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Commit da989664 authored by Alexander Alekhin's avatar Alexander Alekhin
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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

parents ac0b1d0d 9457fe6c
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Showing with 160 additions and 115 deletions
modules/cnn_3dobj/test/test_cnn_3dobj_feature_extract.cpp
View file @ da989664
......@@ -53,7 +53,7 @@ void CV_CNN_Feature_Test::run(int)
// Reference feature is computed by Caffe extract_features tool.
// To generate values for different images, use extract_features with the resetted image list in prototxt.
Mat feature_reference = (Mat_<float>(1,3) << -312.4805, 8.4768486, -224.98953);
float dist = norm(feature_test - feature_reference);
float dist = cvtest::norm(feature_test, feature_reference, NORM_L1);
if (dist > 5) {
ts->printf(cvtest::TS::LOG, "Extracted featrue is not the same from the one extracted from Caffe.");
ts->set_failed_test_info(cvtest::TS::FAIL_MISSING_TEST_DATA);
......
modules/datasets/samples/pd_inria.cpp
View file @ da989664
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2015, Itseez Inc, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Itseez Inc or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "opencv2/datasets/pd_inria.hpp"
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <iostream>
#include <string>
#include <vector>
using namespace std;
using namespace cv;
......@@ -55,6 +12,7 @@ int main(int argc, char *argv[])
const char *keys =
"{ help h usage ? | | show this message }"
"{ path p |true| path to dataset }";
CommandLineParser parser(argc, argv, keys);
string path(parser.get<string>("path"));
if (parser.has("help") || path=="true")
......@@ -66,28 +24,43 @@ int main(int argc, char *argv[])
Ptr<PD_inria> dataset = PD_inria::create();
dataset->load(path);
cout << "train size: " << (unsigned int)dataset->getTrain().size() << endl;
size_t train_size = dataset->getTrain().size();
size_t test_size = dataset->getTest().size();
cout << "train size: " << train_size << endl;
cout << "test size: " << test_size << endl;
PD_inriaObj *example = static_cast<PD_inriaObj *>(dataset->getTrain()[0].get());
cout << "first train object: " << endl;
cout << "name: " << example->filename << endl;
// image size
cout << "image size: " << endl;
cout << " - width: " << example->width << endl;
cout << " - height: " << example->height << endl;
cout << " - depth: " << example->depth << endl;
// bounding boxes
for (unsigned int i = 0; i < (example->bndboxes).size(); i++)
for( size_t i = 0; i < train_size; i++ )
{
cout << "object " << i << endl;
int x = (example->bndboxes)[i].x;
int y = (example->bndboxes)[i].y;
cout << " - xmin = " << x << endl;
cout << " - ymin = " << y << endl;
cout << " - xmax = " << (example->bndboxes)[i].width + x << endl;
cout << " - ymax = " << (example->bndboxes)[i].height + y<< endl;
PD_inriaObj *example = static_cast<PD_inriaObj *>(dataset->getTrain()[i].get());
cout << "\ntrain object index: " << i << endl;
cout << "file name: " << example->filename << endl;
// image size
cout << "image size: " << endl;
cout << " - width: " << example->width << endl;
cout << " - height: " << example->height << endl;
cout << " - depth: " << example->depth << endl;
Mat img = imread( example->filename );
// bounding boxes
for ( size_t j = 0; j < example->bndboxes.size(); j++ )
{
cout << "object " << j << endl;
int x = example->bndboxes[j].x;
int y = example->bndboxes[j].y;
cout << " - xmin = " << x << endl;
cout << " - ymin = " << y << endl;
cout << " - xmax = " << example->bndboxes[j].width + x << endl;
cout << " - ymax = " << example->bndboxes[j].height + y << endl;
rectangle( img, example->bndboxes[j], Scalar( 0, 0, 255 ), 2 );
}
imshow("INRIAPerson Dataset Train Images", img);
cout << "\nPress a key to continue or ESC to exit." << endl;
int key = waitKey();
if( key == 27 ) break;
}
return 0;
......
modules/matlab/CMakeLists.txt
View file @ da989664
set(BUILD_opencv_matlab_INIT OFF) # Matlab module is broken
# ----------------------------------------------------------------------------
# CMake file for Matlab/Octave support
#
......@@ -261,6 +259,13 @@ add_custom_command(
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/test/help.m ${CMAKE_CURRENT_BINARY_DIR}/+cv
COMMAND ${CMAKE_COMMAND} -E touch ${GENERATE_PROXY}
COMMENT "Generating Matlab source files"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/build_info.py"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/cvmex.py"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/filters.py"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/gen_matlab.py"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/parse_tree.py"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/templates/functional.cpp"
DEPENDS "${CMAKE_CURRENT_LIST_DIR}/generator/templates/template_function_base.cpp"
)
# compile
......
