Merge remote-tracking branch 'upstream/3.4' into merge-3.4

modules/aruco/src/apriltag_quad_thresh.cpp

@@ -94,7 +94,7 @@ void ptsort_(struct pt *pts, int sz)
 
     // Use stack storage if it's not too big.
     cv::AutoBuffer<struct pt, 1024> _tmp_stack(sz);
-    memcpy(_tmp_stack, pts, sizeof(struct pt) * sz);
+    memcpy(_tmp_stack.data(), pts, sizeof(struct pt) * sz);
 
     int asz = sz/2;
     int bsz = sz - asz;
@@ -470,11 +470,11 @@ int quad_segment_agg(int sz, struct line_fit_pt *lfps, int indices[4]){
     int rvalloc_pos = 0;
     int rvalloc_size = 3*sz;
     cv::AutoBuffer<struct remove_vertex, 0> rvalloc_(std::max(1, rvalloc_size));
-    memset(rvalloc_, 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
-    struct remove_vertex *rvalloc = rvalloc_;
+    memset(rvalloc_.data(), 0, sizeof(rvalloc_[0]) * rvalloc_.size()); // TODO Add AutoBuffer zero fill
+    struct remove_vertex *rvalloc = rvalloc_.data();
     cv::AutoBuffer<struct segment, 0> segs_(std::max(1, sz)); // TODO Add AutoBuffer zero fill
-    memset(segs_, 0, sizeof(segs_[0]) * segs_.size());
-    struct segment *segs = segs_;
+    memset(segs_.data(), 0, sizeof(segs_[0]) * segs_.size());
+    struct segment *segs = segs_.data();
 
     // populate with initial entries
     for (int i = 0; i < sz; i++) {
@@ -753,8 +753,8 @@ int fit_quad(const Ptr<DetectorParameters> &_params, const Mat im, zarray_t *clu
     // efficiently computed for any contiguous range of indices.
 
     cv::AutoBuffer<struct line_fit_pt, 64> lfps_(sz);
-    memset(lfps_, 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
-    struct line_fit_pt *lfps = lfps_;
+    memset(lfps_.data(), 0, sizeof(lfps_[0]) * lfps_.size()); // TODO Add AutoBuffer zero fill
+    struct line_fit_pt *lfps = lfps_.data();
 
     for (int i = 0; i < sz; i++) {
         struct pt *p;

modules/aruco/src/zmaxheap.cpp

@@ -49,9 +49,9 @@ static inline void _swap_default(zmaxheap_t *heap, int a, int b)
     heap->values[b] = t;
 
     cv::AutoBuffer<char> tmp(heap->el_sz);
-    memcpy(tmp, &heap->data[a*heap->el_sz], heap->el_sz);
+    memcpy(tmp.data(), &heap->data[a*heap->el_sz], heap->el_sz);
     memcpy(&heap->data[a*heap->el_sz], &heap->data[b*heap->el_sz], heap->el_sz);
-    memcpy(&heap->data[b*heap->el_sz], tmp, heap->el_sz);
+    memcpy(&heap->data[b*heap->el_sz], tmp.data(), heap->el_sz);
 }
 
 static inline void _swap_pointer(zmaxheap_t *heap, int a, int b)

modules/optflow/src/dis_flow.cpp

@@ -380,12 +380,7 @@ void DISOpticalFlowImpl::precomputeStructureTensor(Mat &dst_I0xx, Mat &dst_I0yy,
         }
     }
 
-    AutoBuffer<float> sum_xx_buf(ws), sum_yy_buf(ws), sum_xy_buf(ws), sum_x_buf(ws), sum_y_buf(ws);
-    float *sum_xx = (float *)sum_xx_buf;
-    float *sum_yy = (float *)sum_yy_buf;
-    float *sum_xy = (float *)sum_xy_buf;
-    float *sum_x = (float *)sum_x_buf;
-    float *sum_y = (float *)sum_y_buf;
+    AutoBuffer<float> sum_xx(ws), sum_yy(ws), sum_xy(ws), sum_x(ws), sum_y(ws);
     for (int j = 0; j < ws; j++)
     {
         sum_xx[j] = 0.0f;

