From be7e2c91c6c9eb4fc336a1a6d369c3766eac69a6 Mon Sep 17 00:00:00 2001 From: raimbekovm Date: Thu, 25 Dec 2025 15:34:48 +0600 Subject: [PATCH 01/51] docs: fix spelling errors in code and comments - Fixed 'suported' -> 'supported' in imgproc.hpp - Fixed 'constane/constans' -> 'constant/constants' in onevpl utils - Fixed 'pushconstance' -> 'pushconstant' in op_matmul.cpp - Fixed 'bufer' -> 'buffer' in test_imgwarp.cpp - Fixed 'Framebuffrer' -> 'Framebuffer' in window_framebuffer - Fixed 'readComplexPropery' -> 'readComplexProperty' in cap_msmf.cpp - Fixed 'behavoir' -> 'behavior' in test_exr.impl.hpp - Fixed 'previos' -> 'previous' in qrcode_encoder.cpp --- modules/dnn/src/vkcom/src/op_matmul.cpp | 2 +- modules/gapi/src/streaming/onevpl/utils.cpp | 4 +-- modules/highgui/src/window_framebuffer.cpp | 2 +- modules/highgui/src/window_framebuffer.hpp | 2 +- modules/imgcodecs/test/test_exr.impl.hpp | 2 +- modules/imgproc/include/opencv2/imgproc.hpp | 2 +- modules/imgproc/test/test_imgwarp.cpp | 12 +++---- modules/objdetect/src/qrcode_encoder.cpp | 2 +- modules/videoio/src/cap_msmf.cpp | 38 ++++++++++----------- 9 files changed, 33 insertions(+), 33 deletions(-) diff --git a/modules/dnn/src/vkcom/src/op_matmul.cpp b/modules/dnn/src/vkcom/src/op_matmul.cpp index 479e64e5c8..eda6ab7a9b 100644 --- a/modules/dnn/src/vkcom/src/op_matmul.cpp +++ b/modules/dnn/src/vkcom/src/op_matmul.cpp @@ -106,7 +106,7 @@ bool OpMatMul::forward(std::vector& ins, std::vector& outs) } desSet->writeTensor(outs[0], 2); - desSet->writeTensor(paramTensor, 3); // TODO change the parameter from pushconstance to buffer. + desSet->writeTensor(paramTensor, 3); // TODO change the parameter from pushconstant to buffer. cmdBuffer->beginRecord(); pipeline->bind(cmdBufferReal, desSet->get()); diff --git a/modules/gapi/src/streaming/onevpl/utils.cpp b/modules/gapi/src/streaming/onevpl/utils.cpp index a5513f5377..5374d4ae7e 100644 --- a/modules/gapi/src/streaming/onevpl/utils.cpp +++ b/modules/gapi/src/streaming/onevpl/utils.cpp @@ -401,10 +401,10 @@ std::string ext_mem_frame_type_to_cstr(int type) { std::stringstream ss; APPEND_STRINGIFY_MASK_N_ERASE(type, "|", MFX_MEMTYPE_DXVA2_DECODER_TARGET); APPEND_STRINGIFY_MASK_N_ERASE(type, "|", MFX_MEMTYPE_DXVA2_PROCESSOR_TARGET); - // NB: according to VPL source the commented MFX_* constane below are belong to the + // NB: according to VPL source the commented MFX_* constant below are belong to the // same actual integral value as condition abobe. So it is impossible // to distinct them in condition branch. Just put this comment and possible - // constans here... + // constants here... //APPEND_STRINGIFY_MASK_N_ERASE(type, "|", MFX_MEMTYPE_VIDEO_MEMORY_DECODER_TARGET); //APPEND_STRINGIFY_MASK_N_ERASE(type, "|", MFX_MEMTYPE_VIDEO_MEMORY_PROCESSOR_TARGET); APPEND_STRINGIFY_MASK_N_ERASE(type, "|", MFX_MEMTYPE_SYSTEM_MEMORY); diff --git a/modules/highgui/src/window_framebuffer.cpp b/modules/highgui/src/window_framebuffer.cpp index 687bf91724..97bdb359f9 100644 --- a/modules/highgui/src/window_framebuffer.cpp +++ b/modules/highgui/src/window_framebuffer.cpp @@ -519,7 +519,7 @@ fb_fix_screeninfo &FramebufferBackend::getFixInfo() return fixInfo; } -int FramebufferBackend::getFramebuffrerID() +int FramebufferBackend::getFramebufferID() { return fbID; } diff --git a/modules/highgui/src/window_framebuffer.hpp b/modules/highgui/src/window_framebuffer.hpp index e7bf50dff6..87e64bc26b 100644 --- a/modules/highgui/src/window_framebuffer.hpp +++ b/modules/highgui/src/window_framebuffer.hpp @@ -101,7 +101,7 @@ public: fb_var_screeninfo &getVarInfo(); fb_fix_screeninfo &getFixInfo(); - int getFramebuffrerID(); + int getFramebufferID(); int getFBWidth(); int getFBHeight(); int getFBXOffset(); diff --git a/modules/imgcodecs/test/test_exr.impl.hpp b/modules/imgcodecs/test/test_exr.impl.hpp index d439b7da44..6fa6e5bbe8 100644 --- a/modules/imgcodecs/test/test_exr.impl.hpp +++ b/modules/imgcodecs/test/test_exr.impl.hpp @@ -184,7 +184,7 @@ TEST(Imgcodecs_EXR, readWrite_32FC1_PIZ) // Note: YC to GRAYSCALE (IMREAD_GRAYSCALE | IMREAD_ANYDEPTH) // outputs a black image, // as does Y to RGB (IMREAD_COLOR | IMREAD_ANYDEPTH). -// This behavoir predates adding EXR alpha support issue +// This behavior predates adding EXR alpha support issue // 16115. TEST(Imgcodecs_EXR, read_YA_ignore_alpha) diff --git a/modules/imgproc/include/opencv2/imgproc.hpp b/modules/imgproc/include/opencv2/imgproc.hpp index 4250625bb4..08571c4547 100644 --- a/modules/imgproc/include/opencv2/imgproc.hpp +++ b/modules/imgproc/include/opencv2/imgproc.hpp @@ -2372,7 +2372,7 @@ structuring element is used. Kernel can be created using #getStructuringElement @param anchor position of the anchor within the element; default value (-1, -1) means that the anchor is at the element center. @param iterations number of times dilation is applied. -@param borderType pixel extrapolation method, see #BorderTypes. #BORDER_WRAP is not suported. +@param borderType pixel extrapolation method, see #BorderTypes. #BORDER_WRAP is not supported. @param borderValue border value in case of a constant border @sa erode, morphologyEx, getStructuringElement */ diff --git a/modules/imgproc/test/test_imgwarp.cpp b/modules/imgproc/test/test_imgwarp.cpp index 66d930310a..3372380413 100644 --- a/modules/imgproc/test/test_imgwarp.cpp +++ b/modules/imgproc/test/test_imgwarp.cpp @@ -675,17 +675,17 @@ int CV_WarpPerspectiveTest::prepare_test_case( int test_case_idx ) s[3] = Point2f(0,src.rows-1.f); d[3] = Point2f(0,dst.rows-1.f); - float bufer[16]; - Mat tmp( 1, 16, CV_32FC1, bufer ); + float buffer[16]; + Mat tmp( 1, 16, CV_32FC1, buffer ); rng.fill( tmp, RNG::NORMAL, Scalar::all(0.), Scalar::all(0.1) ); for( i = 0; i < 4; i++ ) { - s[i].x += bufer[i*4]*src.cols/2; - s[i].y += bufer[i*4+1]*src.rows/2; - d[i].x += bufer[i*4+2]*dst.cols/2; - d[i].y += bufer[i*4+3]*dst.rows/2; + s[i].x += buffer[i*4]*src.cols/2; + s[i].y += buffer[i*4+1]*src.rows/2; + d[i].x += buffer[i*4+2]*dst.cols/2; + d[i].y += buffer[i*4+3]*dst.rows/2; } cv::getPerspectiveTransform( s, d ).convertTo( mat, mat.depth() ); diff --git a/modules/objdetect/src/qrcode_encoder.cpp b/modules/objdetect/src/qrcode_encoder.cpp index 14b51c254d..2bead8e498 100644 --- a/modules/objdetect/src/qrcode_encoder.cpp +++ b/modules/objdetect/src/qrcode_encoder.cpp @@ -1576,7 +1576,7 @@ bool QRCodeDecoderImpl::errorCorrectionBlock(std::vector& codewords) { uint8_t b = 1; // discrepancy from last L update std::vector C(numSyndromes, 0); // Error locator polynomial - std::vector B(numSyndromes, 0); // A copy of error locator from previos L update + std::vector B(numSyndromes, 0); // A copy of error locator from previous L update C[0] = B[0] = 1; for (size_t i = 0; i < numSyndromes; ++i) { CV_Assert(m + L - 1 < C.size()); // m >= 1 on any iteration diff --git a/modules/videoio/src/cap_msmf.cpp b/modules/videoio/src/cap_msmf.cpp index 1ceb2dc5d1..751279d2b1 100644 --- a/modules/videoio/src/cap_msmf.cpp +++ b/modules/videoio/src/cap_msmf.cpp @@ -789,7 +789,7 @@ protected: bool checkAudioProperties(); template - bool readComplexPropery(long prop, long& val) const; + bool readComplexProperty(long prop, long& val) const; template bool writeComplexProperty(long prop, double val, long flags); _ComPtr getDefaultSourceConfig(UINT32 num = 10); @@ -2120,7 +2120,7 @@ bool CvCapture_MSMF::setTime(int numberFrame) } template -bool CvCapture_MSMF::readComplexPropery(long prop, long & val) const +bool CvCapture_MSMF::readComplexProperty(long prop, long & val) const { _ComPtr ctrl; if (FAILED(videoFileSource->GetServiceForStream((DWORD)MF_SOURCE_READER_MEDIASOURCE, GUID_NULL, IID_PPV_ARGS(&ctrl)))) @@ -2188,64 +2188,64 @@ double CvCapture_MSMF::getProperty( int property_id ) const else break; case CAP_PROP_BRIGHTNESS: - if (readComplexPropery(VideoProcAmp_Brightness, cVal)) + if (readComplexProperty(VideoProcAmp_Brightness, cVal)) return cVal; break; case CAP_PROP_CONTRAST: - if (readComplexPropery(VideoProcAmp_Contrast, cVal)) + if (readComplexProperty(VideoProcAmp_Contrast, cVal)) return cVal; break; case CAP_PROP_SATURATION: - if (readComplexPropery(VideoProcAmp_Saturation, cVal)) + if (readComplexProperty(VideoProcAmp_Saturation, cVal)) return cVal; break; case CAP_PROP_HUE: - if (readComplexPropery(VideoProcAmp_Hue, cVal)) + if (readComplexProperty(VideoProcAmp_Hue, cVal)) return cVal; break; case CAP_PROP_GAIN: - if (readComplexPropery(VideoProcAmp_Gain, cVal)) + if (readComplexProperty(VideoProcAmp_Gain, cVal)) return cVal; break; case CAP_PROP_SHARPNESS: - if (readComplexPropery(VideoProcAmp_Sharpness, cVal)) + if (readComplexProperty(VideoProcAmp_Sharpness, cVal)) return cVal; break; case CAP_PROP_GAMMA: - if (readComplexPropery(VideoProcAmp_Gamma, cVal)) + if (readComplexProperty(VideoProcAmp_Gamma, cVal)) return cVal; break; case CAP_PROP_BACKLIGHT: - if (readComplexPropery(VideoProcAmp_BacklightCompensation, cVal)) + if (readComplexProperty(VideoProcAmp_BacklightCompensation, cVal)) return cVal; break; case CAP_PROP_MONOCHROME: - if (readComplexPropery(VideoProcAmp_ColorEnable, cVal)) + if (readComplexProperty(VideoProcAmp_ColorEnable, cVal)) return cVal == 0 ? 