modules/matlab/compile.cmake
View file @ da989664
......@@ -28,11 +28,18 @@ endif()
# 2. attempt compile if required
# 3. if the compile fails, throw an error and cancel compilation
file(GLOB SOURCE_FILES "${CMAKE_CURRENT_BINARY_DIR}/src/*.cpp")
list(LENGTH SOURCE_FILES __size)
message("Matlab: compiling ${__size} files")
set(__index 0)
foreach(SOURCE_FILE ${SOURCE_FILES})
MATH(EXPR __index "${__index}+1")
# strip out the filename
get_filename_component(FILENAME ${SOURCE_FILE} NAME_WE)
message("[${__index}/${__size}] Compiling: ${FILENAME}")
# compile the source file using mex
if (NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/+cv/${FILENAME}.${MATLAB_MEXEXT})
if (NOT EXISTS "${CMAKE_CURRENT_BINARY_DIR}/+cv/${FILENAME}.${MATLAB_MEXEXT}" OR
"${SOURCE_FILE}" IS_NEWER_THAN "${CMAKE_CURRENT_BINARY_DIR}/+cv/${FILENAME}.${MATLAB_MEXEXT}"
)
execute_process(
COMMAND ${MATLAB_MEX_SCRIPT} ${MEX_OPTS} "CXXFLAGS=\$CXXFLAGS ${MEX_CXXFLAGS}" ${MEX_INCLUDE_DIRS_LIST}
${MEX_LIB_DIR} ${MEX_LIBS_LIST} ${SOURCE_FILE}
......
modules/matlab/generator/filters.py
View file @ da989664
......@@ -5,8 +5,6 @@ urlexpr = re.compile(r"((https?):((//)|(\\\\))+[\w\d:#@%/;$()~_?\+-=\\\.&]*)", r
def inputs(args):
'''Keeps only the input arguments in a list of elements.
In OpenCV input arguments are all arguments with names
not beginning with 'dst'
'''
try:
return [arg for arg in args['only'] if arg.I and not arg.O]
......@@ -20,7 +18,7 @@ def ninputs(fun):
def outputs(args):
'''Determines whether any of the given arguments is an output
reference, and returns a list of only those elements.
In OpenCV, output references are preceeded by 'dst'
In OpenCV, output references are preceeded by CV_OUT or has *OutputArray* type
'''
try:
return [arg for arg in args['only'] if arg.O and not arg.I]
......
modules/matlab/generator/gen_matlab.py
View file @ da989664
......@@ -4,6 +4,26 @@ from string import Template
from parse_tree import ParseTree, todict, constants
from filters import *
updated_files = []
def update_file(fname, content):
if fname in updated_files:
print('ERROR(gen_matlab.py): attemption to write file multiple times: {}'.format(fname))
return
updated_files.append(fname)
if os.path.exists(fname):
with open(fname, 'rb') as f:
old_content = f.read()
if old_content == content:
#print('Up-to-date: {}'.format(fname))
return
print('Updating: {}'.format(fname))
else:
print('Writing: {}'.format(fname))
with open(fname, 'wb') as f:
f.write(content)
class MatlabWrapperGenerator(object):
"""
MatlabWrapperGenerator is a class for generating Matlab mex sources from
......@@ -107,24 +127,20 @@ class MatlabWrapperGenerator(object):
# functions
for method in namespace.methods:
populated = tfunction.render(fun=method, time=time, includes=namespace.name)
with open(output_source_dir+'/'+method.name+'.cpp', 'wb') as f:
f.write(populated.encode('utf-8'))
update_file(output_source_dir+'/'+method.name+'.cpp', populated.encode('utf-8'))
# classes
for clss in namespace.classes:
# cpp converter
populated = tclassc.render(clss=clss, time=time)
with open(output_private_dir+'/'+clss.name+'Bridge.cpp', 'wb') as f:
f.write(populated.encode('utf-8'))
update_file(output_private_dir+'/'+clss.name+'Bridge.cpp', populated.encode('utf-8'))
# matlab classdef
populated = tclassm.render(clss=clss, time=time)
with open(output_class_dir+'/'+clss.name+'.m', 'wb') as f:
f.write(populated.encode('utf-8'))
update_file(output_class_dir+'/'+clss.name+'.m', populated.encode('utf-8'))
# create a global constants lookup table
const = dict(constants(todict(parse_tree.namespaces)))
populated = tconst.render(constants=const, time=time)
with open(output_dir+'/cv.m', 'wb') as f:
f.write(populated.encode('utf-8'))
update_file(output_dir+'/cv.m', populated.encode('utf-8'))
if __name__ == "__main__":
......