modules/ovis/src/ovis.cpp

@@ -383,7 +383,12 @@ public:
     void removeEntity(const String& name) {
         SceneNode& node = _getSceneNode(sceneMgr, name);
         node.getAttachedObject(name)->detachFromParent();
+
+        // only one of the following will do something
+        sceneMgr->destroyLight(name);
         sceneMgr->destroyEntity(name);
+        sceneMgr->destroyCamera(name);
+
         sceneMgr->destroySceneNode(&node);
     }
 

modules/rgbd/src/linemod.cpp

@@ -254,11 +254,11 @@ static void quantizedOrientations(const Mat& src, Mat& magnitude,
   float * ptr0y = (float *)sobel_dy.data;
   float * ptrmg = (float *)magnitude.data;
 
-  const int length1 = static_cast<const int>(sobel_3dx.step1());
-  const int length2 = static_cast<const int>(sobel_3dy.step1());
-  const int length3 = static_cast<const int>(sobel_dx.step1());
-  const int length4 = static_cast<const int>(sobel_dy.step1());
-  const int length5 = static_cast<const int>(magnitude.step1());
+  const int length1 = static_cast<int>(sobel_3dx.step1());
+  const int length2 = static_cast<int>(sobel_3dy.step1());
+  const int length3 = static_cast<int>(sobel_dx.step1());
+  const int length4 = static_cast<int>(sobel_dy.step1());
+  const int length5 = static_cast<int>(magnitude.step1());
   const int length0 = sobel_3dy.cols * 3;
 
   for (int r = 0; r < sobel_3dy.rows; ++r)

modules/rgbd/src/odometry.cpp

@@ -443,7 +443,7 @@ void computeCorresps(const Mat& K, const Mat& K_inv, const Mat& Rt,
     const double * Kt_ptr = Kt.ptr<const double>();
 
     AutoBuffer<float> buf(3 * (depth1.cols + depth1.rows));
-    float *KRK_inv0_u1 = buf;
+    float *KRK_inv0_u1 = buf.data();
     float *KRK_inv1_v1_plus_KRK_inv2 = KRK_inv0_u1 + depth1.cols;
     float *KRK_inv3_u1 = KRK_inv1_v1_plus_KRK_inv2 + depth1.rows;
     float *KRK_inv4_v1_plus_KRK_inv5 = KRK_inv3_u1 + depth1.cols;
@@ -621,7 +621,7 @@ void calcRgbdLsmMatrices(const Mat& image0, const Mat& cloud0, const Mat& Rt,
     const double * Rt_ptr = Rt.ptr<const double>();
 
     AutoBuffer<float> diffs(correspsCount);
-    float* diffs_ptr = diffs;
+    float* diffs_ptr = diffs.data();
 
     const Vec4i* corresps_ptr = corresps.ptr<Vec4i>();
 
@@ -694,10 +694,10 @@ void calcICPLsmMatrices(const Mat& cloud0, const Mat& Rt,
     const double * Rt_ptr = Rt.ptr<const double>();
 
     AutoBuffer<float> diffs(correspsCount);
-    float * diffs_ptr = diffs;
+    float * diffs_ptr = diffs.data();
 
     AutoBuffer<Point3f> transformedPoints0(correspsCount);
-    Point3f * tps0_ptr = transformedPoints0;
+    Point3f * tps0_ptr = transformedPoints0.data();
 
     const Vec4i* corresps_ptr = corresps.ptr<Vec4i>();
 

modules/tracking/src/feature.cpp

@@ -925,7 +925,7 @@ void CvHOGEvaluator::integralHistogram( const Mat &img, std::vector<Mat> &histog
   Mat qangle( gradSize, CV_8U );
 