1 : 0; break; case CAP_PROP_TEMPERATURE: - if (readComplexPropery(VideoProcAmp_WhiteBalance, cVal)) + if (readComplexProperty(VideoProcAmp_WhiteBalance, cVal)) return cVal; break; case CAP_PROP_PAN: - if (readComplexPropery(CameraControl_Pan, cVal)) + if (readComplexProperty(CameraControl_Pan, cVal)) return cVal; break; case CAP_PROP_TILT: - if (readComplexPropery(CameraControl_Tilt, cVal)) + if (readComplexProperty(CameraControl_Tilt, cVal)) return cVal; break; case CAP_PROP_ROLL: - if (readComplexPropery(CameraControl_Roll, cVal)) + if (readComplexProperty(CameraControl_Roll, cVal)) return cVal; break; case CAP_PROP_IRIS: - if (readComplexPropery(CameraControl_Iris, cVal)) + if (readComplexProperty(CameraControl_Iris, cVal)) return cVal; break; case CAP_PROP_EXPOSURE: case CAP_PROP_AUTO_EXPOSURE: - if (readComplexPropery(CameraControl_Exposure, cVal)) + if (readComplexProperty(CameraControl_Exposure, cVal)) { if (property_id == CAP_PROP_EXPOSURE) return cVal; @@ -2254,12 +2254,12 @@ double CvCapture_MSMF::getProperty( int property_id ) const } break; case CAP_PROP_ZOOM: - if (readComplexPropery(CameraControl_Zoom, cVal)) + if (readComplexProperty(CameraControl_Zoom, cVal)) return cVal; break; case CAP_PROP_FOCUS: case CAP_PROP_AUTOFOCUS: - if (readComplexPropery(CameraControl_Focus, cVal)) + if (readComplexProperty(CameraControl_Focus, cVal)) { if (property_id == CAP_PROP_FOCUS) return cVal; From c058072d6260659411a6d4160789bac32a2d3d67 Mon Sep 17 00:00:00 2001 From: raimbekovm Date: Fri, 26 Dec 2025 23:42:51 +0600 Subject: [PATCH 02/51] docs: fix typos in documentation and code comments MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fixed 19 typos across 15 files: - properies → properties - posible → possible (2×) - indeces → indices - matrixs → matrices (2×) - grater → greater - whith → with - ouput → output - choosen → chosen (4×) - constains → contains - refrence → reference - dont → don't (4×) - cant → can't --- modules/calib3d/src/calibinit.cpp | 2 +- modules/calib3d/src/chessboard.cpp | 2 +- modules/calib3d/src/usac.hpp | 2 +- modules/calib3d/test/test_cameracalibration.cpp | 4 ++-- modules/dnn/src/onnx/onnx_importer.cpp | 2 +- modules/dnn/src/op_timvx.cpp | 2 +- modules/features2d/src/sift.simd.hpp | 2 +- .../include/opencv2/objdetect/aruco_detector.hpp | 2 +- .../include/opencv2/objdetect/aruco_dictionary.hpp | 2 +- modules/objdetect/src/aruco/aruco_board.cpp | 4 ++-- modules/objdetect/src/aruco/aruco_detector.cpp | 2 +- modules/objdetect/src/aruco/charuco_detector.cpp | 2 +- modules/stitching/include/opencv2/stitching.hpp | 2 +- modules/video/test/test_ecc.cpp | 2 +- modules/videoio/src/cap.cpp | 8 ++++---- 15 files changed, 20 insertions(+), 20 deletions(-) diff --git a/modules/calib3d/src/calibinit.cpp b/modules/calib3d/src/calibinit.cpp index c335da7833..ed619b7d54 100644 --- a/modules/calib3d/src/calibinit.cpp +++ b/modules/calib3d/src/calibinit.cpp @@ -671,7 +671,7 @@ bool findChessboardCorners(InputArray image_, Size pattern_size, std::vector out_corners; if (is_plain) - CV_CheckType(type, depth == CV_8U && cn == 1, "Only 8-bit grayscale images are supported whith CALIB_CB_PLAIN flag enable"); + CV_CheckType(type, depth == CV_8U && cn == 1, "Only 8-bit grayscale images are supported with CALIB_CB_PLAIN flag enable"); if (img.channels() != 1) { diff --git a/modules/calib3d/src/chessboard.cpp b/modules/calib3d/src/chessboard.cpp index 5855c3f255..4ad7bf74c8 100644 --- a/modules/calib3d/src/chessboard.cpp +++ b/modules/calib3d/src/chessboard.cpp @@ -2242,7 +2242,7 @@ int Chessboard::Board::detectMarkers(cv::InputArray image) cv::bitwise_and(field,mask2,temp); double noise= cv::sum(temp)[0]/noise_size; - // calc refrence value + // calc reference value Cell *cell2 = getCell(y,abs(x-1)); src[0] = *cell2->top_left; src[1] = *cell2->top_right; diff --git a/modules/calib3d/src/usac.hpp b/modules/calib3d/src/usac.hpp index c68416dafe..023aabb1c8 100644 --- a/modules/calib3d/src/usac.hpp +++ b/modules/calib3d/src/usac.hpp @@ -68,7 +68,7 @@ class NormTransform : public Algorithm { public: /* * @norm_points is output matrix of size pts_size x 4 - * @sample constains indices of points + * @sample contains indices of points * @sample_number is number of used points in sample <0; sample_number) * @T1, T2 are output transformation matrices */ diff --git a/modules/calib3d/test/test_cameracalibration.cpp b/modules/calib3d/test/test_cameracalibration.cpp index e36ca3e1c4..41751e15ee 100644 --- a/modules/calib3d/test/test_cameracalibration.cpp +++ b/modules/calib3d/test/test_cameracalibration.cpp @@ -626,7 +626,7 @@ void CV_CameraCalibrationTest::run( int start_from ) if( code < 0 ) break; - /* ----- Compare rot matrixs ----- */ + /* ----- Compare rot matrices ----- */ CV_Assert(rotMatrs.size() == (size_t)numImages); CV_Assert(transVects.size() == (size_t)numImages); @@ -646,7 +646,7 @@ void CV_CameraCalibrationTest::run( int start_from ) if( code < 0 ) break; - /* ----- Compare rot matrixs ----- */ + /* ----- Compare rot matrices ----- */ code = compare(transVects[0].val, goodTransVects[0].val, 3*numImages, 0.1, "translation vectors"); if( code < 0 ) break; diff --git a/modules/dnn/src/onnx/onnx_importer.cpp b/modules/dnn/src/onnx/onnx_importer.cpp index 07bb442003..5af114e803 100644 --- a/modules/dnn/src/onnx/onnx_importer.cpp +++ b/modules/dnn/src/onnx/onnx_importer.cpp @@ -1299,7 +1299,7 @@ void ONNXImporter::parseSlice(LayerParams& layerParams, const opencv_onnx::NodeP { // dims should be added to the negative axes cur_axe = axes_.getIntValue(i) < 0 ? axes_.getIntValue(i) + dims : axes_.getIntValue(i); - CV_CheckGE(cur_axe, 0, "Axes should be grater or equal to '-dims'."); + CV_CheckGE(cur_axe, 0, "Axes should be greater or equal to '-dims'."); CV_CheckLT(cur_axe, dims, "Axes should be less than 'dim'."); CV_CheckEQ(flag[cur_axe], false, "Axes shouldn't have duplicated values."); flag[cur_axe] = true; diff --git a/modules/dnn/src/op_timvx.cpp b/modules/dnn/src/op_timvx.cpp index 107d660d39..4d1bbbc884 100644 --- a/modules/dnn/src/op_timvx.cpp +++ b/modules/dnn/src/op_timvx.cpp @@ -905,7 +905,7 @@ void forwardTimVX(std::vector >& outputs, const Ptr outWarpper; for (int i = 0; i < outputs.size(); i++) { diff --git a/modules/features2d/src/sift.simd.hpp b/modules/features2d/src/sift.simd.hpp index 76ef3082ea..b6c44853cf 100644 --- a/modules/features2d/src/sift.simd.hpp +++ b/modules/features2d/src/sift.simd.hpp @@ -604,7 +604,7 @@ public: } } - } else { // val cant be zero here (first abs took care of zero), must be negative + } else { // val can't be zero here (first abs took care of zero), must be negative sift_wt vmin = std::min(std::min(std::min(_00,_01),std::min(_02,_10)),std::min(std::min(_12,_20),std::min(_21,_22))); if (val <= vmin) { diff --git a/modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp b/modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp index c6ae25b718..9f3e28c511 100644 --- a/modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp +++ b/modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp @@ -258,7 +258,7 @@ struct CV_EXPORTS_W_SIMPLE RefineParameters { */ CV_PROP_RW float errorCorrectionRate; - /** @brief checkAllOrders consider the four posible corner orders in the rejectedCorners array. + /** @brief checkAllOrders consider the four possible corner orders in the rejectedCorners array. * * If it set to false, only the provided corner order is considered (default true). */ diff --git a/modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp b/modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp index 6a90876bf9..5f6fae64df 100644 --- a/modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp +++ b/modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp @@ -67,7 +67,7 @@ class CV_EXPORTS_W_SIMPLE Dictionary { /** @brief Returns Hamming distance of the input bits to the specific id. * - * If `allRotations` flag is set, the four posible marker rotations are considered + * If `allRotations` flag is set, the four possible marker rotations are considered */ CV_WRAP int getDistanceToId(InputArray bits, int id, bool allRotations = true) const; diff --git a/modules/objdetect/src/aruco/aruco_board.cpp b/modules/objdetect/src/aruco/aruco_board.cpp index b6a6653d40..0c613fdd18 100644 --- a/modules/objdetect/src/aruco/aruco_board.cpp +++ b/modules/objdetect/src/aruco/aruco_board.cpp @@ -518,9 +518,9 @@ void CharucoBoardImpl::generateImage(Size outSize, OutputArray img, int marginSi for(int x = 0; x < size.width; x++) { if(legacyPattern && (size.height % 2 == 0)) { // legacy behavior only for even row count patterns - if((y + 1) % 2 != x % 2) continue; // white corner, dont do anything + if((y + 1) % 2 != x % 2) continue; // white corner, don't do anything } else { - if(y % 2 != x % 2) continue; // white corner, dont do anything + if(y % 2 != x % 2) continue; // white corner, don't do anything } float startX = pixInSquare * float(x); diff --git a/modules/objdetect/src/aruco/aruco_detector.cpp b/modules/objdetect/src/aruco/aruco_detector.cpp index 19343bf1c2..914580381b 100644 --- a/modules/objdetect/src/aruco/aruco_detector.cpp +++ b/modules/objdetect/src/aruco/aruco_detector.cpp @@ -1399,7 +1399,7 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board // last filter, check if inner code is close enough to the assigned marker code int codeDistance = 0; - // if errorCorrectionRate, dont check code + // if errorCorrectionRate, don't check code if(refineParams.errorCorrectionRate >= 0) { // extract bits diff --git a/modules/objdetect/src/aruco/charuco_detector.cpp