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

modules/aruco/src/charuco.cpp

@@ -194,7 +194,7 @@ void CharucoBoard::_getNearestMarkerCorners() {
             double sqDistance;
             Point3f distVector = charucoCorner - center;
             sqDistance = distVector.x * distVector.x + distVector.y * distVector.y;
-            if(j == 0 || fabs(sqDistance - minDist) < 0.0001) {
+            if(j == 0 || fabs(sqDistance - minDist) < cv::pow(0.01 * _squareLength, 2)) {
                 // if same minimum distance (or first iteration), add to nearestMarkerIdx vector
                 nearestMarkerIdx[i].push_back(j);
                 minDist = sqDistance;

modules/aruco/test/test_charucodetection.cpp

@@ -538,7 +538,48 @@ void CV_CharucoDiamondDetection::run(int) {
     }
 }
 
+/**
+* @brief Check charuco board creation
+*/
+class CV_CharucoBoardCreation : public cvtest::BaseTest {
+public:
+    CV_CharucoBoardCreation();
 
+protected:
+    void run(int);
+};
+
+CV_CharucoBoardCreation::CV_CharucoBoardCreation() {}
+
+void CV_CharucoBoardCreation::run(int)
+{
+    Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_5X5_250);
+    int n = 6;
+
+    float markerSizeFactor = 0.5f;
+
+    for (float squareSize_mm = 5.0f; squareSize_mm < 35.0f; squareSize_mm += 0.1f)
+    {
+        Ptr<aruco::CharucoBoard> board_meters = aruco::CharucoBoard::create(
+            n, n, squareSize_mm*1e-3f, squareSize_mm * markerSizeFactor * 1e-3f, dictionary);
+
+        Ptr<aruco::CharucoBoard> board_millimeters = aruco::CharucoBoard::create(
+            n, n, squareSize_mm, squareSize_mm * markerSizeFactor, dictionary);
+
+        for (size_t i = 0; i < board_meters->nearestMarkerIdx.size(); i++)
+        {
+            if (board_meters->nearestMarkerIdx[i].size() != board_millimeters->nearestMarkerIdx[i].size() ||
+                board_meters->nearestMarkerIdx[i][0] != board_millimeters->nearestMarkerIdx[i][0])
+            {
+                ts->printf(cvtest::TS::LOG,
+                    cv::format("Charuco board topology is sensitive to scale with squareSize=%.1f\n",
+                        squareSize_mm).c_str());
+                ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
+                break;
+            }
+        }
+    }
+}
 
 
 TEST(CV_CharucoDetection, accuracy) {
@@ -546,7 +587,6 @@ TEST(CV_CharucoDetection, accuracy) {
     test.safe_run();
 }
 
-
 TEST(CV_CharucoPoseEstimation, accuracy) {
     CV_CharucoPoseEstimation test;
     test.safe_run();
@@ -557,4 +597,9 @@ TEST(CV_CharucoDiamondDetection, accuracy) {
     test.safe_run();
 }
 
+TEST(CV_CharucoBoardCreation, accuracy) {
+    CV_CharucoBoardCreation test;
+    test.safe_run();
+}
+
 }} // namespace

modules/ovis/include/opencv2/ovis.hpp

@@ -62,6 +62,16 @@ public:
     /// @overload
     CV_WRAP_AS(setBackgroundColor) virtual void setBackground(const Scalar& color) = 0;
 
+    /**
+     * enable an ordered chain of full-screen post processing effects
+     *
+     * this way you can add distortion or SSAO effects.
+     * The effects themselves must be defined inside Ogre .compositor scripts.
+     * @see addResourceLocation
+     * @param names compositor names that will be applied in order of appearance
+     */
+    CV_WRAP virtual void setCompositors(const std::vector<String>& names) = 0;
+
     /**
      * place an entity of an mesh in the scene
      *

modules/ovis/src/ovis.cpp

@@ -7,6 +7,7 @@
 #include <OgreApplicationContext.h>
 #include <OgreCameraMan.h>
 #include <OgreRectangle2D.h>
+#include <OgreCompositorManager.h>
 