   AutoBuffer<int> mapbuf( gradSize.width + gradSize.height + 4 );
-  int* xmap = (int*) mapbuf + 1;
+  int* xmap =  mapbuf.data() + 1;
   int* ymap = xmap + gradSize.width + 2;
 
   const int borderType = (int) BORDER_REPLICATE;
@@ -937,7 +937,7 @@ void CvHOGEvaluator::integralHistogram( const Mat &img, std::vector<Mat> &histog
 
   int width = gradSize.width;
   AutoBuffer<float> _dbuf( width * 4 );
-  float* dbuf = _dbuf;
+  float* dbuf = _dbuf.data();
   Mat Dx( 1, width, CV_32F, dbuf );
   Mat Dy( 1, width, CV_32F, dbuf + width );
   Mat Mag( 1, width, CV_32F, dbuf + width * 2 );

modules/tracking/src/trackerKCF.cpp

@@ -495,7 +495,7 @@ namespace cv{
       int rows = dst.rows, cols = dst.cols;
 
       AutoBuffer<float> _wc(cols);
-      float * const wc = (float *)_wc;
+      float * const wc = _wc.data();
 
       const float coeff0 = 2.0f * (float)CV_PI / (cols - 1);
       const float coeff1 = 2.0f * (float)CV_PI / (rows - 1);

modules/xfeatures2d/include/opencv2/xfeatures2d.hpp

@@ -51,7 +51,7 @@ This section describes experimental algorithms for 2d feature detection.
     @defgroup xfeatures2d_nonfree Non-free 2D Features Algorithms
 
 This section describes two popular algorithms for 2d feature detection, SIFT and SURF, that are
-known to be patented. Use them at your own risk.
+known to be patented. You need to set the OPENCV_ENABLE_NONFREE option in cmake to use those. Use them at your own risk.
 
     @defgroup xfeatures2d_match Experimental 2D Features Matching Algorithm
 

modules/xfeatures2d/src/fast.cpp

@@ -339,7 +339,7 @@ namespace {
 
         AutoBuffer<uchar> _buf((img.cols+16)*3*(sizeof(int) + sizeof(uchar)) + 128);
         uchar* buf[3];
-        buf[0] = _buf; buf[1] = buf[0] + img.cols; buf[2] = buf[1] + img.cols;
+        buf[0] = _buf.data(); buf[1] = buf[0] + img.cols; buf[2] = buf[1] + img.cols;
         int* cpbuf[3];
         cpbuf[0] = (int*)alignPtr(buf[2] + img.cols, sizeof(int)) + 1;
         cpbuf[1] = cpbuf[0] + img.cols + 1;

modules/xfeatures2d/src/sift.cpp

@@ -112,6 +112,8 @@ namespace cv
 namespace xfeatures2d
 {
 
+#ifdef OPENCV_ENABLE_NONFREE
+
 /*!
  SIFT implementation.
 
@@ -341,7 +343,7 @@ static float calcOrientationHist( const Mat& img, Point pt, int radius,
 
     float expf_scale = -1.f/(2.f * sigma * sigma);
     AutoBuffer<float> buf(len*4 + n+4);
-    float *X = buf, *Y = X + len, *Mag = X, *Ori = Y + len, *W = Ori + len;
+    float *X = buf.data(), *Y = X + len, *Mag = X, *Ori = Y + len, *W = Ori + len;
     float* temphist = W + len + 2;
 
     for( i = 0; i < n; i++ )
@@ -754,7 +756,7 @@ static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float sc
     int rows = img.rows, cols = img.cols;
 
     AutoBuffer<float> buf(len*6 + histlen);
-    float *X = buf, *Y = X + len, *Mag = Y, *Ori = Mag + len, *W = Ori + len;
+    float *X = buf.data(), *Y = X + len, *Mag = Y, *Ori = Mag + len, *W = Ori + len;
     float *RBin = W + len, *CBin = RBin + len, *hist = CBin + len;
 
     for( i = 0; i < d+2; i++ )
@@ -1197,5 +1199,14 @@ void SIFT_Impl::detectAndCompute(InputArray _image, InputArray _mask,
     }
 }
 