b/modules/objdetect/src/aruco/charuco_detector.cpp index 37aca01b36..c85f214366 100644 --- a/modules/objdetect/src/aruco/charuco_detector.cpp +++ b/modules/objdetect/src/aruco/charuco_detector.cpp @@ -117,7 +117,7 @@ struct CharucoDetector::CharucoDetectorImpl { minDist = min(dist, minDist); counter++; } - // if this is the first closest marker, dont do anything + // if this is the first closest marker, don't do anything if(counter == 0) continue; else { diff --git a/modules/stitching/include/opencv2/stitching.hpp b/modules/stitching/include/opencv2/stitching.hpp index 41f0550618..470af5599f 100644 --- a/modules/stitching/include/opencv2/stitching.hpp +++ b/modules/stitching/include/opencv2/stitching.hpp @@ -299,7 +299,7 @@ public: */ CV_WRAP Status stitch(InputArrayOfArrays images, InputArrayOfArrays masks, OutputArray pano); - /** @brief Returns indeces of input images used in panorama stitching + /** @brief Returns indices of input images used in panorama stitching */ CV_WRAP std::vector component() const { return indices_; } diff --git a/modules/video/test/test_ecc.cpp b/modules/video/test/test_ecc.cpp index 18438b7539..0bb3045dbc 100644 --- a/modules/video/test/test_ecc.cpp +++ b/modules/video/test/test_ecc.cpp @@ -414,7 +414,7 @@ void testECCProperties(Mat x, float eps) { EXPECT_NEAR(computeECC(X, 2 * Y + X), 1.0 / sqrt(5.0), eps); } -TEST(Video_ECC_Test_Compute, properies) { +TEST(Video_ECC_Test_Compute, properties) { Mat xline(1, 100, CV_32F), x; for (int i = 0; i < xline.cols; ++i) xline.at(0, i) = (float)i; diff --git a/modules/videoio/src/cap.cpp b/modules/videoio/src/cap.cpp index 97f5736052..45dba466ea 100644 --- a/modules/videoio/src/cap.cpp +++ b/modules/videoio/src/cap.cpp @@ -231,7 +231,7 @@ bool VideoCapture::open(const String& filename, int apiPreference, const std::ve } else { - CV_LOG_DEBUG(NULL, "VIDEOIO: choosen backend does not work or wrong. " + CV_LOG_DEBUG(NULL, "VIDEOIO: chosen backend does not work or wrong. " "Please make sure that your computer support chosen backend and OpenCV built " "with right flags."); } @@ -356,7 +356,7 @@ bool VideoCapture::open(const Ptr& stream, int apiPreference, con } else { - CV_LOG_DEBUG(NULL, "VIDEOIO: choosen backend does not work or wrong. " + CV_LOG_DEBUG(NULL, "VIDEOIO: chosen backend does not work or wrong. " "Please make sure that your computer support chosen backend and OpenCV built " "with right flags."); } @@ -494,7 +494,7 @@ bool VideoCapture::open(int cameraNum, int apiPreference, const std::vector } else { - CV_LOG_DEBUG(NULL, "VIDEOIO: choosen backend does not work or wrong." + CV_LOG_DEBUG(NULL, "VIDEOIO: chosen backend does not work or wrong." "Please make sure that your computer support chosen backend and OpenCV built " "with right flags."); } @@ -811,7 +811,7 @@ bool VideoWriter::open(const String& filename, int apiPreference, int fourcc, do } else { - CV_LOG_DEBUG(NULL, "VIDEOIO: choosen backend does not work or wrong." + CV_LOG_DEBUG(NULL, "VIDEOIO: chosen backend does not work or wrong." "Please make sure that your computer support chosen backend and OpenCV built " "with right flags."); } From 6bb3c31450991a6921f816a93c674d59b1970323 Mon Sep 17 00:00:00 2001 From: nmizonov Date: Mon, 29 Dec 2025 04:20:31 -0800 Subject: [PATCH 03/51] Add useIPP check to hal_ipp functions --- hal/ipp/include/ipp_utils.hpp | 2 ++ hal/ipp/src/cart_polar_ipp.cpp | 2 ++ hal/ipp/src/mean_ipp.cpp | 1 + hal/ipp/src/minmax_ipp.cpp | 1 + hal/ipp/src/norm_ipp.cpp | 2 ++ hal/ipp/src/sum_ipp.cpp | 1 + hal/ipp/src/transforms_ipp.cpp | 2 ++ hal/ipp/src/warp_ipp.cpp | 3 +++ 8 files changed, 14 insertions(+) diff --git a/hal/ipp/include/ipp_utils.hpp b/hal/ipp/include/ipp_utils.hpp index 6000bdc817..3edef486df 100644 --- a/hal/ipp/include/ipp_utils.hpp +++ b/hal/ipp/include/ipp_utils.hpp @@ -25,4 +25,6 @@ #define CV_INSTRUMENT_FUN_IPP(FUN, ...) ((FUN)(__VA_ARGS__)) +#define CV_HAL_CHECK_USE_IPP() if(!cv::ipp::useIPP()) return CV_HAL_ERROR_NOT_IMPLEMENTED; + #endif diff --git a/hal/ipp/src/cart_polar_ipp.cpp b/hal/ipp/src/cart_polar_ipp.cpp index 676cf5deeb..707887f26c 100644 --- a/hal/ipp/src/cart_polar_ipp.cpp +++ b/hal/ipp/src/cart_polar_ipp.cpp @@ -9,6 +9,7 @@ int ipp_hal_polarToCart32f(const float* mag, const float* angle, float* x, float* y, int len, bool angleInDegrees) { + CV_HAL_CHECK_USE_IPP(); const bool isInPlace = (x == mag) || (x == angle) || (y == mag) || (y == angle); if (isInPlace || angleInDegrees) return CV_HAL_ERROR_NOT_IMPLEMENTED; @@ -21,6 +22,7 @@ int ipp_hal_polarToCart32f(const float* mag, const float* angle, float* x, float int ipp_hal_polarToCart64f(const double* mag, const double* angle, double* x, double* y, int len, bool angleInDegrees) { + CV_HAL_CHECK_USE_IPP(); const bool isInPlace = (x == mag) || (x == angle) || (y == mag) || (y == angle); if (isInPlace || angleInDegrees) return CV_HAL_ERROR_NOT_IMPLEMENTED; diff --git a/hal/ipp/src/mean_ipp.cpp b/hal/ipp/src/mean_ipp.cpp index 75500572cd..05c0330a23 100644 --- a/hal/ipp/src/mean_ipp.cpp +++ b/hal/ipp/src/mean_ipp.cpp @@ -196,6 +196,7 @@ static int ipp_meanStdDev(const uchar* src_data, size_t src_step, int width, int int ipp_hal_meanStdDev(const uchar* src_data, size_t src_step, int width, int height, int src_type, double* mean_val, double* stddev_val, uchar* mask, size_t mask_step) { + CV_HAL_CHECK_USE_IPP(); if (stddev_val) { return ipp_meanStdDev(src_data, src_step, width, height, src_type, mean_val, stddev_val, mask, mask_step); diff --git a/hal/ipp/src/minmax_ipp.cpp b/hal/ipp/src/minmax_ipp.cpp index ae0bdc1747..ccc36952e6 100644 --- a/hal/ipp/src/minmax_ipp.cpp +++ b/hal/ipp/src/minmax_ipp.cpp @@ -160,6 +160,7 @@ typedef IppStatus (*IppMinMaxSelector)(const void* pSrc, int srcStep, IppiSize s int ipp_hal_minMaxIdxMaskStep(const uchar* src_data, size_t src_step, int width, int height, int depth, double* _minVal, double* _maxVal, int* _minIdx, int* _maxIdx, uchar* mask, size_t mask_step) { + CV_HAL_CHECK_USE_IPP(); #if IPP_VERSION_X100 < 201800 // cv::minMaxIdx problem with NaN input // Disable 32F processing only diff --git a/hal/ipp/src/norm_ipp.cpp b/hal/ipp/src/norm_ipp.cpp index 313b98ca4d..de555a973e 100644 --- a/hal/ipp/src/norm_ipp.cpp +++ b/hal/ipp/src/norm_ipp.cpp @@ -12,6 +12,7 @@ int ipp_hal_norm(const uchar* src, size_t src_step, const uchar* mask, size_t mask_step, int width, int height, int type, int norm_type, double* result) { + CV_HAL_CHECK_USE_IPP(); if( mask ) { IppiSize sz = { width, height }; @@ -131,6 +132,7 @@ int ipp_hal_norm(const uchar* src, size_t src_step, const uchar* mask, size_t ma int ipp_hal_normDiff(const uchar* src1, size_t src1_step, const uchar* src2, size_t src2_step, const uchar* mask, size_t mask_step, int width, int height, int type, int norm_type, double* result) { + CV_HAL_CHECK_USE_IPP(); if( norm_type & cv::NORM_RELATIVE ) { norm_type &= cv::NORM_TYPE_MASK; diff --git a/hal/ipp/src/sum_ipp.cpp b/hal/ipp/src/sum_ipp.cpp index 148d1a0298..1dabf1f3ea 100644 --- a/hal/ipp/src/sum_ipp.cpp +++ b/hal/ipp/src/sum_ipp.cpp @@ -11,6 +11,7 @@ int ipp_hal_sum(const uchar *src_data, size_t src_step, int src_type, int width, int height, double *result) { + CV_HAL_CHECK_USE_IPP(); int cn = CV_MAT_CN(src_type); if (cn > 4) { diff --git a/hal/ipp/src/transforms_ipp.cpp b/hal/ipp/src/transforms_ipp.cpp index 0d2e05f291..570655aa7a 100644 --- a/hal/ipp/src/transforms_ipp.cpp +++ b/hal/ipp/src/transforms_ipp.cpp @@ -24,6 +24,7 @@ namespace cv int ipp_hal_transpose2d(const uchar* src_data, size_t src_step, uchar* dst_data, size_t dst_step, int src_width, int src_height, int element_size) { + CV_HAL_CHECK_USE_IPP(); typedef IppStatus (CV_STDCALL * IppiTranspose)(const void * pSrc, int srcStep, void * pDst, int dstStep, IppiSize roiSize); typedef IppStatus (CV_STDCALL * IppiTransposeI)(const void * pSrcDst, int srcDstStep, IppiSize roiSize); IppiTranspose ippiTranspose = nullptr; @@ -99,6 +100,7 @@ int ipp_hal_flip(int src_type, const uchar* src_data, size_t src_step, int src_w uchar* dst_data, size_t dst_step, int flip_mode) { + CV_HAL_CHECK_USE_IPP(); int64_t total = src_step*src_height*CV_ELEM_SIZE(src_type); // Details: https://github.com/opencv/opencv/issues/12943 if (flip_mode <= 0 /* swap rows */ diff --git a/hal/ipp/src/warp_ipp.cpp b/hal/ipp/src/warp_ipp.cpp index 63f3dfddd0..fe283c4271 100644 --- a/hal/ipp/src/warp_ipp.cpp +++ b/hal/ipp/src/warp_ipp.cpp @@ -73,6 +73,7 @@ private: int ipp_hal_warpAffine(int src_type, const uchar *src_data, size_t src_step, int src_width, int src_height, uchar *dst_data, size_t dst_step, int dst_width, int dst_height, const double M[6], int interpolation, int borderType, const double borderValue[4]) { + CV_HAL_CHECK_USE_IPP(); //CV_INSTRUMENT_REGION_IPP(); IppiInterpolationType ippInter = ippiGetInterpolation(interpolation); @@ -324,6 +325,7 @@ private: int ipp_hal_warpPerspective(int src_type, const uchar *src_data, size_t src_step, int src_width, int src_height, uchar * dst_data, size_t dst_step, int dst_width, int dst_height, const double M[9], int interpolation, int borderType, const double borderValue[4]) { + CV_HAL_CHECK_USE_IPP(); //CV_INSTRUMENT_REGION_IPP(); if (src_height <= 1 || src_width <= 1) @@ -505,6 +507,7 @@ int ipp_hal_remap32f(int src_type, const uchar *src_data, size_t src_step, int s float *mapx, size_t mapx_step, float *mapy, size_t mapy_step, int interpolation, int border_type, const double border_value[4]) { + CV_HAL_CHECK_USE_IPP(); if (!