modules/matlab/generator/parse_tree.py
View file @ da989664
......@@ -8,6 +8,21 @@ except NameError:
# Python 3.3+
basestring = str
valid_types = (
'int', 'bool', 'float', 'double', 'size_t', 'char',
'Mat', 'Scalar', 'String',
'TermCriteria', 'Size', 'Point', 'Point2f', 'Point2d', 'Rect', 'RotatedRect',
'RNG', 'DMatch', 'Moments',
'vector_Mat', 'vector_Point', 'vector_int', 'vector_float', 'vector_double', 'vector_String', 'vector_uchar', 'vector_Rect', 'vector_DMatch', 'vector_KeyPoint',
'vector_Point2f', 'vector_vector_char', 'vector_vector_DMatch', 'vector_vector_KeyPoint',
'Ptr_StereoBM', 'Ptr_StereoSGBM', 'Ptr_FeatureDetector', 'Ptr_CLAHE', 'Ptr_LineSegmentDetector', 'Ptr_AlignMTB', 'Ptr_CalibrateDebevec',
'Ptr_CalibrateRobertson', 'Ptr_DenseOpticalFlow', 'Ptr_DualTVL1OpticalFlow', 'Ptr_MergeDebevec', 'Ptr_MergeMertens', 'Ptr_MergeRobertson',
'Ptr_Stitcher', 'Ptr_Tonemap', 'Ptr_TonemapDrago', 'Ptr_TonemapDurand', 'Ptr_TonemapMantiuk', 'Ptr_TonemapReinhard', 'Ptr_float',
# Not supported:
#vector_vector_KeyPoint
)
class ParseTree(object):
"""
The ParseTree class produces a semantic tree of C++ definitions given
......@@ -89,7 +104,11 @@ class ParseTree(object):
methods = []
constants = []
for defn in definitions:
obj = babel.translate(defn)
try:
obj = babel.translate(defn)
except Exception as e:
print(e)
obj = None
if obj is None:
continue
if type(obj) is Class or obj.clss:
......@@ -176,15 +195,15 @@ class Translator(object):
return Constant(name, clss, tp, const, '', val)
def translateArgument(self, defn):
modifiers = defn[3]
ref = '*' if '*' in defn[0] else ''
ref = '&' if '&' in defn[0] else ref
const = ' const ' in ' '+defn[0]+' '
ref = '&' if '&' in defn[0] or '/Ref' in modifiers else ref
const = '/C' in modifiers
tp = " ".join([word for word in defn[0].replace(ref, '').split() if not ' const ' in ' '+word+' '])
name = defn[1]
default = defn[2] if defn[2] else ''
modifiers = ''.join(defn[3])
I = True if not modifiers or 'I' in modifiers else False
O = True if 'O' in modifiers else False
I = True if '/I' in modifiers or not '/O' in modifiers else False
O = True if '/O' in modifiers else False
return Argument(name, tp, const, I, O, ref, default)
def translateName(self, name):
......@@ -292,6 +311,8 @@ class Argument(object):
self.O = O
self.const = const
self.default = default
if not tp in valid_types:
raise Exception("Non-supported argument type: {} (name: {})".format(tp, name))
def __str__(self):
return ('const ' if self.const else '')+self.tp+self.ref+\
......
modules/matlab/generator/templates/functional.cpp
View file @ da989664
......@@ -104,21 +104,23 @@ addVariant("{{ fun.name }}", {{ fun.req|inputs|length }}, {{ fun.opt|inputs|leng
{%- macro handleInputs(fun) %}
{% if fun|ninputs or (fun|noutputs and not fun.constructor) %}
// unpack the arguments
{# ----------- Inputs ------------- #}
// - inputs
{% for arg in fun.req|inputs %}
{{arg.tp}} {{arg.name}} = inputs[{{ loop.index0 }}].to{{arg.tp|toUpperCamelCase}}();
{% endfor %}
// - inputs (opt)
{% for opt in fun.opt|inputs %}
{{opt.tp}} {{opt.name}} = inputs[{{loop.index0 + fun.req|inputs|length}}].empty() ? ({{opt.tp}}) {% if opt.ref == '*' -%} {{opt.tp}}() {%- else -%} {{opt.default}} {%- endif %} : inputs[{{loop.index0 + fun.req|inputs|length}}].to{{opt.tp|toUpperCamelCase}}();
{% endfor %}
{# ----------- Outputs ------------ #}
// - outputs
{% for arg in fun.req|only|outputs %}
{{arg.tp}} {{arg.name}};
{% endfor %}
// - outputs (opt)
{% for opt in fun.opt|only|outputs %}
{{opt.tp}} {{opt.name}};
{% endfor %}
// - return
{% if not fun.rtp|void and not fun.constructor %}
{{fun.rtp}} retval;
{% endif %}
......