 #include <opencv2/calib3d.hpp>
 
@@ -339,6 +340,23 @@ public:
         bgplane->setVisible(true);
     }
 
+    void setCompositors(const std::vector<String>& names)
+    {
+        Viewport* vp = frameSrc->getViewport(0);
+        CompositorManager& cm = CompositorManager::getSingleton();
+
+        cm.removeCompositorChain(vp); // remove previous configuration
+
+        for(size_t i = 0; i < names.size(); i++)
+        {
+            if (!cm.addCompositor(vp, names[i])) {
+                LogManager::getSingleton().logError("Failed to add compositor: " + names[i]);
+                continue;
+            }
+            cm.setCompositorEnabled(vp, names[i], true);
+        }
+    }
+
     void setBackground(const Scalar& color)
     {
         // hide background plane

modules/ximgproc/src/deriche_filter.cpp

@@ -135,6 +135,7 @@ HorizontalIIRFilter(Mat &img, Mat &dst, const Range &r, double alphaDerive)
         j = cols - 1;
         g2[j] = (a3 + a4)* *c1;
         j--;
+        c1--;
         g2[j] = (a3 + a4) * c1[1] + b1 * g2[j + 1];
         j--;
         c1--;
@@ -160,16 +161,18 @@ public:
         dst(d),
         alphaDerive(ald),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_8UC1 || type == CV_8SC1 || type == CV_16SC1 || type == CV_16UC1 || type == CV_32FC1, "Wrong input type for GradientDericheYCols");
+        type = dst.depth();
+        CV_CheckType(type, type==CV_32FC1, "Wrong output type for GradientDericheYCols");
+    }
     void Verbose(bool b) { verbose = b; }
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_8UC1  || img.depth()==CV_8SC1  || img.depth()==CV_16SC1 || img.depth()==CV_16UC1);
-        CV_Assert(dst.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum() << "# :Start from row " << range.start << " to " << range.end - 1 << " (" << range.end - range.start << " loops)" << std::endl;
 
-
         switch (img.depth()) {
         case CV_8U:
             VerticalIIRFilter<uchar>(img,dst,range, alphaDerive);
@@ -183,6 +186,9 @@ public:
         case CV_16S:
             VerticalIIRFilter<short>(img, dst, range, alphaDerive);
             break;
+        case CV_32F:
+            VerticalIIRFilter<float>(img, dst, range, alphaDerive);
+            break;
         default:
             return;
         }
@@ -207,12 +213,15 @@ public:
         dst(d),
         alphaMoyenne(alm),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong input type for GradientDericheYRows");
+        type = dst.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientDericheYRows");
+    }
     void Verbose(bool b) { verbose = b; }
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_32FC1);
-        CV_Assert(dst.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum() << "# :Start from row " << range.start << " to " << range.end - 1 << " (" << range.end - range.start << " loops)" << std::endl;
         float *f1, *f2;
@@ -280,12 +289,15 @@ public:
         dst(d),
         alphaMoyenne(alm),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong input type for GradientDericheXCols");
+        type = dst.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientDericheXCols");
+    }
     void Verbose(bool b) { verbose = b; }
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_32FC1);
-        CV_Assert(dst.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum() << "# :Start from row " << range.start << " to " << range.end - 1 << " (" << range.end - range.start << " loops)" << std::endl;
         float                *f1, *f2;
@@ -355,12 +367,15 @@ public:
         dst(d),
         alphaDerive(ald),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_8UC1 || type == CV_8SC1 || type == CV_16SC1 || type == CV_16UC1 || type == CV_32FC1, "Wrong input type for GradientDericheXRows");
+        type = dst.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientDericheXRows");
+    }
     void Verbose(bool b) { verbose = b; }
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_8UC1 || img.depth()==CV_8SC1 || img.depth()==CV_16SC1 || img.depth()==CV_16UC1);
-        CV_Assert(dst.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum() << "# :Start from row " << range.start << " to " << range.end - 1 << " (" << range.end - range.start << " loops)" << std::endl;
 
