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

modules/aruco/src/aruco.cpp

@@ -103,13 +103,12 @@ Ptr<DetectorParameters> DetectorParameters::create() {
   */
 static void _convertToGrey(InputArray _in, OutputArray _out) {
 
-    CV_Assert(_in.getMat().channels() == 1 || _in.getMat().channels() == 3);
+    CV_Assert(_in.type() == CV_8UC1 || _in.type() == CV_8UC3);
 
-    _out.create(_in.getMat().size(), CV_8UC1);
-    if(_in.getMat().type() == CV_8UC3)
-        cvtColor(_in.getMat(), _out.getMat(), COLOR_BGR2GRAY);
+    if(_in.type() == CV_8UC3)
+        cvtColor(_in, _out, COLOR_BGR2GRAY);
     else
-        _in.getMat().copyTo(_out);
+        _in.copyTo(_out);
 }
 
 

modules/aruco/src/charuco.cpp

@@ -345,10 +345,10 @@ static int _selectAndRefineChessboardCorners(InputArray _allCorners, InputArray
 
     // corner refinement, first convert input image to grey
     Mat grey;
-    if(_image.getMat().type() == CV_8UC3)
-        cvtColor(_image.getMat(), grey, COLOR_BGR2GRAY);
+    if(_image.type() == CV_8UC3)
+        cvtColor(_image, grey, COLOR_BGR2GRAY);
     else
-        _image.getMat().copyTo(grey);
+        _image.copyTo(grey);
 
     const Ptr<DetectorParameters> params = DetectorParameters::create(); // use default params for corner refinement
 
@@ -754,10 +754,10 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
 
     // convert input image to grey
     Mat grey;
-    if(_image.getMat().type() == CV_8UC3)
-        cvtColor(_image.getMat(), grey, COLOR_BGR2GRAY);
+    if(_image.type() == CV_8UC3)
+        cvtColor(_image, grey, COLOR_BGR2GRAY);
     else
-        _image.getMat().copyTo(grey);
+        _image.copyTo(grey);
 
     // for each of the detected markers, try to find a diamond
     for(unsigned int i = 0; i < _markerIds.total(); i++) {

modules/bioinspired/samples/cpp/OpenEXRimages_HDR_Retina_toneMapping.cpp

@@ -292,7 +292,7 @@ static void drawPlot(const cv::Mat curve, const std::string figureTitle, const i
 */
              cv::waitKey(10);
          }
-     }catch(cv::Exception e)
+     }catch(const cv::Exception& e)
      {
          std::cerr<<"Error using Retina : "<<e.what()<<std::endl;
      }

modules/bioinspired/samples/cpp/OpenEXRimages_HDR_Retina_toneMapping_video.cpp

@@ -353,7 +353,7 @@ static void loadNewFrame(const std::string filenamePrototype, const int currentF
             // jump to next frame
             ++currentFrameIndex;
          }
-     }catch(cv::Exception e)
+     }catch(const cv::Exception& e)
      {
          std::cerr<<"Error using Retina : "<<e.what()<<std::endl;
      }

modules/bioinspired/samples/cpp/retinaDemo.cpp

@@ -146,7 +146,7 @@ int main(int argc, char* argv[]) {
 
             cv::waitKey(5);
         }
-    }catch(cv::Exception e)
+    }catch(const cv::Exception& e)
     {
         std::cerr<<"Error using Retina : "<<e.what()<<std::endl;
     }

modules/bioinspired/samples/cpp/tutorial_code/bioinspired/retina_tutorial.cpp

@@ -137,7 +137,7 @@ int main(int argc, char* argv[]) {
             cv::imshow("Retina Magno", retinaOutput_magno);
             cv::waitKey(10);
         }
-    }catch(cv::Exception e)
+    }catch(const cv::Exception& e)
     {
         std::cerr<<"Error using Retina or end of video sequence reached : "<<e.what()<<std::endl;
     }

modules/bioinspired/samples/ocl/retina_ocl.cpp

@@ -109,7 +109,7 @@ int main(int argc, char* argv[])
         }
         printf("Average: %.4fms\n", (double)total_time / total_loop_count / cv::getTickFrequency() * 1000.0);
     }
-    catch(cv::Exception e)
+    catch(const cv::Exception& e)
     {
         std::cerr << "Error using Retina : " << e.what() << std::endl;
     }

modules/bioinspired/src/retina.cpp

@@ -368,7 +368,7 @@ void RetinaImpl::setup(String retinaParameterFile, const bool applyDefaultSetupO
         cv::FileStorage fs(retinaParameterFile, cv::FileStorage::READ);
         setup(fs, applyDefaultSetupOnFailure);
     }
-    catch(Exception &e)
+    catch(const Exception &e)
     {
         printf("Retina::setup: wrong/unappropriate xml parameter file : error report :`n=>%s\n", e.what());
         if (applyDefaultSetupOnFailure)
@@ -422,7 +422,7 @@ void RetinaImpl::setup(cv::FileStorage &fs, const bool applyDefaultSetupOnFailur
         setupIPLMagnoChannel(_retinaParameters.IplMagno.normaliseOutput, _retinaParameters.IplMagno.parasolCells_beta, _retinaParameters.IplMagno.parasolCells_tau, _retinaParameters.IplMagno.parasolCells_k, _retinaParameters.IplMagno.amacrinCellsTemporalCutFrequency,_retinaParameters.IplMagno.V0CompressionParameter, _retinaParameters.IplMagno.localAdaptintegration_tau, _retinaParameters.IplMagno.localAdaptintegration_k);
 
