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

modules/ovis/src/ovis.cpp

@@ -10,6 +10,7 @@
 #include <OgreCompositorManager.h>
 
 #include <opencv2/calib3d.hpp>
+#include <opencv2/core/utils/configuration.private.hpp>
 
 namespace cv
 {
@@ -183,6 +184,10 @@ struct Application : public OgreBites::ApplicationContext, public OgreBites::Inp
         : OgreBites::ApplicationContext("ovis", false), sceneMgr(NULL), title(_title), w(sz.width),
           h(sz.height), key_pressed(-1), flags(_flags)
     {
+        if(utils::getConfigurationParameterBool("OPENCV_OVIS_VERBOSE_LOG", false))
+            return;
+
+        // set default log with low log level
         logMgr.reset(new LogManager());
         logMgr->createLog("ovis.log", true, true, true);
         logMgr->setLogDetail(LL_LOW);
@@ -201,8 +206,9 @@ struct Application : public OgreBites::ApplicationContext, public OgreBites::Inp
 
     bool oneTimeConfig() CV_OVERRIDE
     {
-        Ogre::RenderSystem* rs = getRoot()->getRenderSystemByName(RENDERSYSTEM_NAME);
-        CV_Assert(rs);
+        Ogre::String rsname = utils::getConfigurationParameterString("OPENCV_OVIS_RENDERSYSTEM", RENDERSYSTEM_NAME);
+        Ogre::RenderSystem* rs = getRoot()->getRenderSystemByName(rsname);
+        CV_Assert(rs && "Could not find rendersystem");
         getRoot()->setRenderSystem(rs);
         return true;
     }

modules/rgbd/test/test_normal.cpp

@@ -182,7 +182,7 @@ protected:
             std::cout << std::endl << "*** FALS" << std::endl;
             errors[0][0] = 0.006f;
             errors[0][1] = 0.03f;
-            errors[1][0] = 0.00008f;
+            errors[1][0] = 0.0001f;
             errors[1][1] = 0.02f;
             break;
           case 1:

modules/rgbd/test/test_odometry.cpp

@@ -190,7 +190,7 @@ void CV_OdometryTest::generateRandomTransformation(Mat& rvec, Mat& tvec)
     normalize(rvec, rvec, rng.uniform(0.007f, maxRotation));
 
     randu(tvec, Scalar(-1000), Scalar(1000));
-    normalize(tvec, tvec, rng.uniform(0.007f, maxTranslation));
+    normalize(tvec, tvec, rng.uniform(0.008f, maxTranslation));
 }
 
 void CV_OdometryTest::run(int)

modules/sfm/src/simple_pipeline.cpp

@@ -37,6 +37,9 @@
 
 #if CERES_FOUND
 
+// Eigen
+#include <Eigen/Core>
+
 #include <opencv2/core/eigen.hpp>
 #include <opencv2/xfeatures2d.hpp>