modules/matlab/generator/templates/template_class_base.cpp
View file @ da989664
......@@ -2,11 +2,10 @@
/*
* file: {{clss.name}}Bridge.cpp
* author: A trusty code generator
* date: {{time.strftime("%a, %d %b %Y %H:%M:%S", time.localtime())}}
*
* This file was autogenerated, do not modify.
* See LICENSE for full modification and redistribution details.
* Copyright {{time.strftime("%Y", time.localtime())}} The OpenCV Foundation
* Copyright 2018 The OpenCV Foundation
*/
#include <mex.h>
#include <vector>
......
modules/matlab/generator/templates/template_function_base.cpp
View file @ da989664
......@@ -2,11 +2,10 @@
/*
* file: {{fun.name}}.cpp
* author: A trusty code generator
* date: {{time.strftime("%a, %d %b %Y %H:%M:%S", time.localtime())}}
*
* This file was autogenerated, do not modify.
* See LICENSE for full modification and redistribution details.
* Copyright {{time.strftime("%Y", time.localtime())}} The OpenCV Foundation
* Copyright 2018 The OpenCV Foundation
*/
#include <string>
#include <vector>
......
modules/matlab/include/opencv2/matlab/bridge.hpp
View file @ da989664
......@@ -249,13 +249,13 @@ public:
case mxUINT16_CLASS: deepCopyAndTranspose<uint16_t, Scalar>(ptr_, mat); break;
case mxINT32_CLASS: deepCopyAndTranspose<int32_t, Scalar>(ptr_, mat); break;
case mxUINT32_CLASS: deepCopyAndTranspose<uint32_t, Scalar>(ptr_, mat); break;
case mxINT64_CLASS: deepCopyAndTranspose<int64_t, Scalar>(ptr_, mat); break;
case mxUINT64_CLASS: deepCopyAndTranspose<uint64_t, Scalar>(ptr_, mat); break;
//case mxINT64_CLASS: deepCopyAndTranspose<int64_t, Scalar>(ptr_, mat); break;
//case mxUINT64_CLASS: deepCopyAndTranspose<uint64_t, Scalar>(ptr_, mat); break;
case mxSINGLE_CLASS: deepCopyAndTranspose<float, Scalar>(ptr_, mat); break;
case mxDOUBLE_CLASS: deepCopyAndTranspose<double, Scalar>(ptr_, mat); break;
case mxCHAR_CLASS: deepCopyAndTranspose<char, Scalar>(ptr_, mat); break;
case mxLOGICAL_CLASS: deepCopyAndTranspose<int8_t, Scalar>(ptr_, mat); break;
default: matlab::error("Attempted to convert from unknown class");
default: matlab::error("Attempted to convert from unknown/unsupported class");
}
return mat;
}
......@@ -576,13 +576,13 @@ cv::Mat Bridge::toMat<matlab::InheritType>() const {
case mxUINT16_CLASS: return toMat<uint16_t>();
case mxINT32_CLASS: return toMat<int32_t>();
case mxUINT32_CLASS: return toMat<int32_t>();
case mxINT64_CLASS: return toMat<int64_t>();
case mxUINT64_CLASS: return toMat<int64_t>();
//case mxINT64_CLASS: return toMat<int64_t>();
//case mxUINT64_CLASS: return toMat<int64_t>();
case mxSINGLE_CLASS: return toMat<float>();
case mxDOUBLE_CLASS: return toMat<float>(); //NOTE: OpenCV uses float as native type!