     }
-    catch(Exception &e)
+    catch(const Exception &e)
     {
         printf("RetinaImpl::setup: resetting retina with default parameters\n");
         if (applyDefaultSetupOnFailure)

modules/bioinspired/src/retina_ocl.cpp

@@ -127,7 +127,7 @@ void RetinaOCLImpl::setup(String retinaParameterFile, const bool applyDefaultSet
         cv::FileStorage fs(retinaParameterFile, cv::FileStorage::READ);
         setup(fs, applyDefaultSetupOnFailure);
     }
-    catch(Exception &e)
+    catch(const Exception &e)
     {
         std::cout << "RetinaOCLImpl::setup: wrong/inappropriate xml parameter file : error report :`n=>" << e.what() << std::endl;
         if (applyDefaultSetupOnFailure)
@@ -181,7 +181,7 @@ void RetinaOCLImpl::setup(cv::FileStorage &fs, const bool applyDefaultSetupOnFai
         setupIPLMagnoChannel(_retinaParameters.IplMagno.normaliseOutput, _retinaParameters.IplMagno.parasolCells_beta, _retinaParameters.IplMagno.parasolCells_tau, _retinaParameters.IplMagno.parasolCells_k, _retinaParameters.IplMagno.amacrinCellsTemporalCutFrequency, _retinaParameters.IplMagno.V0CompressionParameter, _retinaParameters.IplMagno.localAdaptintegration_tau, _retinaParameters.IplMagno.localAdaptintegration_k);
 
     }
-    catch(Exception &e)
+    catch(const Exception &e)
     {
         std::cout << "RetinaOCLImpl::setup: resetting retina with default parameters" << std::endl;
         if (applyDefaultSetupOnFailure)

modules/bioinspired/src/transientareassegmentationmodule.cpp

@@ -298,7 +298,7 @@ void TransientAreasSegmentationModuleImpl::setup(String segmentationParameterFil
         // opening retinaParameterFile in read mode
         cv::FileStorage fs(segmentationParameterFile, cv::FileStorage::READ);
         setup(fs, applyDefaultSetupOnFailure);
-    }catch(cv::Exception &e)
+    }catch(const cv::Exception &e)
     {
         printf("Retina::setup: wrong/unappropriate xml parameter file : error report :`n=>%s\n", e.what());
         if (applyDefaultSetupOnFailure)
@@ -338,7 +338,7 @@ void TransientAreasSegmentationModuleImpl::setup(cv::FileStorage &fs, const bool
         currFn["contextEnergy_spatialConstant"]>>_segmentationParameters.contextEnergy_spatialConstant;
         setup(_segmentationParameters);
 
-    }catch(cv::Exception &e)
+    }catch(const cv::Exception &e)
     {
         std::cout<<"Retina::setup: resetting retina with default parameters"<<std::endl;
         if (applyDefaultSetupOnFailure)

modules/cnn_3dobj/src/cnn_feature.cpp

@@ -222,26 +222,24 @@ namespace cnn_3dobj
     {
         /* Convert the input image to the input image format of the network. */
         cv::Mat sample;
-        if (img.channels() == 3 && num_channels == 1)
-            cv::cvtColor(img, sample, CV_BGR2GRAY);
-        else if (img.channels() == 4 && num_channels == 1)
-            cv::cvtColor(img, sample, CV_BGRA2GRAY);
+        if (num_channels == 1)
+            cv::cvtColor(img, sample, COLOR_BGR2GRAY);
         else if (img.channels() == 4 && num_channels == 3)
-            cv::cvtColor(img, sample, CV_BGRA2BGR);
+            cv::cvtColor(img, sample, COLOR_BGRA2BGR);
         else if (img.channels() == 1 && num_channels == 3)
-            cv::cvtColor(img, sample, CV_GRAY2BGR);
+            cv::cvtColor(img, sample, COLOR_GRAY2BGR);
         else
             sample = img;
+
         cv::Mat sample_resized;
         if (sample.size() != input_geometry)
             cv::resize(sample, sample_resized, input_geometry);
         else
         sample_resized = sample;
+
         cv::Mat sample_float;
-        if (num_channels == 3)
-            sample_resized.convertTo(sample_float, CV_32FC3);
-        else
-            sample_resized.convertTo(sample_float, CV_32FC1);
+        sample_resized.convertTo(sample_float, CV_32F);
+
         cv::Mat sample_normalized;
         if (net_ready == 2)
             cv::subtract(sample_float, mean_, sample_normalized);

modules/cvv/samples/cvv_demo.cpp

@@ -84,7 +84,7 @@ main(int argc, char** argv)
 
     // convert to grayscale
     cv::Mat imgGray;
-    cv::cvtColor(imgRead, imgGray, CV_BGR2GRAY);
+    cv::cvtColor(imgRead, imgGray, COLOR_BGR2GRAY);
 		cvv::debugFilter(imgRead, imgGray, CVVISUAL_LOCATION, "to gray");
 