+#else // ! #ifdef OPENCV_ENABLE_NONFREE
+Ptr<SIFT> SIFT::create( int, int, double, double, double )
+{
+    CV_Error(Error::StsNotImplemented,
+        "This algorithm is patented and is excluded in this configuration; "
+        "Set OPENCV_ENABLE_NONFREE CMake option and rebuild the library");
+}
+#endif
+
 }
 }

modules/xfeatures2d/src/surf.cpp

@@ -115,6 +115,8 @@ namespace cv
 namespace xfeatures2d
 {
 
+#ifdef OPENCV_ENABLE_NONFREE
+
 static const int   SURF_ORI_SEARCH_INC = 5;
 static const float SURF_ORI_SIGMA      = 2.5f;
 static const float SURF_DESC_SIGMA     = 3.3f;
@@ -676,7 +678,7 @@ struct SURFInvoker : ParallelLoopBody
             /* Extract a window of pixels around the keypoint of size 20s */
             int win_size = (int)((PATCH_SZ+1)*s);
             CV_Assert( imaxSize >= win_size );
-            Mat win(win_size, win_size, CV_8U, winbuf);
+            Mat win(win_size, win_size, CV_8U, winbuf.data());
 
             if( !upright )
             {
@@ -1005,6 +1007,16 @@ Ptr<SURF> SURF::create(double _threshold, int _nOctaves, int _nOctaveLayers, boo
     return makePtr<SURF_Impl>(_threshold, _nOctaves, _nOctaveLayers, _extended, _upright);
 }
 
+
+#else // ! #ifdef OPENCV_ENABLE_NONFREE
+Ptr<SURF> SURF::create(double, int, int, bool, bool)
+{
+    CV_Error(Error::StsNotImplemented,
+        "This algorithm is patented and is excluded in this configuration; "
+        "Set OPENCV_ENABLE_NONFREE CMake option and rebuild the library");
+}
+#endif
+
 }
 }
 

modules/xfeatures2d/src/surf.cuda.cpp

@@ -64,6 +64,26 @@ void cv::cuda::SURF_CUDA::releaseMemory() { throw_no_cuda(); }
 
 #else // !defined (HAVE_CUDA)
 
+#if (!defined (OPENCV_ENABLE_NONFREE))
+#define throw_no_nonfree     CV_Error(Error::StsNotImplemented, \
+        "This algorithm is patented and is excluded in this configuration; " \
+        "Set OPENCV_ENABLE_NONFREE CMake option and rebuild the library");
+
+cv::cuda::SURF_CUDA::SURF_CUDA() { throw_no_nonfree }
+cv::cuda::SURF_CUDA::SURF_CUDA(double, int, int, bool, float, bool) { throw_no_nonfree }
+int cv::cuda::SURF_CUDA::descriptorSize() const { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::uploadKeypoints(const std::vector<KeyPoint>&, GpuMat&) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::downloadKeypoints(const GpuMat&, std::vector<KeyPoint>&) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::downloadDescriptors(const GpuMat&, std::vector<float>&) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::operator()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, bool) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&, GpuMat&, bool) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::operator()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&, std::vector<float>&, bool) { throw_no_nonfree }
+void cv::cuda::SURF_CUDA::releaseMemory() { throw_no_nonfree }
+
+#else // OPENCV_ENABLE_NONFREE
+
 namespace cv { namespace cuda { namespace device
 {
     namespace surf
@@ -431,5 +451,6 @@ void cv::cuda::SURF_CUDA::releaseMemory()
 }
 
 #endif // !defined (HAVE_CUDA)
+#endif // !defined (OPENCV_ENABLE_NONFREE)
 #endif
 

modules/xfeatures2d/src/surf.ocl.cpp

@@ -57,6 +57,8 @@ namespace cv
 namespace xfeatures2d
 {
 
+#ifdef OPENCV_ENABLE_NONFREE
+
 enum { ORI_SEARCH_INC=5, ORI_LOCAL_SIZE=(360 / ORI_SEARCH_INC) };
 
 static inline int calcSize(int octave, int layer)
@@ -463,6 +465,8 @@ bool SURF_OCL::calcOrientation(UMat &keypoints)
     return kerOri.run(2, globalThreads, localThreads, true);
 }
 
+#endif // ! #ifdef OPENCV_ENABLE_NONFREE
+
 }
 }