((interpolation == cv::INTER_LINEAR || interpolation == cv::INTER_CUBIC || interpolation == cv::INTER_NEAREST) && (border_type == cv::BORDER_CONSTANT || border_type == cv::BORDER_TRANSPARENT))) { From fe38fc608f6acb8b68953438a62305d8318f4fcd Mon Sep 17 00:00:00 2001 From: Alexander Smorkalov Date: Tue, 30 Dec 2025 10:52:05 +0300 Subject: [PATCH 04/51] release: OpenCV 4.13.0 --- modules/core/include/opencv2/core/version.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/core/include/opencv2/core/version.hpp b/modules/core/include/opencv2/core/version.hpp index 4c897b0608..0989fa2aee 100644 --- a/modules/core/include/opencv2/core/version.hpp +++ b/modules/core/include/opencv2/core/version.hpp @@ -8,7 +8,7 @@ #define CV_VERSION_MAJOR 4 #define CV_VERSION_MINOR 13 #define CV_VERSION_REVISION 0 -#define CV_VERSION_STATUS "-pre" +#define CV_VERSION_STATUS "" #define CVAUX_STR_EXP(__A) #__A #define CVAUX_STR(__A) CVAUX_STR_EXP(__A) From 13c8ec3aa9220fcdde22421b4d342a1f0320cb4a Mon Sep 17 00:00:00 2001 From: Mark Harfouche Date: Thu, 1 Jan 2026 20:37:01 -0500 Subject: [PATCH 05/51] Fix macro definition for Power10 architecture --- modules/core/include/opencv2/core/vsx_utils.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/core/include/opencv2/core/vsx_utils.hpp b/modules/core/include/opencv2/core/vsx_utils.hpp index aafc6c07b1..87c370ebe0 100644 --- a/modules/core/include/opencv2/core/vsx_utils.hpp +++ b/modules/core/include/opencv2/core/vsx_utils.hpp @@ -258,7 +258,7 @@ VSX_IMPL_1VRG(vec_udword2, vec_dword2, vpopcntd, vec_popcntu) // converts between single and double-precision // vec_floate and vec_doubleo are available since Power10 and z14 -#if defined(__POWER10__) || (defined(__powerpc64__) && defined(__ARCH_PWR10__) +#if defined(__POWER10__) || (defined(__powerpc64__) && defined(__ARCH_PWR10__)) // Use VSX double<->float conversion instructions (if supported by the architecture) VSX_REDIRECT_1RG(vec_float4, vec_double2, vec_cvfo, vec_floate) VSX_REDIRECT_1RG(vec_double2, vec_float4, vec_cvfo, vec_doubleo) From a3fc3e8db6795467813c56f2f12b5476c65ea136 Mon Sep 17 00:00:00 2001 From: Yang Chao Date: Fri, 2 Jan 2026 09:34:24 +0800 Subject: [PATCH 06/51] Remove bitcode support from Apple framework build scripts MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Remove embed_bitcode parameter from Builder class - Remove bitcode compilation flags for iOS and Catalyst targets - Remove BITCODE_GENERATION_MODE from Xcode build commands - Remove bitcode flags from dynamic library linking - Remove --embed_bitcode command line argument - Fix OSXBuilder parameter mismatch after bitcode removal Bitcode has been deprecated by Apple since Xcode 14 and is no longer required for App Store submissions. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Sonnet 4.5 --- platforms/ios/build_framework.py | 17 +++-------------- platforms/ios/build_visionos_framework.py | 2 +- platforms/osx/build_framework.py | 2 +- 3 files changed, 5 insertions(+), 16 deletions(-) diff --git a/platforms/ios/build_framework.py b/platforms/ios/build_framework.py index cc7be20384..50c15dd71e 100755 --- a/platforms/ios/build_framework.py +++ b/platforms/ios/build_framework.py @@ -50,7 +50,7 @@ CURRENT_FILE_DIR = os.path.dirname(__file__) class Builder: - def __init__(self, opencv, contrib, dynamic, embed_bitcode, exclude, disable, enablenonfree, targets, debug, debug_info, framework_name, run_tests, build_docs, swiftdisabled): + def __init__(self, opencv, contrib, dynamic, exclude, disable, enablenonfree, targets, debug, debug_info, framework_name, run_tests, build_docs, swiftdisabled): self.opencv = os.path.abspath(opencv) self.contrib = None if contrib: @@ -60,7 +60,6 @@ class Builder: else: print("Note: contrib repository is bad - modules subfolder not found", file=sys.stderr) self.dynamic = dynamic - self.embed_bitcode = embed_bitcode self.exclude = exclude self.build_objc_wrapper = not "objc" in self.exclude self.disable = disable @@ -112,9 +111,6 @@ class Builder: cmake_flags = [] if self.contrib: cmake_flags.append("-DOPENCV_EXTRA_MODULES_PATH=%s" % self.contrib) - if xcode_ver >= 7 and target[1] == 'iPhoneOS' and self.embed_bitcode: - cmake_flags.append("-DCMAKE_C_FLAGS=-fembed-bitcode") - cmake_flags.append("-DCMAKE_CXX_FLAGS=-fembed-bitcode") if xcode_ver >= 7 and target[1] == 'Catalyst': sdk_path = check_output(["xcodebuild", "-version", "-sdk", "macosx", "Path"]).decode('utf-8').rstrip() c_flags = [ @@ -123,8 +119,6 @@ class Builder: "-iframework %s/System/iOSSupport/System/Library/Frameworks" % sdk_path, "-isystem %s/System/iOSSupport/usr/include" % sdk_path, ] - if self.embed_bitcode: - c_flags.append("-fembed-bitcode") cmake_flags.append("-DCMAKE_C_FLAGS=" + " ".join(c_flags)) cmake_flags.append("-DCMAKE_CXX_FLAGS=" + " ".join(c_flags)) cmake_flags.append("-DCMAKE_EXE_LINKER_FLAGS=" + " ".join(c_flags)) @@ -240,9 +234,6 @@ class Builder: "xcodebuild", ] - if (self.dynamic or self.build_objc_wrapper) and self.embed_bitcode and target == "iPhoneOS": - buildcmd.append("BITCODE_GENERATION_MODE=bitcode") - buildcmd += [ "IPHONEOS_DEPLOYMENT_TARGET=" + os.environ['IPHONEOS_DEPLOYMENT_TARGET'], "ARCHS=%s" % arch, @@ -372,7 +363,6 @@ class Builder: link_target = "%s-apple-ios14.0-macabi" % target[:target.find("-")] else: link_target = "%s-apple-darwin" % target[:target.find("-")] - bitcode_flags = ["-fembed-bitcode", "-Xlinker", "-bitcode_verify"] if is_device and self.embed_bitcode else [] toolchain_dir = get_xcode_setting("TOOLCHAIN_DIR", builddir) sdk_dir = get_xcode_setting("SDK_DIR", builddir) framework_options = [] @@ -407,7 +397,7 @@ class Builder: "-install_name", "@rpath/" + self.framework_name + ".framework/" + self.framework_name, "-dynamiclib", "-dead_strip", "-fobjc-link-runtime", "-all_load", "-o", res - ] + swift_link_dirs + bitcode_flags + module + libs + libs3) + ] + swift_link_dirs + module + libs + libs3) def makeFramework(self, outdir, builddirs): name = self.framework_name @@ -540,7 +530,6 @@ if __name__ == "__main__": parser.add_argument('--without', metavar='MODULE', default=[], action='append', help='OpenCV modules to exclude from the framework. To exclude multiple, specify this flag again, e.g. "--without video --without objc"') parser.add_argument('--disable', metavar='FEATURE', default=[], action='append', help='OpenCV features to disable (add WITH_*=OFF). To disable multiple, specify this flag again, e.g. "--disable tbb --disable openmp"') parser.add_argument('--dynamic', default=False, action='store_true', help='build dynamic framework (default is "False" - builds static framework)') - parser.add_argument('--embed_bitcode', default=False, dest='embed_bitcode', action='store_true', help='disable bitcode (enabled by default)') parser.add_argument('--iphoneos_deployment_target', default=os.environ.get('IPHONEOS_DEPLOYMENT_TARGET', IPHONEOS_DEPLOYMENT_TARGET), help='specify IPHONEOS_DEPLOYMENT_TARGET') parser.add_argument('--build_only_specified_archs', default=False, action='store_true', help='if enabled, only directly specified archs are built and defaults are ignored') parser.add_argument('--iphoneos_archs', default=None, help='select iPhoneOS target ARCHS. Default is "armv7,armv7s,arm64"') @@ -606,6 +595,6 @@ if __name__ == "__main__": if iphonesimulator_archs: targets.append((iphonesimulator_archs, "iPhoneSimulator")) - b = iOSBuilder(args.opencv, args.contrib, args.dynamic, args.embed_bitcode, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled) + b = iOSBuilder(args.opencv, args.contrib, args.dynamic, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled) b.build(args.out) diff --git a/platforms/ios/build_visionos_framework.py b/platforms/ios/build_visionos_framework.py index 96364c7b8b..d99c5feca6 100755 --- a/platforms/ios/build_visionos_framework.py +++ b/platforms/ios/build_visionos_framework.py @@ -112,5 +112,5 @@ if __name__ == "__main__": if visionsimulator_archs: targets.append((visionsimulator_archs, "XRSimulator")), - b = visionOSBuilder(args.opencv, args.contrib, args.dynamic, True, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled) + b = visionOSBuilder(args.opencv, args.contrib, args.dynamic, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled) b.build(args.out) diff --git a/platforms/osx/build_framework.py b/platforms/osx/build_framework.py index 2dd5015ee5..0f07717fb4 100755 --- a/platforms/osx/build_framework.py +++ b/platforms/osx/build_framework.py @@ -128,5 +128,5 @@ if __name__ == "__main__": if catalyst_archs: targets.append((catalyst_archs, "Catalyst")), - b = OSXBuilder(args.opencv, args.contrib, args.dynamic, True, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled) + b = OSXBuilder(args.opencv, args.contrib, args.dynamic, args.without, args.disable, args.enablenonfree, targets, args.debug, args.debug_info, args.framework_name, args.run_tests, args.build_docs, args.swiftdisabled) b.build(args.out) From f8c04bafa804c722e601edc8cd3ce79c039c2344 Mon Sep 17 00:00:00 2001 From: Alexander Smorkalov Date: Fri, 2 Jan 2026 16:30:28 +0300 Subject: [PATCH 07/51] Typing fix in tests for modern Numpy --- modules/python/test/test_fitline.py | 2 +- modules/python/test/test_mser.py | 14 +++++++------- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/modules/python/test/test_fitline.py