     // detect ORB features

modules/cvv/src/qtutil/filter/diffFilterWidget.cpp

@@ -69,8 +69,8 @@ void DiffFilterFunction::applyFilter(InputArray in, OutputArray out) const
 	}
 
 	cv::Mat originalHSV, filteredHSV;
-	cv::cvtColor(in.at(0).get(), originalHSV, CV_BGR2HSV);
-	cv::cvtColor(in.at(1).get(), filteredHSV, CV_BGR2HSV);
+	cv::cvtColor(in.at(0).get(), originalHSV, COLOR_BGR2HSV);
+	cv::cvtColor(in.at(1).get(), filteredHSV, COLOR_BGR2HSV);
 	auto diffHSV = cv::abs(originalHSV - filteredHSV);
 
 	std::array<cv::Mat, 3> splitVector;

modules/face/samples/facerec_demo.cpp

@@ -93,7 +93,7 @@ int main(int argc, const char *argv[]) {
     // input filename is given.
     try {
         read_csv(fn_csv, images, labels, labelsInfo);
-    } catch (cv::Exception& e) {
+    } catch (const cv::Exception& e) {
         cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
         // nothing more we can do
         exit(1);

modules/face/samples/facerec_eigenfaces.cpp

@@ -85,7 +85,7 @@ int main(int argc, const char *argv[]) {
     // input filename is given.
     try {
         read_csv(fn_csv, images, labels);
-    } catch (cv::Exception& e) {
+    } catch (const cv::Exception& e) {
         cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
         // nothing more we can do
         exit(1);

modules/face/samples/facerec_fisherfaces.cpp

@@ -85,7 +85,7 @@ int main(int argc, const char *argv[]) {
     // input filename is given.
     try {
         read_csv(fn_csv, images, labels);
-    } catch (cv::Exception& e) {
+    } catch (const cv::Exception& e) {
         cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
         // nothing more we can do
         exit(1);

modules/face/samples/facerec_lbph.cpp

@@ -62,7 +62,7 @@ int main(int argc, const char *argv[]) {
     // input filename is given.
     try {
         read_csv(fn_csv, images, labels);
-    } catch (cv::Exception& e) {
+    } catch (const cv::Exception& e) {
         cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
         // nothing more we can do
         exit(1);

modules/face/samples/facerec_save_load.cpp

@@ -85,7 +85,7 @@ int main(int argc, const char *argv[]) {
     // input filename is given.
     try {
         read_csv(fn_csv, images, labels);
-    } catch (cv::Exception& e) {
+    } catch (const cv::Exception& e) {
         cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
         // nothing more we can do
         exit(1);

modules/face/samples/facerec_video.cpp

@@ -68,7 +68,7 @@ int main(int argc, const char *argv[]) {
     // Read in the data (fails if no valid input filename is given, but you'll get an error message):
     try {
         read_csv(fn_csv, images, labels);
-    } catch (cv::Exception& e) {
+    } catch (const cv::Exception& e) {
         cerr << "Error opening file \"" << fn_csv << "\". Reason: " << e.msg << endl;
         // nothing more we can do
         exit(1);

modules/face/tutorials/face_landmark/face_landmark_detection.markdown

@@ -46,7 +46,7 @@ resize(img,img,Size(460,460),0,0,INTER_LINEAR_EXACT);
 Mat gray;
 std::vector<Rect> faces;
 if(img.channels()>1){
-    cvtColor(img.getMat(),gray,CV_BGR2GRAY);
+    cvtColor(img.getMat(),gray,COLOR_BGR2GRAY);
 }
 else{
     gray = img.getMat().clone();

modules/face/tutorials/face_landmark/face_landmark_trainer.markdown

@@ -65,7 +65,7 @@ bool myDetector( InputArray image, OutputArray ROIs ){
     Mat gray;
     std::vector<Rect> faces;
     if(image.channels()>1){
-        cvtColor(image.getMat(),gray,CV_BGR2GRAY);
+        cvtColor(image.getMat(),gray,COLOR_BGR2GRAY);
     }
     else{
         gray = image.getMat().clone();
@@ -174,4 +174,4 @@ filename specified.As the training starts successfully you will see something li
 
 **The error rate on test images depends on the number of images used for training used as follows :**
 
-![](images/test.png)
+![](images/test.png)
\ No newline at end of file

modules/face/tutorials/face_landmark/face_landmark_video.markdown

@@ -26,7 +26,7 @@ bool myDetector( InputArray image, OutputArray ROIs ){
     Mat gray;
     std::vector<Rect> faces;
     if(image.channels()>1){
-        cvtColor(image.getMat(),gray,CV_BGR2GRAY);
+        cvtColor(image.getMat(),gray,COLOR_BGR2GRAY);
     }
     else{
         gray = image.getMat().clone();
@@ -107,4 +107,4 @@ Sample video:
 
 @htmlonly
 <iframe width="560" height="315" src="https://www.youtube.com/embed/ZtaV07T90D8" frameborder="0" allowfullscreen></iframe>
-@endhtmlonly
+@endhtmlonly
\ No newline at end of file

modules/face/tutorials/face_landmark/sample_face_swapping.markdown

@@ -25,7 +25,7 @@ bool myDetector( InputArray image, OutputArray ROIs ){
     Mat gray;
     std::vector<Rect> faces;
     if(image.channels()>1){
-        cvtColor(image.getMat(),gray,CV_BGR2GRAY);
+        cvtColor(image.getMat(),gray,COLOR_BGR2GRAY);
     }
     else{
         gray = image.getMat().clone();
@@ -144,4 +144,4 @@ Second image
 Results after swapping
 ----------------------
 
