cfg = self.options.configuration
+            cmd = [self.cache.ant_executable, "-Dopencv.build.type=%s" % cfg, "buildAndTest"]
+            ret = execute(cmd, cwd = self.cache.java_test_binary_dir + "/.build")
+            return None, ret
+        else:
+            if isColorEnabled(args):
+                args.append("--gtest_color=yes")
+            cmd = self.wrapInValgrind([exe] + args)
+            tempDir = TempEnvDir('OPENCV_TEMP_PATH', "__opencv_temp.")
+            tempDir.init()
+            log.warning("Run: %s" % " ".join(cmd))
+            ret = execute(cmd, cwd = workingDir)
+            tempDir.clean()
+            hostlogpath = os.path.join(workingDir, logfile)
+            if os.path.isfile(hostlogpath):
+                return hostlogpath, ret
+            return None, ret
+
+    def checkPrerequisites(self):
+        if self.cache.getArch() == "x64" and hostmachine == "x86":
+            raise Err("Target architecture is incompatible with current platform")
+
+    def runTests(self, tests, black, workingDir, args = []):
+        self.checkPrerequisites()
+        args = args[:]
+        logs = []
+        test_list = self.getTestList(tests, black)
+        date = datetime.datetime.now()
+        if len(test_list) != 1:
+            args = [a for a in args if not a.startswith("--gtest_output=")]
+        ret = 0
+        for test in test_list:
+            more_args = []
+            exe = self.getTest(test)
+
+            userlog = [a for a in args if a.startswith("--gtest_output=")]
+            if len(userlog) == 0:
+                logname = self.getLogName(exe, date)
+                more_args.append("--gtest_output=xml:" + logname)
+            else:
+                logname = userlog[0][userlog[0].find(":")+1:]
+
+            log.debug("Running the test: %s (%s) ==> %s in %s", exe, args + more_args, logname, workingDir)
+            if self.options.dry_run:
+                logfile, r = None, 0
+            else:
+                logfile, r = self.runTest(exe, logname, workingDir, args + more_args)
+            log.debug("Test returned: %s ==> %s", r, logfile)
+
+            if r != 0:
+                ret = r
+            if logfile:
+                logs.append(os.path.relpath(logfile, workingDir))
+        return logs, ret
+
+#===================================================================================================
+
+if __name__ == "__main__":
+    log.error("This is utility file, please execute run.py script")

platforms/scripts/valgrind.supp

+{
+   IPP static init
+   Memcheck:Cond
+   fun:ippicvGetCpuFeatures
+   fun:ippicvStaticInit
+}