b/modules/python/test/test_fitline.py index 2197f8db7f..3a04708a68 100644 --- a/modules/python/test/test_fitline.py +++ b/modules/python/test/test_fitline.py @@ -55,7 +55,7 @@ class fitline_test(NewOpenCVTests): for name in dist_func_names: func = getattr(cv, name) vx, vy, cx, cy = cv.fitLine(np.float32(points), func, 0, 0.01, 0.01) - line = [float(vx), float(vy), float(cx), float(cy)] + line = [vx[0], vy[0], cx[0], cy[0]] lines.append(line) eps = 0.05 diff --git a/modules/python/test/test_mser.py b/modules/python/test/test_mser.py index c76e9d4c79..596c82adb5 100644 --- a/modules/python/test/test_mser.py +++ b/modules/python/test/test_mser.py @@ -8,6 +8,7 @@ from __future__ import print_function import numpy as np import cv2 as cv +import random from tests_common import NewOpenCVTests @@ -31,19 +32,18 @@ class mser_test(NewOpenCVTests): [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255], [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255] ] - thresharr = [ 0, 70, 120, 180, 255 ] kDelta = 5 mserExtractor = cv.MSER_create() mserExtractor.setDelta(kDelta) - np.random.seed(10) + random.seed(10) for _i in range(100): - use_big_image = int(np.random.rand(1,1)*7) != 0 - invert = int(np.random.rand(1,1)*2) != 0 - binarize = int(np.random.rand(1,1)*5) != 0 if use_big_image else False - blur = int(np.random.rand(1,1)*2) != 0 - thresh = thresharr[int(np.random.rand(1,1)*5)] + use_big_image = random.choice([True, False]) + invert = random.choice([True, False]) + binarize = random.choice([True, False]) if use_big_image else False + blur = random.choice([True, False]) + thresh = random.choice([0, 70, 120, 180, 255]) src0 = img if use_big_image else np.array(smallImg).astype('uint8') src = src0.copy() From 56229581894a7ab63c154ca3f8f5afb681b0a97e Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Sun, 4 Jan 2026 01:50:00 +0100 Subject: [PATCH 08/51] Replace pow with std::pow The C pow casts to double while std::pow has overloads that can be optimized by the compiler. Also replace pow(*, 1./3) by cbrt. --- apps/traincascade/boost.cpp | 2 +- apps/traincascade/cascadeclassifier.cpp | 2 +- .../real_time_pose/real_time_pose.markdown | 12 +-- modules/calib3d/src/chessboard.cpp | 2 +- modules/calib3d/src/dls.h | 2 +- modules/calib3d/src/rho.cpp | 2 +- modules/calib3d/src/triangulate.cpp | 4 +- modules/calib3d/src/undistort.dispatch.cpp | 2 +- modules/calib3d/src/upnp.cpp | 74 +++++++++---------- modules/calib3d/src/usac/degeneracy.cpp | 2 +- .../calib3d/src/usac/local_optimization.cpp | 4 +- modules/calib3d/src/usac/quality.cpp | 2 +- modules/calib3d/src/usac/ransac_solvers.cpp | 4 +- modules/calib3d/src/usac/termination.cpp | 4 +- .../calib3d/test/test_undistort_points.cpp | 2 +- modules/calib3d/test/test_usac.cpp | 14 ++-- modules/core/src/mathfuncs.cpp | 23 ++---- modules/core/test/test_countnonzero.cpp | 2 +- modules/core/test/test_eigen.cpp | 2 +- modules/core/test/test_math.cpp | 8 +- modules/dnn/src/layers/elementwise_layers.cpp | 4 +- modules/dnn/src/layers/lrn_layer.cpp | 2 +- .../dnn/src/layers/normalize_bbox_layer.cpp | 4 +- modules/dnn/src/opencl/activations.cl | 2 +- modules/dnn/src/opencl/conv_layer_spatial.cl | 2 +- modules/dnn/src/opencl/lrn.cl | 2 +- modules/dnn/test/test_common.impl.hpp | 2 +- modules/features2d/src/brisk.cpp | 2 +- modules/features2d/src/kaze/AKAZEFeatures.cpp | 2 +- modules/features2d/src/kaze/KAZEFeatures.cpp | 4 +- modules/features2d/src/sift.dispatch.cpp | 4 +- modules/flann/include/opencv2/flann/dist.h | 6 +- .../src/components/ot/mtt/rgb_histogram.cpp | 2 +- modules/imgproc/src/corner.cpp | 2 +- modules/imgproc/src/lsd.cpp | 6 +- modules/imgproc/test/test_drawing.cpp | 6 +- modules/imgproc/test/test_histograms.cpp | 6 +- modules/ml/src/ann_mlp.cpp | 2 +- modules/photo/src/contrast_preserve.cpp | 2 +- modules/photo/src/contrast_preserve.hpp | 12 +-- modules/photo/src/npr.hpp | 8 +- modules/photo/src/tonemap.cpp | 2 +- modules/stitching/src/autocalib.cpp | 2 +- modules/video/src/ecc.cpp | 2 +- .../tracking/detail/tracking_online_mil.cpp | 8 +- modules/videoio/src/cap_aravis.cpp | 2 +- modules/videoio/src/cap_mfx_writer.cpp | 4 +- 47 files changed, 131 insertions(+), 140 deletions(-) diff --git a/apps/traincascade/boost.cpp b/apps/traincascade/boost.cpp index c1a451672a..f74de597d3 100644 --- a/apps/traincascade/boost.cpp +++ b/apps/traincascade/boost.cpp @@ -942,7 +942,7 @@ void CvCascadeBoostTree::write( FileStorage &fs, const Mat& featureMap ) int maxCatCount = ((CvCascadeBoostTrainData*)data)->featureEvaluator->getMaxCatCount(); int subsetN = (maxCatCount + 31)/32; queue internalNodesQueue; - int size = (int)pow( 2.f, (float)ensemble->get_params().max_depth); + int size = (int)std::pow( 2, ensemble->get_params().max_depth); std::vector leafVals(size); int leafValIdx = 0; int internalNodeIdx = 1; diff --git a/apps/traincascade/cascadeclassifier.cpp b/apps/traincascade/cascadeclassifier.cpp index 6540c30e3a..07ee53d7c7 100644 --- a/apps/traincascade/cascadeclassifier.cpp +++ b/apps/traincascade/cascadeclassifier.cpp @@ -198,7 +198,7 @@ bool CvCascadeClassifier::train( const string _cascadeDirName, else if ( startNumStages == 1) cout << endl << "Stage 0 is loaded" << endl; - double requiredLeafFARate = pow( (double) stageParams->maxFalseAlarm, (double) numStages ) / + double requiredLeafFARate = std::pow( stageParams->maxFalseAlarm, numStages ) / (double)stageParams->max_depth; double tempLeafFARate; diff --git a/doc/tutorials/calib3d/real_time_pose/real_time_pose.markdown b/doc/tutorials/calib3d/real_time_pose/real_time_pose.markdown index ba5827a49c..5a5e8e3e2a 100644 --- a/doc/tutorials/calib3d/real_time_pose/real_time_pose.markdown +++ b/doc/tutorials/calib3d/real_time_pose/real_time_pose.markdown @@ -631,9 +631,9 @@ Here is explained in detail the code for the real time application: KF.transitionMatrix.at(3,6) = dt; KF.transitionMatrix.at(4,7) = dt; KF.transitionMatrix.at(5,8) = dt; - KF.transitionMatrix.at(0,6) = 0.5*pow(dt,2); - KF.transitionMatrix.at(1,7) = 0.5*pow(dt,2); - KF.transitionMatrix.at(2,8) = 0.5*pow(dt,2); + KF.transitionMatrix.at(0,6) = 0.5*std::pow(dt,2); + KF.transitionMatrix.at(1,7) = 0.5*std::pow(dt,2); + KF.transitionMatrix.at(2,8) = 0.5*std::pow(dt,2); // orientation KF.transitionMatrix.at(9,12) = dt; @@ -642,9 +642,9 @@ Here is explained in detail the code for the real time application: KF.transitionMatrix.at(12,15) = dt; KF.transitionMatrix.at(13,16) = dt; KF.transitionMatrix.at(14,17) = dt; - KF.transitionMatrix.at(9,15) = 0.5*pow(dt,2); - KF.transitionMatrix.at(10,16) = 0.5*pow(dt,2); - KF.transitionMatrix.at(11,17) = 0.5*pow(dt,2); + KF.transitionMatrix.at(9,15) = 0.5*std::pow(dt,2); + KF.transitionMatrix.at(10,16) = 0.5*std::pow(dt,2); + KF.transitionMatrix.at(11,17) = 0.5*std::pow(dt,2); /* MEASUREMENT MODEL */ diff --git a/modules/calib3d/src/chessboard.cpp b/modules/calib3d/src/chessboard.cpp index 5855c3f255..03ed778d7c 100644 --- a/modules/calib3d/src/chessboard.cpp +++ b/modules/calib3d/src/chessboard.cpp @@ -725,7 +725,7 @@ void FastX::detectImpl(const cv::Mat& _gray_image, // calc images // for each angle step int scale_id = scale-parameters.min_scale; - int scale_size = int(pow(2.0,scale+1+super_res)); + int scale_size = int(std::pow(2,scale+1+super_res)); int scale_size2 = int((scale_size/7)*2+1); std::vector images; images.resize(2*num); diff --git a/modules/calib3d/src/dls.h b/modules/calib3d/src/dls.h index a3382498c9..1655930282 100644 --- a/modules/calib3d/src/dls.h +++ b/modules/calib3d/src/dls.h @@ -162,7 +162,7 @@ private: int n1 = nn - 1; int low = 0; int high = nn - 1; - double eps = std::pow(2.0, -52.0); + double eps = std::pow(2, -52); double exshift = 0.0; double p = 0, q = 0, r = 0, s = 0, z = 0, t, w, x, y; diff --git a/modules/calib3d/src/rho.cpp b/modules/calib3d/src/rho.cpp index 6edb3b8272..e1990021f5 100644 --- a/modules/calib3d/src/rho.cpp +++ b/modules/calib3d/src/rho.cpp @@ -1744,7 +1744,7 @@ static inline unsigned sacCalcIterBound(double confidence, * \[ k = \frac{\log{(1-confidence)}}{\log{(1-inlierRate**sampleSize)}} \] */ - double atLeastOneOutlierProbability = 1.-pow(inlierRate, (double)sampleSize); + double atLeastOneOutlierProbability = 1.