-![](images/face_swapped.jpg)
+![](images/face_swapped.jpg)
\ No newline at end of file

modules/img_hash/src/average_hash.cpp

@@ -27,18 +27,10 @@ public:
                   input.type() == CV_8U);
 
         cv::resize(input, resizeImg, cv::Size(8,8), 0, 0, INTER_LINEAR_EXACT);
-        if(input.type() == CV_8UC3)
-        {
-            cv::cvtColor(resizeImg, grayImg, CV_BGR2GRAY);
-        }
-        else if(input.type() == CV_8UC4)
-        {
-            cv::cvtColor(resizeImg, grayImg, CV_BGRA2GRAY);
-        }
+        if(input.channels() > 1)
+            cv::cvtColor(resizeImg, grayImg, COLOR_BGR2GRAY);
         else
-        {
             grayImg = resizeImg;
-        }
 
         uchar const imgMean = static_cast<uchar>(cvRound(cv::mean(grayImg)[0]));
         cv::compare(grayImg, imgMean, bitsImg, CMP_GT);

modules/img_hash/src/block_mean_hash.cpp

@@ -40,18 +40,10 @@ public:
                   input.type() == CV_8U);
 
         cv::resize(input, resizeImg_, cv::Size(imgWidth,imgHeight), 0, 0, INTER_LINEAR_EXACT);
-        if(input.type() == CV_8UC3)
-        {
-            cv::cvtColor(resizeImg_, grayImg_, CV_BGR2GRAY);
-        }
-        else if(input.type() == CV_8UC4)
-        {
-            cv::cvtColor(resizeImg_, grayImg_, CV_BGRA2GRAY);
-        }
+        if(input.channels() > 1)
+            cv::cvtColor(resizeImg_, grayImg_, COLOR_BGR2GRAY);
         else
-        {
             grayImg_ = resizeImg_;
-        }
 
         int pixColStep = blockWidth;
         int pixRowStep = blockHeigth;

modules/img_hash/src/color_moment_hash.cpp

@@ -28,25 +28,24 @@ public:
       }
       else if(input.type() == CV_8UC4)
       {
-          cv::cvtColor(input, colorImg_, CV_BGRA2BGR);
+          cv::cvtColor(input, colorImg_, COLOR_BGRA2BGR);
       }
       else
       {
-          cv::cvtColor(input, colorImg_, CV_GRAY2BGR);
+          cv::cvtColor(input, colorImg_, COLOR_GRAY2BGR);
       }
 
-      cv::resize(colorImg_, resizeImg_, cv::Size(512,512), 0, 0,
-                 INTER_CUBIC);
+      cv::resize(colorImg_, resizeImg_, cv::Size(512,512), 0, 0, INTER_CUBIC);
       cv::GaussianBlur(resizeImg_, blurImg_, cv::Size(3,3), 0, 0);
 
-      cv::cvtColor(blurImg_, colorSpace_, CV_BGR2HSV);
+      cv::cvtColor(blurImg_, colorSpace_, COLOR_BGR2HSV);
       cv::split(colorSpace_, channels_);
       outputArr.create(1, 42, CV_64F);
       cv::Mat hash = outputArr.getMat();
       hash.setTo(0);
       computeMoments(hash.ptr<double>(0));
 
-      cv::cvtColor(blurImg_, colorSpace_, CV_BGR2YCrCb);
+      cv::cvtColor(blurImg_, colorSpace_, COLOR_BGR2YCrCb);
       cv::split(colorSpace_, channels_);
       computeMoments(hash.ptr<double>(0) + 21);
     }

modules/img_hash/src/marr_hildreth_hash.cpp

@@ -105,18 +105,11 @@ public:
                   input.type() == CV_8UC3 ||
                   input.type() == CV_8U);
 
-        if(input.type() == CV_8UC3)
-        {
-            cv::cvtColor(input, grayImg, CV_BGR2GRAY);
-        }
-        else if(input.type() == CV_8UC4)
-        {
-            cv::cvtColor(input, grayImg, CV_BGRA2GRAY);
-        }
+        if(input.channels() > 1)
+            cv::cvtColor(input, grayImg, COLOR_BGR2GRAY);
         else
-        {
             grayImg = input;
-        }
+
         //pHash use Canny-deritch filter to blur the image
         cv::GaussianBlur(grayImg, blurImg, cv::Size(7, 7), 0);
         cv::resize(blurImg, resizeImg, cv::Size(512, 512), 0, 0, INTER_CUBIC);

modules/img_hash/src/phash.cpp

@@ -21,18 +21,10 @@ public:
                   input.type() == CV_8U);
 
         cv::resize(input, resizeImg, cv::Size(32,32), 0, 0, INTER_LINEAR_EXACT);
-        if(input.type() == CV_8UC3)
-        {
-            cv::cvtColor(resizeImg, grayImg, CV_BGR2GRAY);
-        }
-        else if(input.type() == CV_8UC4)
-        {
-            cv::cvtColor(resizeImg, grayImg, CV_BGRA2GRAY);
-        }
+        if(input.channels() > 1)
+            cv::cvtColor(resizeImg, grayImg, COLOR_BGR2GRAY);
         else
-        {
             grayImg = resizeImg;
-        }
 
         grayImg.convertTo(grayFImg, CV_32F);
         cv::dct(grayFImg, dctImg);

modules/img_hash/src/radial_variance_hash.cpp

@@ -53,11 +53,11 @@ public:
 
         if(input.type() == CV_8UC3)
         {
-            cv::cvtColor(input, grayImg_, CV_BGR2GRAY);
+            cv::cvtColor(input, grayImg_, COLOR_BGR2GRAY);
         }
         else if(input.type() == CV_8UC4)
         {
-            cv::cvtColor(input, grayImg_, CV_BGRA2GRAY);
+            cv::cvtColor(input, grayImg_, COLOR_BGRA2GRAY);
         }
         else
         {

modules/line_descriptor/src/binary_descriptor.cpp

@@ -548,7 +548,7 @@ void BinaryDescriptor::computeImpl( const Mat& imageSrc, std::vector<KeyLine>& k
   if( imageSrc.channels() != 1 )
     cvtColor( imageSrc, image, COLOR_BGR2GRAY );
   else
-    image = imageSrc.clone();
+    image = imageSrc;
 