@@ -377,6 +392,9 @@ public:
         case CV_16S:
             HorizontalIIRFilter<short>(img, dst, range, alphaDerive);
             break;
+        case CV_32F:
+            HorizontalIIRFilter<float>(img, dst, range, alphaDerive);
+            break;
         default:
             return;
         }

modules/ximgproc/src/paillou_filter.cpp

@@ -143,12 +143,15 @@ public:
         a(aa),
         w(ww),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_8UC1 || type == CV_8SC1 || type == CV_16SC1 || type == CV_16UC1 || type == CV_32FC1, "Wrong input type for GradientPaillouY");
+        type = dst.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientPaillouYCols");
+    }
     void Verbose(bool b){verbose=b;}
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_8UC1 || img.depth()==CV_16SC1 || img.depth()==CV_16UC1);
-        CV_Assert(dst.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum()<<"# :Start from row " << range.start << " to "  << range.end-1<<" ("<<range.end-range.start<<" loops)" << std::endl;
 
@@ -162,9 +165,12 @@ public:
         case CV_16S :
             VerticalIIRFilter<short>(img, dst, range, a, w);
             break;
-        case CV_16U :
+        case CV_16U:
             VerticalIIRFilter<short>(img, dst, range, a, w);
             break;
+        case CV_32F:
+            VerticalIIRFilter<float>(img, dst, range, a, w);
+            break;
         default :
             return ;
             }
@@ -191,11 +197,15 @@ public:
         a(aa),
         w(ww),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong input type for GradientPaillouYRows");
+        type = dst.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientPaillouYRows");
+    }
     void Verbose(bool b){verbose=b;}
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum()<<"# :Start from row " << range.start << " to "  << range.end-1<<" ("<<range.end-range.start<<" loops)" << std::endl;
         float *iy,*iy0;
@@ -261,11 +271,15 @@ public:
         a(aa),
         w(ww),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong input type for GradientPaillouXCols");
+        type = dst.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientPaillouXCols");
+    }
     void Verbose(bool b){verbose=b;}
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
-        CV_Assert(img.depth()==CV_32FC1);
         if (verbose)
             std::cout << getThreadNum() << "# :Start from row " << range.start << " to " << range.end - 1 << " (" << range.end - range.start << " loops)" << std::endl;
         float *iy, *iy0;
@@ -331,7 +345,12 @@ public:
         a(aa),
         w(ww),
         verbose(false)
-    {}
+    {
+        int type = img.depth();
+        CV_CheckType(type, type == CV_8UC1 || type == CV_8SC1 || type == CV_16SC1 || type == CV_16UC1 || type == CV_32FC1, "Wrong input type for GradientPaillouXRows");
+        type = im1.depth();
+        CV_CheckType(type, type == CV_32FC1, "Wrong output type for GradientPaillouXRows");
+    }
     void Verbose(bool b){verbose=b;}
     virtual void operator()(const Range& range) const CV_OVERRIDE
     {
@@ -349,9 +368,12 @@ public:
         case CV_16S :
             HorizontalIIRFilter<short>(img, im1, range, a, w);
             break;
-        case CV_16U :
+        case CV_16U:
             HorizontalIIRFilter<ushort>(img, im1, range, a, w);
             break;
+        case CV_32F:
+            HorizontalIIRFilter<float>(img, im1, range, a, w);
+            break;
         default :
             return ;
             }

modules/xphoto/samples/color_balance_benchmark.py

@@ -231,7 +231,7 @@ if __name__ == '__main__':
         state = load_json(args.state)
 
     algorithm_list = parse_sequence(args.algorithms)
-    img_range = map(int, parse_sequence(args.range))
+    img_range = list(map(int, parse_sequence(args.range)))
     if len(img_range)!=2:
         print("Error: Please specify the -r parameter in form <first_image_index>,<last_image_index>")
         sys.exit(1)