-std::pow(inlierRate, (double)sampleSize); /** * There are two special cases: When argument to log() is 0 and when it is 1. diff --git a/modules/calib3d/src/triangulate.cpp b/modules/calib3d/src/triangulate.cpp index 671659c84b..851ca5d7be 100644 --- a/modules/calib3d/src/triangulate.cpp +++ b/modules/calib3d/src/triangulate.cpp @@ -319,9 +319,9 @@ icvCorrectMatches(CvMat *F_, CvMat *points1_, CvMat *points2_, CvMat *new_points x1 = tmp31_2->data.db[0]; y1 = tmp31_2->data.db[1]; - tmp31->data.db[0] = f2*pow(c*t_min+d,2); + tmp31->data.db[0] = f2*std::pow(c*t_min+d,2); tmp31->data.db[1] = -(a*t_min+b)*(c*t_min+d); - tmp31->data.db[2] = f2*f2*pow(c*t_min+d,2) + pow(a*t_min+b,2); + tmp31->data.db[2] = f2*f2*std::pow(c*t_min+d,2) + std::pow(a*t_min+b,2); tmp31->data.db[0] /= tmp31->data.db[2]; tmp31->data.db[1] /= tmp31->data.db[2]; tmp31->data.db[2] /= tmp31->data.db[2]; diff --git a/modules/calib3d/src/undistort.dispatch.cpp b/modules/calib3d/src/undistort.dispatch.cpp index 0d08c4d781..c56d1d7e7b 100644 --- a/modules/calib3d/src/undistort.dispatch.cpp +++ b/modules/calib3d/src/undistort.dispatch.cpp @@ -516,7 +516,7 @@ static void cvUndistortPointsInternal( const CvMat* _src, CvMat* _dst, const CvM double x_proj = xd*fx + cx; double y_proj = yd*fy + cy; - error = sqrt( pow(x_proj - u, 2) + pow(y_proj - v, 2) ); + error = sqrt( std::pow(x_proj - u, 2) + std::pow(y_proj - v, 2) ); } if (error > prevError) { alpha *= .5; diff --git a/modules/calib3d/src/upnp.cpp b/modules/calib3d/src/upnp.cpp index 24db8f1142..c00afc6b75 100644 --- a/modules/calib3d/src/upnp.cpp +++ b/modules/calib3d/src/upnp.cpp @@ -411,18 +411,18 @@ Mat upnp::compute_constraint_distance_2param_6eq_2unk_f_unk(const Mat& M1) double m[13]; for (int i = 1; i < 13; ++i) m[i] = *M1.ptr(i-1); - double t1 = pow( m[4], 2 ); - double t4 = pow( m[1], 2 ); - double t5 = pow( m[5], 2 ); - double t8 = pow( m[2], 2 ); - double t10 = pow( m[6], 2 ); - double t13 = pow( m[3], 2 ); - double t15 = pow( m[7], 2 ); - double t18 = pow( m[8], 2 ); - double t22 = pow( m[9], 2 ); - double t26 = pow( m[10], 2 ); - double t29 = pow( m[11], 2 ); - double t33 = pow( m[12], 2 ); + double t1 = std::pow( m[4], 2 ); + double t4 = std::pow( m[1], 2 ); + double t5 = std::pow( m[5], 2 ); + double t8 = std::pow( m[2], 2 ); + double t10 = std::pow( m[6], 2 ); + double t13 = std::pow( m[3], 2 ); + double t15 = std::pow( m[7], 2 ); + double t18 = std::pow( m[8], 2 ); + double t22 = std::pow( m[9], 2 ); + double t26 = std::pow( m[10], 2 ); + double t29 = std::pow( m[11], 2 ); + double t33 = std::pow( m[12], 2 ); *P.ptr(0,0) = t1 - 2 * m[4] * m[1] + t4 + t5 - 2 * m[5] * m[2] + t8; *P.ptr(0,1) = t10 - 2 * m[6] * m[3] + t13; @@ -451,42 +451,42 @@ Mat upnp::compute_constraint_distance_3param_6eq_6unk_f_unk(const Mat& M1, const m[2][i] = *M2.ptr(i-1); } - double t1 = pow( m[1][4], 2 ); - double t2 = pow( m[1][1], 2 ); - double t7 = pow( m[1][5], 2 ); - double t8 = pow( m[1][2], 2 ); + double t1 = std::pow( m[1][4], 2 ); + double t2 = std::pow( m[1][1], 2 ); + double t7 = std::pow( m[1][5], 2 ); + double t8 = std::pow( m[1][2], 2 ); double t11 = m[1][1] * m[2][1]; double t12 = m[1][5] * m[2][5]; double t15 = m[1][2] * m[2][2]; double t16 = m[1][4] * m[2][4]; - double t19 = pow( m[2][4], 2 ); - double t22 = pow( m[2][2], 2 ); - double t23 = pow( m[2][1], 2 ); - double t24 = pow( m[2][5], 2 ); - double t28 = pow( m[1][6], 2 ); - double t29 = pow( m[1][3], 2 ); - double t34 = pow( m[1][3], 2 ); + double t19 = std::pow( m[2][4], 2 ); + double t22 = std::pow( m[2][2], 2 ); + double t23 = std::pow( m[2][1], 2 ); + double t24 = std::pow( m[2][5], 2 ); + double t28 = std::pow( m[1][6], 2 ); + double t29 = std::pow( m[1][3], 2 ); + double t34 = std::pow( m[1][3], 2 ); double t36 = m[1][6] * m[2][6]; - double t40 = pow( m[2][6], 2 ); - double t41 = pow( m[2][3], 2 ); - double t47 = pow( m[1][7], 2 ); - double t48 = pow( m[1][8], 2 ); + double t40 = std::pow( m[2][6], 2 ); + double t41 = std::pow( m[2][3], 2 ); + double t47 = std::pow( m[1][7], 2 ); + double t48 = std::pow( m[1][8], 2 ); double t52 = m[1][7] * m[2][7]; double t55 = m[1][8] * m[2][8]; - double t59 = pow( m[2][8], 2 ); - double t62 = pow( m[2][7], 2 ); - double t64 = pow( m[1][9], 2 ); + double t59 = std::pow( m[2][8], 2 ); + double t62 = std::pow( m[2][7], 2 ); + double t64 = std::pow( m[1][9], 2 ); double t68 = m[1][9] * m[2][9]; - double t74 = pow( m[2][9], 2 ); - double t78 = pow( m[1][10], 2 ); - double t79 = pow( m[1][11], 2 ); + double t74 = std::pow( m[2][9], 2 ); + double t78 = std::pow( m[1][10], 2 ); + double t79 = std::pow( m[1][11], 2 ); double t84 = m[1][10] * m[2][10]; double t87 = m[1][11] * m[2][11]; - double t90 = pow( m[2][10], 2 ); - double t95 = pow( m[2][11], 2 ); - double t99 = pow( m[1][12], 2 ); + double t90 = std::pow( m[2][10], 2 ); + double t95 = std::pow( m[2][11], 2 ); + double t99 = std::pow( m[1][12], 2 ); double t101 = m[1][12] * m[2][12]; - double t105 = pow( m[2][12], 2 ); + double t105 = std::pow( m[2][12], 2 ); *P.ptr(0,0) = t1 + t2 - 2 * m[1][4] * m[1][1] - 2 * m[1][5] * m[1][2] + t7 + t8; *P.ptr(0,1) = -2 * m[2][4] * m[1][1] + 2 * t11 + 2 * t12 - 2 * m[1][4] * m[2][1] - 2 * m[2][5] * m[1][2] + 2 * t15 + 2 * t16 - 2 * m[1][5] * m[2][2]; diff --git a/modules/calib3d/src/usac/degeneracy.cpp b/modules/calib3d/src/usac/degeneracy.cpp index bf5ec2b110..590c8aaf9b 100644 --- a/modules/calib3d/src/usac/degeneracy.cpp +++ b/modules/calib3d/src/usac/degeneracy.cpp @@ -435,7 +435,7 @@ public: const int num_f_inliers_of_h_outliers = getNonPlanarSupport(Mat(F), num_models_used_so_far >= MAX_MODELS_TO_TEST, non_planar_support); if (non_planar_support < num_f_inliers_of_h_outliers) { non_planar_support = num_f_inliers_of_h_outliers; - const double predicted_iters = log_conf / log(1 - pow(static_cast + const double predicted_iters = log_conf / log(1 - std::pow(static_cast (getNonPlanarSupport(Mat(F), non_planar_pts, num_non_planar_pts)) / num_non_planar_pts, 2)); if (use_preemptive && ! std::isinf(predicted_iters) && predicted_iters < max_iters) max_iters = static_cast(predicted_iters); diff --git a/modules/calib3d/src/usac/local_optimization.cpp b/modules/calib3d/src/usac/local_optimization.cpp index 8c3703940f..c1ba11f10c 100644 --- a/modules/calib3d/src/usac/local_optimization.cpp +++ b/modules/calib3d/src/usac/local_optimization.cpp @@ -454,7 +454,7 @@ public: DoF = DoF_; C = C_; max_sigma = max_sigma_; squared_sigma_max_2 = max_sigma * max_sigma * 2.0; - one_over_sigma = C * pow(2.0, (DoF - 1.0) * 0.5) / max_sigma; + one_over_sigma = C * std::pow(2, (DoF - 1.0) * 0.5) / max_sigma; max_sigma_sqr = squared_sigma_max_2 * 0.5; rescale_err = scale_of_stored_gammas / squared_sigma_max_2; } @@ -464,7 +464,7 @@ public: int getInliersWeights (const std::vector &errors, std::vector &inliers, std::vector &weights, double thr_sqr) const override { const auto _max_sigma = thr_sqr; const auto _squared_sigma_max_2 = _max_sigma * _max_sigma * 2.0; - const auto _one_over_sigma = C * pow(2.0, (DoF - 1.0) * 0.5) / _max_sigma; + const auto _one_over_sigma = C * std::pow(2, (DoF - 1.0) * 0.5) / _max_sigma; const auto _max_sigma_sqr = _squared_sigma_max_2 * 0.5; const auto _rescale_err = scale_of_stored_gammas / _squared_sigma_max_2; return getInliersWeights(errors, inliers, weights, _one_over_sigma, _rescale_err, _max_sigma_sqr); diff --git a/modules/calib3d/src/usac/quality.cpp b/modules/calib3d/src/usac/quality.cpp index 9a72f754f5..9935eada56 100644 --- a/modules/calib3d/src/usac/quality.cpp +++ b/modules/calib3d/src/usac/quality.cpp @@ -197,7 +197,7 @@ public: const auto maximum_sigma_2 = (float) (maximum_sigma * maximum_sigma); maximum_sigma_2_per_2 = maximum_sigma_2 / 2.f; const auto maximum_sigma_2_times_2 = maximum_sigma_2 * 2.f; - two_ad_dof_plus_one_per_maximum_sigma = pow(2.0, (DoF + 1.0)*.5)/maximum_sigma; + two_ad_dof_plus_one_per_maximum_sigma = std::pow(2, (DoF + 1.0)*.5)/maximum_sigma; rescale_err = gamma_generator->getScaleOfGammaCompleteValues() / maximum_sigma_2_times_2; stored_incomplete_gamma_number_min1 = static_cast(gamma_generator->getTableSize()-1); diff --git a/modules/calib3d/src/usac/ransac_solvers.cpp b/modules/calib3d/src/usac/ransac_solvers.cpp index 494bbc1517..468a9be64a 100644 --- a/modules/calib3d/src/usac/ransac_solvers.cpp +++ b/modules/calib3d/src/usac/ransac_solvers.cpp @@ -1014,14 +1014,14 @@ public: _quality->getInliers(best_model, temp_inliers)); // quick test on lambda from all inliers (= upper bound of independent inliers) // if model with independent inliers is not random for Poisson with all inliers then it is not random using independent inliers too - if (pow(Utils::getPoissonCDF(lambda_non_random_all_inliers, non_random_inls_best_model), num_total_tested_models) < 0.9999) { + if (std::pow(Utils::getPoissonCDF(lambda_non_random_all_inliers, non_random_inls_best_model), num_total_tested_models) < 0.9999) { std::vector inliers_list(models_for_random_test.size()); for (int m = 0; m < (int)models_for_random_test.size(); m++) inliers_list[m] = getIndependentInliers(models_for_random_test[m], samples_for_random_test[m], temp_inliers, _quality->getInliers(models_for_random_test[m], temp_inliers)); int min_non_rand_inliers; const double lambda = getLambda(inliers_list, 1.644, points_size, sample_size, true, min_non_rand_inliers); - const double cdf_lambda = Utils::getPoissonCDF(lambda, non_random_inls_best_model), cdf_N = pow(cdf_lambda, num_total_tested_models); + const double cdf_lambda = Utils::getPoissonCDF(lambda, non_random_inls_best_model), cdf_N = std::pow(cdf_lambda, num_total_tested_models); model_conf = cdf_N < 0.9999 ? ModelConfidence ::RANDOM : ModelConfidence ::NON_RANDOM; } else model_conf = ModelConfidence ::NON_RANDOM; } diff --git a/modules/calib3d/src/usac/termination.cpp b/modules/calib3d/src/usac/termination.cpp index 26a9e331ed..58c6356b54 100644 --- a/modules/calib3d/src/usac/termination.cpp +++ b/modules/calib3d/src/usac/termination.cpp @@ -42,7 +42,7 @@ public: } static int getMaxIterations (int inlier_number, int sample_size, int points_size, double conf) { - const double pred_iters = log(1 - conf) / log(1 - pow(static_cast(inlier_number)/points_size, sample_size)); + const double pred_iters = log(1 - conf) / log(1 - std::pow(static_cast(inlier_number)/points_size, sample_size)); if (std::isinf(pred_iters)) return INT_MAX; return (int) pred_iters + 1; @@ -322,7 +322,7 @@ public: continue; // add 1 to termination length since num_inliers_under_termination_len is updated - const double