   /*check whether image's depth is different from 0 */
   if( image.depth() != 0 )
@@ -627,7 +627,6 @@ void BinaryDescriptor::computeImpl( const Mat& imageSrc, std::vector<KeyLine>& k
   {
     for ( size_t j = 0; j < sl[i].size(); )
     {
-      //if( (int) ( sl[i][j] ).octaveCount > params.numOfOctave_ )
       if( (int) ( sl[i][j] ).octaveCount > octaveIndex )
         ( sl[i] ).erase( ( sl[i] ).begin() + j );
       else j++;

modules/matlab/generator/templates/functional.cpp

@@ -85,9 +85,9 @@ addVariant("{{ fun.name }}", {{ fun.req|inputs|length }}, {{ fun.opt|inputs|leng
   // [out =] namespace.fun(src1, ..., srcn, dst1, ..., dstn, opt1, ..., optn);
   try {
     {{ compose(fun) }}
-  } catch(cv::Exception& e) {
+  } catch(const cv::Exception& e) {
     error(std::string("cv::exception caught: ").append(e.what()).c_str());
-  } catch(std::exception& e) {
+  } catch(const std::exception& e) {
     error(std::string("std::exception caught: ").append(e.what()).c_str());
   } catch(...) {
     error("Uncaught exception occurred in {{fun.name}}");

modules/matlab/test/cv_exception.cpp

@@ -25,7 +25,7 @@ void mexFunction(int nlhs, mxArray* plhs[],
   // [out =] namespace.fun(src1, ..., srcn, dst1, ..., dstn, opt1, ..., optn);
   try {
     throw cv::Exception(-1, "OpenCV exception thrown", __func__, __FILE__, __LINE__);
-  } catch(cv::Exception& e) {
+  } catch(const cv::Exception& e) {
     mexErrMsgTxt(e.what());
   } catch(...) {
     mexErrMsgTxt("Incorrect exception caught!");

modules/matlab/test/std_exception.cpp

@@ -24,7 +24,7 @@ void mexFunction(int nlhs, mxArray* plhs[],
   // [out =] namespace.fun(src1, ..., srcn, dst1, ..., dstn, opt1, ..., optn);
   try {
     throw std::exception();
-  } catch(std::exception& e) {
+  } catch(const std::exception& e) {
     mexErrMsgTxt(e.what());
   } catch(...) {
     mexErrMsgTxt("Incorrect exception caught!");

modules/ovis/src/ovis.cpp

@@ -149,7 +149,7 @@ static SceneNode& _getSceneNode(SceneManager* sceneMgr, const String& name)
         if(mo)
             return *mo->getParentSceneNode()->getParentSceneNode();
     }
-    catch (ItemIdentityException&)
+    catch (const ItemIdentityException&)
     {
         // ignore
     }
@@ -159,7 +159,7 @@ static SceneNode& _getSceneNode(SceneManager* sceneMgr, const String& name)
         if (!mo)
             mo = sceneMgr->getMovableObject(name, "Light");
     }
-    catch (ItemIdentityException&)
+    catch (const ItemIdentityException&)
     {
         // ignore
     }

modules/reg/samples/map_test.cpp

@@ -70,9 +70,9 @@ static void showDifference(const Mat& image1, const Mat& image2, const char* tit
     image1.convertTo(img1, CV_32FC3);
     image2.convertTo(img2, CV_32FC3);
     if(img1.channels() != 1)
-        cvtColor(img1, img1, COLOR_RGB2GRAY);
+        cvtColor(img1, img1, COLOR_BGR2GRAY);
     if(img2.channels() != 1)
-        cvtColor(img2, img2, COLOR_RGB2GRAY);
+        cvtColor(img2, img2, COLOR_BGR2GRAY);
 
     Mat imgDiff;
     img1.copyTo(imgDiff);
@@ -270,11 +270,11 @@ static void calcHomographyFeature(const Mat& image1, const Mat& image2)
     Mat gray_image2;
     // Convert to Grayscale
     if(image1.channels() != 1)
-        cvtColor(image1, gray_image1, COLOR_RGB2GRAY);
+        cvtColor(image1, gray_image1, COLOR_BGR2GRAY);
     else
         image1.copyTo(gray_image1);
     if(image2.channels() != 1)
-        cvtColor(image2, gray_image2, COLOR_RGB2GRAY);
+        cvtColor(image2, gray_image2, COLOR_BGR2GRAY);
     else
         image2.copyTo(gray_image2);
 
@@ -332,7 +332,7 @@ static void calcHomographyFeature(const Mat& image1, const Mat& image2)
     }
 
     // Find the Homography Matrix
-    Mat H = findHomography( obj, scene, CV_RANSAC );
+    Mat H = findHomography( obj, scene, RANSAC );
     // Use the Homography Matrix to warp the images
     Mat result;
     Mat Hinv = H.inv();
@@ -390,7 +390,7 @@ static void comparePixelVsFeature(const Mat& img1_8b, const Mat& img2_8b)
 int main(void)
 {
     Mat img1;
-    img1 = imread("home.png", CV_LOAD_IMAGE_UNCHANGED);
+    img1 = imread("home.png", IMREAD_UNCHANGED);
     if(!img1.data) {
         cout <<  "Could not open or find file" << endl;
         return -1;
@@ -405,13 +405,13 @@ int main(void)
     testProjective(img1);
 
 #ifdef COMPARE_FEATURES
-    Mat imgcmp1 = imread("LR_05.png", CV_LOAD_IMAGE_UNCHANGED);
+    Mat imgcmp1 = imread("LR_05.png", IMREAD_UNCHANGED);
     if(!imgcmp1.data) {
         cout <<  "Could not open or find file" << endl;
         return -1;
     }
 