case mxCHAR_CLASS: return toMat<int8_t>();
case mxLOGICAL_CLASS: return toMat<int8_t>();
default: matlab::error("Attempted to convert from unknown class");
default: matlab::error("Attempted to convert from unknown/unsuported class");
}
return cv::Mat();
}
......@@ -598,18 +598,26 @@ cv::Mat Bridge::toMat() const { return toMat<matlab::InheritType>(); }
template <typename InputScalar, typename OutputScalar>
void deepCopyAndTranspose(const cv::Mat& in, matlab::MxArray& out) {
const int cols = out.cols();
const int rows = out.rows();
matlab::conditionalError(static_cast<size_t>(in.rows) == out.rows(), "Matrices must have the same number of rows");
matlab::conditionalError(static_cast<size_t>(in.cols) == out.cols(), "Matrices must have the same number of cols");
matlab::conditionalError(static_cast<size_t>(in.channels()) == out.channels(), "Matrices must have the same number of channels");
std::vector<cv::Mat> channels;
cv::split(in, channels);
for (size_t c = 0; c < out.channels(); ++c) {
cv::transpose(channels[c], channels[c]);
cv::Mat outmat(out.cols(), out.rows(), cv::DataType<OutputScalar>::type,
static_cast<void *>(out.real<OutputScalar>() + out.cols()*out.rows()*c));
channels[c].convertTo(outmat, cv::DataType<OutputScalar>::type);
cv::Mat_<InputScalar> m;
cv::transpose(channels[c], m);
OutputScalar* dst_plane = (OutputScalar*)out.real<InputScalar>() + cols*rows*c;
for (int x = 0; x < cols; x++)
{
OutputScalar* dst_col = dst_plane + x * rows;
for (int y = 0; y < rows; y++)
{
dst_col[y] = cv::saturate_cast<OutputScalar>(m(y, x));
}
}
}
//const InputScalar* inp = in.ptr<InputScalar>(0);
//OutputScalar* outp = out.real<OutputScalar>();
//gemt('R', out.rows(), out.cols(), inp, in.step1(), outp, out.rows());
......@@ -617,17 +625,25 @@ void deepCopyAndTranspose(const cv::Mat& in, matlab::MxArray& out) {
template <typename InputScalar, typename OutputScalar>
void deepCopyAndTranspose(const matlab::MxArray& in, cv::Mat& out) {
const int cols = in.cols();
const int rows = in.rows();
matlab::conditionalError(in.rows() == static_cast<size_t>(out.rows), "Matrices must have the same number of rows");
matlab::conditionalError(in.cols() == static_cast<size_t>(out.cols), "Matrices must have the same number of cols");
matlab::conditionalError(in.channels() == static_cast<size_t>(out.channels()), "Matrices must have the same number of channels");
std::vector<cv::Mat> channels;
for (size_t c = 0; c < in.channels(); ++c) {
cv::Mat outmat;
cv::Mat inmat(in.cols(), in.rows(), cv::DataType<InputScalar>::type,
static_cast<void *>(const_cast<InputScalar *>(in.real<InputScalar>() + in.cols()*in.rows()*c)));
inmat.convertTo(outmat, cv::DataType<OutputScalar>::type);
cv::transpose(outmat, outmat);
channels.push_back(outmat);
cv::Mat_<OutputScalar> m(cols, rows);
const InputScalar* src_plane = in.real<InputScalar>() + cols*rows*c;
for (int x = 0; x < cols; x++)
{
const InputScalar* src_col = src_plane + x * rows;
for (int y = 0; y < rows; y++)
{
m(y, x) = cv::saturate_cast<InputScalar>(src_col[y]);
}
}
cv::transpose(m, m);
channels.push_back(m);
}
cv::merge(channels, out);
......
modules/rgbd/src/odometry.cpp
View file @ da989664
......@@ -10,10 +10,19 @@
#include "fast_icp.hpp"
#if defined(HAVE_EIGEN) && EIGEN_WORLD_VERSION == 3
#define HAVE_EIGEN3_HERE
#include <Eigen/Core>
#include <unsupported/Eigen/MatrixFunctions>
#include <Eigen/Dense>
# define HAVE_EIGEN3_HERE
# if defined(_MSC_VER)
# pragma warning(push)
# pragma warning(disable:4701) // potentially uninitialized local variable
# pragma warning(disable:4702) // unreachable code
# pragma warning(disable:4714) // const marked as __forceinline not inlined
# endif
# include <Eigen/Core>
# include <unsupported/Eigen/MatrixFunctions>
# include <Eigen/Dense>
# if defined(_MSC_VER)
# pragma warning(pop)
# endif
#endif
namespace cv
......
modules/surface_matching/src/hash_murmur86.hpp
View file @ da989664
......@@ -93,7 +93,7 @@ void hashMurmurx86 ( const void * key, const int len, const uint seed, void * ou
/* Now find best way we can to READ_UINT32 */
#ifndef WORDS_BIGENDIAN
# define READ_UINT32(ptr) (*((uint32_t*)(ptr)))
#elif defined(WORDS_BIGENDIAN)
#elif defined(WORDS_BIGENDIAN) \
&& defined(__GNUC__) && (__GNUC__>4 || (__GNUC__==4 && __GNUC_MINOR__>=3))
# define READ_UINT32(ptr) (__builtin_bswap32(*((uint32_t*)(ptr))))
#endif
......
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