new_max_samples = log_conf/log(1-pow(static_cast(num_inliers_under_termination_len) + const double new_max_samples = log_conf/log(1-std::pow(static_cast(num_inliers_under_termination_len) / (termination_len+1), sample_size)); if (! std::isinf(new_max_samples) && predicted_iterations > new_max_samples) { diff --git a/modules/calib3d/test/test_undistort_points.cpp b/modules/calib3d/test/test_undistort_points.cpp index faed9b5dcf..c02b4ef003 100644 --- a/modules/calib3d/test/test_undistort_points.cpp +++ b/modules/calib3d/test/test_undistort_points.cpp @@ -194,7 +194,7 @@ TEST_F(UndistortPointsTest, stop_criteria) projectPoints(pt_undist_vec_homogeneous, -rVec, Mat::zeros(3,1,CV_64F), cameraMatrix, distCoeffs, pt_redistorted_vec); - const double obtainedError = sqrt( pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) ); + const double obtainedError = sqrt( std::pow(pt_distorted.x - pt_redistorted_vec[0].x, 2) + std::pow(pt_distorted.y - pt_redistorted_vec[0].y, 2) ); ASSERT_LE(obtainedError, maxError); } diff --git a/modules/calib3d/test/test_usac.cpp b/modules/calib3d/test/test_usac.cpp index 90dcb76ffc..94b2877549 100644 --- a/modules/calib3d/test/test_usac.cpp +++ b/modules/calib3d/test/test_usac.cpp @@ -182,8 +182,8 @@ static double getError (TestSolver test_case, int pt_idx, const cv::Mat &pts1, c cv::Mat l2 = model * pt1; cv::Mat l1 = model.t() * pt2; // Sampson error - return fabs(pt2.dot(l2)) / sqrt(pow(l1.at(0), 2) + pow(l1.at(1), 2) + - pow(l2.at(0), 2) + pow(l2.at(1), 2)); + return fabs(pt2.dot(l2)) / sqrt(std::pow(l1.at(0), 2) + std::pow(l1.at(1), 2) + + std::pow(l2.at(0), 2) + std::pow(l2.at(1), 2)); } else if (test_case == TestSolver::PnP) { // PnP, reprojection error cv::Mat img_pt = model * pt2; img_pt /= img_pt.at(2); @@ -233,7 +233,7 @@ TEST(usac_Homography, accuracy) { pts_size, TestSolver ::Homogr, inl_ratio/*inl ratio*/, 0.1 /*noise std*/, gt_inliers); // compute max_iters with standard upper bound rule for RANSAC with 1.5x tolerance const double conf = 0.99, thr = 2., max_iters = 1.3 * log(1 - conf) / - log(1 - pow(inl_ratio, 4 /* sample size */)); + log(1 - std::pow(inl_ratio, 4 /* sample size */)); for (auto flag : flags) { cv::Mat mask, H = cv::findHomography(pts1, pts2,flag, thr, mask, int(max_iters), conf); @@ -257,7 +257,7 @@ TEST(usac_Fundamental, accuracy) { for (auto flag : flags) { const int sample_size = flag == USAC_FM_8PTS ? 8 : 7; const double max_iters = 1.25 * log(1 - conf) / - log(1 - pow(inl_ratio, sample_size)); + log(1 - std::pow(inl_ratio, sample_size)); cv::Mat mask, F = cv::findFundamentalMat(pts1, pts2,flag, thr, conf, int(max_iters), mask); checkInliersMask(TestSolver::Fundam, inl_size, thr, pts1, pts2, F, mask); @@ -374,7 +374,7 @@ TEST(usac_P3P, accuracy) { int inl_size = generatePoints(rng, img_pts, obj_pts, K1, K2, false /*two calib*/, pts_size, TestSolver ::PnP, inl_ratio, 0.15 /*noise std*/, gt_inliers); const double conf = 0.99, thr = 2., max_iters = 1.3 * log(1 - conf) / - log(1 - pow(inl_ratio, 3 /* sample size */)); + log(1 - std::pow(inl_ratio, 3 /* sample size */)); for (auto flag : flags) { std::vector inliers; @@ -402,7 +402,7 @@ TEST (usac_Affine2D, accuracy) { int inl_size = generatePoints(rng, pts1, pts2, K1, K2, false /*two calib*/, pts_size, TestSolver ::Affine, inl_ratio, 0.15 /*noise std*/, gt_inliers); const double conf = 0.99, thr = 2., max_iters = 1.3 * log(1 - conf) / - log(1 - pow(inl_ratio, 3 /* sample size */)); + log(1 - std::pow(inl_ratio, 3 /* sample size */)); for (auto flag : flags) { cv::Mat mask, A = cv::estimateAffine2D(pts1, pts2, mask, flag, thr, (size_t)max_iters, conf, 0); cv::vconcat(A, cv::Mat(cv::Matx13d(0,0,1)), A); @@ -493,7 +493,7 @@ TEST(usac_solvePnPRansac, regression_21105) { generatePoints(rng, img_pts, obj_pts, K1, K2, false /*two calib*/, pts_size, TestSolver ::PnP, inl_ratio, 0.15 /*noise std*/, gt_inliers); const double conf = 0.99, thr = 2., max_iters = 1.3 * log(1 - conf) / - log(1 - pow(inl_ratio, 3 /* sample size */)); + log(1 - std::pow(inl_ratio, 3 /* sample size */)); const int flag = USAC_DEFAULT; std::vector inliers; cv::Matx31d rvec, tvec; diff --git a/modules/core/src/mathfuncs.cpp b/modules/core/src/mathfuncs.cpp index 7108f2e81d..71ff383eb4 100644 --- a/modules/core/src/mathfuncs.cpp +++ b/modules/core/src/mathfuncs.cpp @@ -1675,16 +1675,8 @@ int cv::solveCubic( InputArray _coeffs, OutputArray _roots ) } else if( d == 0 ) { - if(R >= 0) - { - x0 = -2*pow(R, 1./3) - a1/3; - x1 = pow(R, 1./3) - a1/3; - } - else - { - x0 = 2*pow(-R, 1./3) - a1/3; - x1 = -pow(-R, 1./3) - a1/3; - } + x0 = -2*std::cbrt(R) - a1/3; + x1 = std::cbrt(R) - a1/3; x2 = 0; n = x0 == x1 ? 1 : 2; x1 = x0 == x1 ? 0 : x1; @@ -1693,7 +1685,7 @@ int cv::solveCubic( InputArray _coeffs, OutputArray _roots ) { double e; d = sqrt(-d); - e = pow(d + fabs(R), 1./3); + e = std::cbrt(d + fabs(R)); if( R > 0 ) e = -e; x0 = (e + Q / e) - a1 * (1./3); @@ -1808,15 +1800,14 @@ double cv::solvePoly( InputArray _coeffs0, OutputArray _roots0, int maxIters ) if( num_same_root % 2 != 0){ Mat cube_coefs(4, 1, CV_64FC1); Mat cube_roots(3, 1, CV_64FC2); - cube_coefs.at(3) = -(pow(old_num_re, 3)); - cube_coefs.at(2) = -(15*pow(old_num_re, 2) + 27*pow(old_num_im, 2)); + cube_coefs.at(3) = -(std::pow(old_num_re, 3)); + cube_coefs.at(2) = -(15*std::pow(old_num_re, 2) + 27*std::pow(old_num_im, 2)); cube_coefs.at(1) = -48*old_num_re; cube_coefs.at(0) = 64; solveCubic(cube_coefs, cube_roots); - if(cube_roots.at(0) >= 0) num.re = pow(cube_roots.at(0), 1./3); - else num.re = -pow(-cube_roots.at(0), 1./3); - num.im = sqrt(pow(num.re, 2) / 3 - old_num_re / (3*num.re)); + num.re = std::cbrt(cube_roots.at(0)); + num.im = sqrt(std::pow(num.re, 2) / 3 - old_num_re / (3*num.re)); } } roots[i] = p - num; diff --git a/modules/core/test/test_countnonzero.cpp b/modules/core/test/test_countnonzero.cpp index 41eaceb189..4641896130 100644 --- a/modules/core/test/test_countnonzero.cpp +++ b/modules/core/test/test_countnonzero.cpp @@ -265,7 +265,7 @@ TEST_P (CountNonZeroND, ndim) data = 0; EXPECT_EQ(0, cv::countNonZero(data)); data = Scalar::all(1); - int expected = static_cast(pow(static_cast(ONE_SIZE), dims)); + int expected = static_cast(std::pow(static_cast(ONE_SIZE), dims)); EXPECT_EQ(expected, cv::countNonZero(data)); } diff --git a/modules/core/test/test_eigen.cpp b/modules/core/test/test_eigen.cpp index ca402d5ec0..5a21ee5b13 100644 --- a/modules/core/test/test_eigen.cpp +++ b/modules/core/test/test_eigen.cpp @@ -367,7 +367,7 @@ bool Core_EigenTest::check_full(int type) for (int i = 0; i < ntests; ++i) { - int src_size = (int)(std::pow(2.0, (rng.uniform(0, MAX_DEGREE) + 1.))); + int src_size = (int)(std::pow(2, (rng.uniform(0, MAX_DEGREE) + 1.))); cv::Mat src(src_size, src_size, type); diff --git a/modules/core/test/test_math.cpp b/modules/core/test/test_math.cpp index c7c5dceb31..5c3df87ddb 100644 --- a/modules/core/test/test_math.cpp +++ b/modules/core/test/test_math.cpp @@ -146,7 +146,7 @@ void Core_PowTest::get_minmax_bounds( int /*i*/, int /*j*/, int type, Scalar& lo if( power > 0 ) { double mval = cvtest::getMaxVal(type); - double u1 = pow(mval,1./power)*2; + double u1 = std::pow(mval,1./power)*2; u = MIN(u,u1); } @@ -322,7 +322,7 @@ void Core_PowTest::prepare_to_validation( int /*test_case_idx*/ ) for( j = 0; j < ncols; j++ ) { double val = ((float*)a_data)[j]; - val = pow( fabs(val), power ); + val = std::pow( fabs(val), power ); ((float*)b_data)[j] = (float)val; } else @@ -340,7 +340,7 @@ void Core_PowTest::prepare_to_validation( int /*test_case_idx*/ ) for( j = 0; j < ncols; j++ ) { double val = ((double*)a_data)[j]; - val = pow( fabs(val), power ); + val = std::pow( fabs(val), power ); ((double*)b_data)[j] = (double)val; } else @@ -2394,7 +2394,7 @@ void Core_SolvePolyTest::run( int ) for (int j = 0; j < n; ++j) { s += fabs(r[j].real()) + fabs(r[j].imag()); - div += sqrt(pow(r[j].real() - ar[j].real(), 2) + pow(r[j].imag() - ar[j].imag(), 2)); + div += sqrt(std::pow(r[j].real() - ar[j].real(), 2) + std::pow(r[j].imag() - ar[j].imag(), 2)); } div /= s; pass = pass && div < err_eps; diff --git a/modules/dnn/src/layers/elementwise_layers.cpp b/modules/dnn/src/layers/elementwise_layers.cpp index e7644aeb92..e38d7688e9 100644 --- a/modules/dnn/src/layers/elementwise_layers.cpp +++ b/modules/dnn/src/layers/elementwise_layers.cpp @@ -2619,7 +2619,7 @@ struct PowerFunctor : public BaseFunctor for( int i = 0; i < len; i++ ) { float x = srcptr[i]; - dstptr[i] = pow(a*x + b, p); + dstptr[i] = std::pow(a*x + b, p); } } } @@ -2674,7 +2674,7 @@ struct PowerFunctor : public BaseFunctor } if (power != 1.0f) { - topExpr = pow(topExpr, power); + topExpr = std::pow(topExpr, power); } top(x, y, c, n) = topExpr; } diff --git a/modules/dnn/src/layers/lrn_layer.cpp b/modules/dnn/src/layers/lrn_layer.cpp index 4863be2e3d..6859d73e59 100644 --- a/modules/dnn/src/layers/lrn_layer.cpp +++ b/modules/dnn/src/layers/lrn_layer.cpp @@ -396,7 +396,7 @@ public: base = alphaSize * sum(padded_sq(x + r.x, y + r.y, c, n)); } base += static_cast(bias); - top(x, y, c, n) = inputBuffer(x, y, c, n) / pow(base, beta); + top(x, y, c, n) = inputBuffer(x, y, c, n) / std::pow(base, beta); return Ptr(new HalideBackendNode({ padded_sq, top })); #endif // HAVE_HALIDE return Ptr(); diff --git a/modules/dnn/src/layers/normalize_bbox_layer.cpp b/modules/dnn/src/layers/normalize_bbox_layer.cpp index