-    Mat imgcmp2 = imread("LR_06.png", CV_LOAD_IMAGE_UNCHANGED);
+    Mat imgcmp2 = imread("LR_06.png", IMREAD_UNCHANGED);
     if(!imgcmp2.data) {
         cout <<  "Could not open or find file" << endl;
         return -1;

modules/tracking/samples/tutorial_customizing_cn_tracker.cpp

@@ -102,7 +102,7 @@ void sobelExtractor(const Mat img, const Rect roi, Mat& feat){
     //! [insideimage]
 
     patch=img(region).clone();
-    cvtColor(patch,patch, CV_BGR2GRAY);
+    cvtColor(patch,patch, COLOR_BGR2GRAY);
 
     //! [padding]
     // add some padding to compensate when the patch is outside image border

modules/tracking/src/TrackingFunctionPF.hpp

@@ -31,7 +31,7 @@ namespace cv{
 
         Mat hsv;
         img.convertTo(hsv,CV_32F,1.0/255.0);
-        cvtColor(hsv,hsv,CV_BGR2HSV);
+        cvtColor(hsv,hsv,COLOR_BGR2HSV);
 
         HShist=Mat_<double>(nh,ns,0.0);
         Vhist=Mat_<double>(1,nv,0.0);

modules/tracking/src/trackerBoosting.cpp

@@ -126,7 +126,7 @@ bool TrackerBoostingImpl::initImpl( const Mat& image, const Rect2d& boundingBox
   Mat_<int> intImage;
   Mat_<double> intSqImage;
   Mat image_;
-  cvtColor( image, image_, CV_RGB2GRAY );
+  cvtColor( image, image_, COLOR_BGR2GRAY );
   integral( image_, intImage, intSqImage, CV_32S );
   TrackerSamplerCS::Params CSparameters;
   CSparameters.overlap = params.samplerOverlap;
@@ -208,7 +208,7 @@ bool TrackerBoostingImpl::updateImpl( const Mat& image, Rect2d& boundingBox )
   Mat_<int> intImage;
   Mat_<double> intSqImage;
   Mat image_;
-  cvtColor( image, image_, CV_RGB2GRAY );
+  cvtColor( image, image_, COLOR_BGR2GRAY );
   integral( image_, intImage, intSqImage, CV_32S );
   //get the last location [AAM] X(k-1)
   Ptr<TrackerTargetState> lastLocation = model->getLastTargetState();

modules/tracking/src/trackerCSRT.cpp

@@ -201,7 +201,7 @@ std::vector<Mat> TrackerCSRTImpl::get_features(const Mat &patch, const Size2i &f
     }
     if(params.use_gray) {
         Mat gray_m;
-        cvtColor(patch, gray_m, CV_BGR2GRAY);
+        cvtColor(patch, gray_m, COLOR_BGR2GRAY);
         resize(gray_m, gray_m, feature_size, 0, 0, INTER_CUBIC);
         gray_m.convertTo(gray_m, CV_32FC1, 1.0/255.0, -0.5);
         features.push_back(gray_m);
@@ -465,15 +465,11 @@ Point2f TrackerCSRTImpl::estimate_new_position(const Mat &image)
 // *********************************************************************
 bool TrackerCSRTImpl::updateImpl(const Mat& image_, Rect2d& boundingBox)
 {
-    //treat gray image as color image
     Mat image;
-    if(image_.channels() == 1) {
-        std::vector<Mat> channels(3);
-        channels[0] = channels[1] = channels[2] = image_;
-        merge(channels, image);
-    } else {
+    if(image_.channels() == 1)    //treat gray image as color image
+        cvtColor(image_, image, COLOR_GRAY2BGR);
+    else
         image = image_;
-    }
 
     object_center = estimate_new_position(image);
     if (object_center.x < 0 && object_center.y < 0)
@@ -512,15 +508,11 @@ bool TrackerCSRTImpl::updateImpl(const Mat& image_, Rect2d& boundingBox)
 // *********************************************************************
 bool TrackerCSRTImpl::initImpl(const Mat& image_, const Rect2d& boundingBox)
 {
-    //treat gray image as color image
     Mat image;
-    if(image_.channels() == 1) {
-        std::vector<Mat> channels(3);
-        channels[0] = channels[1] = channels[2] = image_;
-        merge(channels, image);
-    } else {
+    if(image_.channels() == 1)    //treat gray image as color image
+        cvtColor(image_, image, COLOR_GRAY2BGR);
+    else
         image = image_;
-    }
 
     current_scale_factor = 1.0;
     image_size = image.size();

modules/tracking/src/trackerCSRTUtils.cpp

@@ -552,7 +552,7 @@ double get_min(const Mat &m)
 Mat bgr2hsv(const Mat &img)
 {
     Mat hsv_img;
-    cvtColor(img, hsv_img, CV_BGR2HSV);
+    cvtColor(img, hsv_img, COLOR_BGR2HSV);
     std::vector<Mat> hsv_img_channels;
     split(hsv_img, hsv_img_channels);
     hsv_img_channels.at(0).convertTo(hsv_img_channels.at(0), CV_8UC1, 255.0 / 180.0);

modules/tracking/src/trackerKCF.cpp

@@ -700,7 +700,7 @@ namespace cv{
         break;
       default: // GRAY
         if(img.channels()>1)
-          cvtColor(patch,feat, CV_BGR2GRAY);
+          cvtColor(patch,feat, COLOR_BGR2GRAY);
         else
           feat=patch;
         //feat.convertTo(feat,CV_32F);

modules/ximgproc/doc/ximgproc.bib

@@ -319,3 +319,12 @@ year={2016},
 publisher={Springer International Publishing},
 pages={617--632},
 }
+
+@inproceedings{BarronPoole2016,
+author = {Jonathan T Barron and Ben Poole},
+title={The Fast Bilateral Solver},
+booktitle={European Conference on Computer Vision (ECCV)},
+year={2016},
+publisher={Springer International Publishing},
+pages={617--632},
+}

modules/ximgproc/include/opencv2/ximgproc/deriche_filter.hpp

@@ -51,25 +51,25 @@ namespace ximgproc {
 *
 * For more details about this implementation, please see http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.476.5736&rep=rep1&type=pdf
 *
-* @param   _op         Source 8-bit or 16bit image, 1-channel or 3-channel image.
-* @param   _dst        result CV_32FC image with same number of channel than _op.
-* @param   alphaDerive double see paper
-* @param   alphaMean   double see paper
+* @param   op         Source 8-bit or 16bit image, 1-channel or 3-channel image.
+* @param   dst        result CV_32FC image with same number of channel than _op.
+* @param   alpha double see paper
+* @param   omega   double see paper
 *
 */
-CV_EXPORTS void GradientDericheY(InputArray _op, OutputArray _dst, double alphaDerive,double alphaMean);
+CV_EXPORTS_W void GradientDericheY(InputArray op, OutputArray dst, double alpha,double omega);
 /**
 * @brief   Applies X Deriche filter to an image.
 *
 * For more details about this implementation, please see http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.476.5736&rep=rep1&type=pdf
 *
-* @param   _op         Source 8-bit or 16bit image, 1-channel or 3-channel image.
-* @param   _dst        result CV_32FC image with same number of channel than _op.
-* @param   alphaDerive double see paper
-* @param   alphaMean   double see paper
+* @param   op         Source 8-bit or 16bit image, 1-channel or 3-channel image.
+* @param   dst        result CV_32FC image with same number of channel than _op.
+* @param   alpha double see paper
+* @param   omega   double see paper
 *
 */
-CV_EXPORTS void GradientDericheX(InputArray _op, OutputArray _dst, double alphaDerive,double alphaMean);
+CV_EXPORTS_W void GradientDericheX(InputArray op, OutputArray dst, double alpha,double omega);
 
 }
 }

modules/ximgproc/include/opencv2/ximgproc/edge_filter.hpp

@@ -437,8 +437,7 @@ guide then use FastBilateralSolverFilter interface to avoid extra computations.
 @note Confidence images with CV_8U depth are expected to in [0, 255] and CV_32F in [0, 1] range.
 */
 CV_EXPORTS_W void fastBilateralSolverFilter(InputArray guide, InputArray src, InputArray confidence, OutputArray dst, double sigma_spatial = 8, double sigma_luma = 8, double sigma_chroma = 8, int num_iter = 25, double max_tol = 1e-5);
-//////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////
+
 
 /** @brief Interface for implementations of Fast Global Smoother filter.
 

modules/ximgproc/samples/dericheSample.py

+import sys
+import numpy as np
+import cv2 as cv
+
+def AddSlider(sliderName,windowName,minSlider,maxSlider,valDefault, update=[]):
+    if update is None:
+        cv.createTrackbar(sliderName, windowName, valDefault,maxSlider-minSlider+1)
+    else:
+        cv.createTrackbar(sliderName, windowName, valDefault,maxSlider-minSlider+1, update)
+    cv.setTrackbarMin(sliderName, windowName, minSlider)
+    cv.setTrackbarMax(sliderName, windowName, maxSlider)
+    cv.setTrackbarPos(sliderName, windowName, valDefault)
+class Filtrage:
+    def __init__(self):
+        self.s =0
+        self.alpha = 100
+        self.omega = 100
+        self.updateFiltre=True
+        self.img=[]
+        self.dximg=[]
+        self.dyimg=[]
+        self.module=[]
+    def DericheFilter(self):
+        self.dximg = cv.ximgproc.GradientDericheX(	self.img, self.alpha/100., self.omega/1000.	)
+        self.dyimg = cv.ximgproc.GradientDericheY(	self.img, self.alpha/100., self.omega/1000.	)
+        dx2=self.dximg*self.dximg
+        dy2=self.dyimg*self.dyimg
+        self.module = np.sqrt(dx2+dy2)
+        cv.normalize(src=self.module,dst=self.module,norm_type=cv.NORM_MINMAX)
+    def SlideBarDeriche(self):
+        cv.destroyWindow(self.filename)
+        cv.namedWindow(self.filename)
+        AddSlider("alpha",self.filename,1,400,self.alpha,self.UpdateAlpha)
+        AddSlider("omega",self.filename,1,1000,self.omega,self.UpdateOmega)
+
+    def UpdateOmega(self,x ):
+        self.updateFiltre=True
+        self.omega=x
+    def UpdateAlpha(self,x ):
+        self.updateFiltre=True
+        self.alpha=x
+    def run(self,argv):
+        # Load the source image
+        self.filename = argv[0] if len(argv) > 0 else "../doc/pics/corridor_fld.jpg"
+        self.img=cv.imread(self.filename,cv.IMREAD_GRAYSCALE)
+        if self.img is None:
+            print ('cannot read file')
+            return
+        self.SlideBarDeriche()
+        while True:
+            cv.imshow(self.filename,self.img)
+            if self.updateFiltre:
+                self.DericheFilter()
+                cv.imshow("module",self.module)
+                self.updateFiltre =False
+            code = cv.waitKey(10)
+            if code==27:
+                break
+if __name__ == '__main__':
+    Filtrage().run(sys.argv[1:])

modules/ximgproc/samples/disparity_filtering.cpp

@@ -305,7 +305,6 @@ int main(int argc, char** argv)
         (void)fbs_luma;
         (void)fbs_chroma;
 #endif
-
     }
     else if(filter=="wls_no_conf")
     {

modules/ximgproc/test/test_deriche_filter.cpp

+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+TEST(ximgproc_DericheFilter, regression)
+{
+    Mat img = Mat::zeros(64, 64, CV_8UC3);
+    Mat res = Mat::zeros(64, 64, CV_32FC3);
+    img.at<Vec3b>(31, 31) = Vec3b(1, 2, 4);
+    double a = 0.5;
+    double w = 0.0005;
+    Mat dst;
+
+    ximgproc::GradientDericheX(img, dst, a, w);
+    double c = pow(1 - exp(-a), 2.0) * exp(a);
+    double k = pow(a*(1 - exp(-a)), 2.0) / (1 + 2 * a*exp(-a) - exp(-2 * a));
+    for (int i = 0; i < img.rows; i++)
+    {
+        double n = -31 + i;
+        for (int j = 0; j < img.cols; j++)
+        {
+	        double m = -31 + j;
+	        double x = -c * exp(-a * fabs(m))*sin(w*m);
+	        x = x * (k*(a*sin(w*fabs(n)) + w * cos(w*fabs(n)))*exp(-a * fabs(n))) / (a*a + w * w);
+	        x = x / (w*w);
+	        float xx=static_cast<float>(x);
+	        res.at<Vec3f>(i, j) = Vec3f(xx, 2 * xx, 4 * xx);
+        }
+    }
+    EXPECT_LE(cv::norm(res, dst, NORM_INF), 1e-5);
+
+    Mat dst2;
+    ximgproc::GradientDericheY(img, dst2, a, w);
+    cv::transpose(dst2, dst2);
+    EXPECT_LE(cv::norm(dst2, dst, NORM_INF), 1e-5);
+}
+}
+} // namespace

modules/ximgproc/test/test_fbs_filter.cpp

@@ -82,7 +82,7 @@ TEST(FastBilateralSolverTest, SplatSurfaceAccuracy)
 
         // When filtering a constant image we should get the same image:
         double normL1 = cvtest::norm(src, res, NORM_L1)/src.total()/src.channels();
-        EXPECT_LE(normL1, 1.0);
+        EXPECT_LE(normL1, 1.0/64);
     }
 }
 
@@ -91,7 +91,8 @@ TEST(FastBilateralSolverTest, ReferenceAccuracy)
     string dir = getDataDir() + "cv/edgefilter";
 
     Mat src = imread(dir + "/kodim23.png");
-    Mat ref = imread(dir + "/fgs/kodim23_lambda=1000_sigma=10.png");
+    Mat ref = imread(dir + "/fbs/kodim23_spatial=16_luma=16_chroma=16.png");
+
     Mat confidence(src.size(), CV_MAKE_TYPE(CV_8U, 1), 255);
 
     ASSERT_FALSE(src.empty());
@@ -103,7 +104,7 @@ TEST(FastBilateralSolverTest, ReferenceAccuracy)
     double totalMaxError = 1.0/64.0*src.total()*src.channels();
 
     EXPECT_LE(cvtest::norm(res, ref, NORM_L2), totalMaxError);
-    EXPECT_LE(cvtest::norm(res, ref, NORM_INF), 100);
+    EXPECT_LE(cvtest::norm(res, ref, NORM_INF), 1);
 }
 
 INSTANTIATE_TEST_CASE_P(FullSet, FastBilateralSolverTest,Combine(Values(szODD, szQVGA), SrcTypes::all(), GuideTypes::all()));

modules/xphoto/samples/inpainting.cpp

@@ -3,9 +3,6 @@
 #include "opencv2/imgproc.hpp"
 #include "opencv2/highgui.hpp"
 
-#include "opencv2/core/utility.hpp"
-#include "opencv2/imgproc/types_c.h"
-
 #include <ctime>
 #include <iostream>
 
@@ -41,22 +38,22 @@ int main( int argc, const char** argv )
     std::string maskFilename = parser.get<std::string>("m");
     std::string outFilename = parser.get<std::string>("o");
 
-    cv::Mat src = cv::imread(inFilename, -1);
+    cv::Mat src = cv::imread(inFilename, cv::IMREAD_UNCHANGED);
     if ( src.empty() )
     {
         printf( "Cannot read image file: %s\n", inFilename.c_str() );
         return -1;
     }
 
-    cv::cvtColor(src, src, CV_RGB2Lab);
+    cv::cvtColor(src, src, cv::COLOR_BGR2Lab);
 
-    cv::Mat mask = cv::imread(maskFilename, 0);
+    cv::Mat mask = cv::imread(maskFilename, cv::IMREAD_GRAYSCALE);
     if ( mask.empty() )
     {
         printf( "Cannot read image file: %s\n", maskFilename.c_str() );
         return -1;
     }
-    cv::threshold(mask, mask, 128, 255, CV_THRESH_BINARY | CV_THRESH_OTSU);
+    cv::threshold(mask, mask, 128, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
 
     cv::Mat res(src.size(), src.type());
 
@@ -65,7 +62,7 @@ int main( int argc, const char** argv )
     std::cout << "time = " << (clock() - time)
         / double(CLOCKS_PER_SEC) << std::endl;
 
-    cv::cvtColor(res, res, CV_Lab2RGB);
+    cv::cvtColor(res, res, cv::COLOR_Lab2BGR);
 
     if ( outFilename == "" )
     {
@@ -78,4 +75,4 @@ int main( int argc, const char** argv )
         cv::imwrite(outFilename, res);
 
     return 0;
-}
+}
\ No newline at end of file