d2324b2a94..89a6ea053e 100644 --- a/modules/dnn/src/layers/normalize_bbox_layer.cpp +++ b/modules/dnn/src/layers/normalize_bbox_layer.cpp @@ -147,7 +147,7 @@ public: { // add eps to avoid overflow float absSum = sum(buffer)[0] + epsilon; - float norm = pow(absSum, 1.0f / pnorm); + float norm = std::pow(absSum, 1.0f / pnorm); multiply(src, 1.0f / norm, dst); } else @@ -229,7 +229,7 @@ public: { // add eps to avoid overflow float absSum = sum(buffer)[0] + epsilon; - float norm = pow(absSum, 1.0f / pnorm); + float norm = std::pow(absSum, 1.0f / pnorm); multiply(src, 1.0f / norm, dst); } else diff --git a/modules/dnn/src/opencl/activations.cl b/modules/dnn/src/opencl/activations.cl index bbd03b2ea1..22823620a5 100644 --- a/modules/dnn/src/opencl/activations.cl +++ b/modules/dnn/src/opencl/activations.cl @@ -141,7 +141,7 @@ __kernel void PowForward(const int n, __global const T* in, __global T* out, { int index = get_global_id(0); if (index < n) - out[index] = pow(shift + scale * in[index], power); + out[index] = std::pow(shift + scale * in[index], power); } __kernel void ELUForward(const int n, __global const T* in, __global T* out, diff --git a/modules/dnn/src/opencl/conv_layer_spatial.cl b/modules/dnn/src/opencl/conv_layer_spatial.cl index 0ac074b26b..1b0b2d6ba2 100644 --- a/modules/dnn/src/opencl/conv_layer_spatial.cl +++ b/modules/dnn/src/opencl/conv_layer_spatial.cl @@ -55,7 +55,7 @@ #define ACTIVATION_RELU_FUNCTION(x, c) ((Dtype)(x) > 0 ? (Dtype)(x) : ((Dtype)(x) * (negative_slope[c]))) #define FUSED_ARG __global const KERNEL_ARG_DTYPE* negative_slope, #elif defined(FUSED_CONV_POWER) -#define ACTIVATION_RELU_FUNCTION(x, c) pow(x, (Dtype)power) +#define ACTIVATION_RELU_FUNCTION(x, c) std::pow(x, (Dtype)power) #define FUSED_ARG KERNEL_ARG_DTYPE power, #elif defined(FUSED_CONV_TANH) #define ACTIVATION_RELU_FUNCTION(x, c) tanh(x) diff --git a/modules/dnn/src/opencl/lrn.cl b/modules/dnn/src/opencl/lrn.cl index 2ff03f0edf..52ba8a9166 100644 --- a/modules/dnn/src/opencl/lrn.cl +++ b/modules/dnn/src/opencl/lrn.cl @@ -28,7 +28,7 @@ __kernel void LRNComputeOutput(const int nthreads, __global T* in, __global T* s int index = get_global_id(0); int tmp = get_global_size(0); for(index; index < nthreads; index += tmp) - out[index] = in[index] * pow(scale[index], negative_beta); + out[index] = in[index] * std::pow(scale[index], negative_beta); } __kernel void LRNFillScale(const int nthreads, __global T* in, const int num, const int channels, const int height, const int width, const int size, const T alpha_over_size, const T k, __global T* scale) { diff --git a/modules/dnn/test/test_common.impl.hpp b/modules/dnn/test/test_common.impl.hpp index a12f2fe5b4..104ddec7ee 100644 --- a/modules/dnn/test/test_common.impl.hpp +++ b/modules/dnn/test/test_common.impl.hpp @@ -508,7 +508,7 @@ size_t DNNTestLayer::getTopMemoryUsageMB() #ifdef _WIN32 PROCESS_MEMORY_COUNTERS proc; GetProcessMemoryInfo(GetCurrentProcess(), &proc, sizeof(proc)); - return proc.PeakWorkingSetSize / pow(1024, 2); // bytes to megabytes + return proc.PeakWorkingSetSize / std::pow(1024, 2); // bytes to megabytes #else std::ifstream status("/proc/self/status"); std::string line, title; diff --git a/modules/features2d/src/brisk.cpp b/modules/features2d/src/brisk.cpp index a324f44718..46fbef388d 100644 --- a/modules/features2d/src/brisk.cpp +++ b/modules/features2d/src/brisk.cpp @@ -446,7 +446,7 @@ BRISK_Impl::generateKernel(const std::vector &radiusList, const float sigma_scale = 1.3f; for (unsigned int scale = 0; scale < scales_; ++scale) { - scaleList_[scale] = (float) std::pow((double) 2.0, (double) (scale * lb_scale_step)); + scaleList_[scale] = (float) std::pow(2, scale * lb_scale_step); sizeList_[scale] = 0; BriskPatternPoint *patternIteratorOuter = patternPoints_ + (scale * n_rot_ * points_); // generate the pattern points look-up diff --git a/modules/features2d/src/kaze/AKAZEFeatures.cpp b/modules/features2d/src/kaze/AKAZEFeatures.cpp index 0c0332030d..e91bb5e349 100644 --- a/modules/features2d/src/kaze/AKAZEFeatures.cpp +++ b/modules/features2d/src/kaze/AKAZEFeatures.cpp @@ -73,7 +73,7 @@ void AKAZEFeatures::Allocate_Memory_Evolution(void) { for (int j = 0; j < options_.nsublevels; j++) { MEvolution step; step.size = Size(level_width, level_height); - step.esigma = options_.soffset*pow(2.f, (float)(j) / (float)(options_.nsublevels) + i); + step.esigma = (float)(options_.soffset*std::pow(2, (float)(j) / (float)(options_.nsublevels) + i)); step.sigma_size = cvRound(step.esigma * options_.derivative_factor / power); // In fact sigma_size only depends on j step.etime = 0.5f * (step.esigma * step.esigma); step.octave = i; diff --git a/modules/features2d/src/kaze/KAZEFeatures.cpp b/modules/features2d/src/kaze/KAZEFeatures.cpp index 7bd0ba6dcd..72327e8683 100644 --- a/modules/features2d/src/kaze/KAZEFeatures.cpp +++ b/modules/features2d/src/kaze/KAZEFeatures.cpp @@ -66,7 +66,7 @@ void KAZEFeatures::Allocate_Memory_Evolution(void) { aux.Lt = Mat::zeros(options_.img_height, options_.img_width, CV_32F); aux.Lsmooth = Mat::zeros(options_.img_height, options_.img_width, CV_32F); aux.Ldet = Mat::zeros(options_.img_height, options_.img_width, CV_32F); - aux.esigma = options_.soffset*pow((float)2.0f, (float)(j) / (float)(options_.nsublevels)+i); + aux.esigma = (float)(options_.soffset*std::pow(2, (float)(j) / (float)(options_.nsublevels)+i)); aux.etime = 0.5f*(aux.esigma*aux.esigma); aux.sigma_size = cvRound(aux.esigma); aux.octave = i; @@ -472,7 +472,7 @@ void KAZEFeatures::Do_Subpixel_Refinement(std::vector &kpts) { dsc = kpts_[i].octave + (kpts_[i].angle + *(dst.ptr(2))) / ((float)(options_.nsublevels)); // In OpenCV the size of a keypoint is the diameter!! - kpts_[i].size = 2.0f*options_.soffset*pow((float)2.0f, dsc); + kpts_[i].size = (float)(2*options_.soffset*std::pow(2, dsc)); kpts_[i].angle = 0.0; } // Set the points to be deleted after the for loop diff --git a/modules/features2d/src/sift.dispatch.cpp b/modules/features2d/src/sift.dispatch.cpp index d5c1171e9f..92d85ca86e 100644 --- a/modules/features2d/src/sift.dispatch.cpp +++ b/modules/features2d/src/sift.dispatch.cpp @@ -231,10 +231,10 @@ void SIFT_Impl::buildGaussianPyramid( const Mat& base, std::vector& pyr, in // precompute Gaussian sigmas using the following formula: // \sigma_{total}^2 = \sigma_{i}^2 + \sigma_{i-1}^2 sig[0] = sigma; - double k = std::pow( 2., 1. / nOctaveLayers ); + double k = std::pow( 2, 1. / nOctaveLayers ); for( int i = 1; i < nOctaveLayers + 3; i++ ) { - double sig_prev = std::pow(k, (double)(i-1))*sigma; + double sig_prev = (double)std::pow(k, i-1)*sigma; double sig_total = sig_prev*k; sig[i] = std::sqrt(sig_total*sig_total - sig_prev*sig_prev); } diff --git a/modules/flann/include/opencv2/flann/dist.h b/modules/flann/include/opencv2/flann/dist.h index b0c0ec820f..7d36bc80ae 100644 --- a/modules/flann/include/opencv2/flann/dist.h +++ b/modules/flann/include/opencv2/flann/dist.h @@ -397,7 +397,7 @@ struct MinkowskiDistance diff1 = (ResultType)abs(a[1] - b[1]); diff2 = (ResultType)abs(a[2] - b[2]); diff3 = (ResultType)abs(a[3] - b[3]); - result += pow(diff0,order) + pow(diff1,order) + pow(diff2,order) + pow(diff3,order); + result += std::pow(diff0,order) + std::pow(diff1,order) + std::pow(diff2,order) + std::pow(diff3,order); a += 4; b += 4; @@ -408,7 +408,7 @@ struct MinkowskiDistance /* Process last 0-3 pixels. Not needed for standard vector lengths. */ while (a < last) { diff0 = (ResultType)abs(*a++ - *b++); - result += pow(diff0,order); + result += std::pow(diff0,order); } return result; } @@ -419,7 +419,7 @@ struct MinkowskiDistance template inline ResultType accum_dist(const U& a, const V& b, int) const { - return pow(static_cast(abs(a-b)),order); + return std::pow(static_cast(abs(a-b)),order); } }; diff --git a/modules/gapi/src/3rdparty/vasot/src/components/ot/mtt/rgb_histogram.cpp b/modules/gapi/src/3rdparty/vasot/src/components/ot/mtt/rgb_histogram.cpp index bd121fbf49..497894b5b6 100644 --- a/modules/gapi/src/3rdparty/vasot/src/components/ot/mtt/rgb_histogram.cpp +++ b/modules/gapi/src/3rdparty/vasot/src/components/ot/mtt/rgb_histogram.cpp @@ -11,7 +11,7 @@ namespace ot { RgbHistogram::RgbHistogram(int32_t rgb_bin_size) : rgb_bin_size_(rgb_bin_size), rgb_num_bins_(256 / rgb_bin_size), - rgb_hist_size_(static_cast(pow(rgb_num_bins_, 3))) { + rgb_hist_size_(static_cast(std::pow(rgb_num_bins_, 3))) { } RgbHistogram::~RgbHistogram(void) { diff --git a/modules/imgproc/src/corner.cpp b/modules/imgproc/src/corner.cpp index 1d6ee1ac04..da0373d1bf 100644 --- a/modules/imgproc/src/corner.cpp +++ b/modules/imgproc/src/corner.cpp @@ -598,7 +598,7 @@ static bool ipp_cornerHarris( Mat &src, Mat &dst, int blockSize, int ksize, doub scale *= 2.0; if (depth == CV_8U) scale *= 255.0; - scale = std::pow(scale, -4.0); + scale = std::pow(scale, -4); if (ippiHarrisCornerGetBufferSize(roisize, masksize, blockSize, datatype, cn, &bufsize) >= 0) { diff --git a/modules/imgproc/src/lsd.cpp b/modules/imgproc/src/lsd.cpp index 3e424a42b9..1694bfbefb 100644 --- a/modules/imgproc/src/lsd.cpp +++ b/modules/imgproc/src/lsd.cpp @@ -138,7 +138,7 @@ inline double get_limit(cv::Point2d p, int row, double slope) { inline double log_gamma_windschitl(const double& x) { return 0.918938533204673 + (x-0.5)*log(x) - x - + 0.5*x*log(x*sinh(1/x) + 1/(810.0*pow(x, 6.0))); + + 0.5*x*log(x*sinh(1/x) + 1/(810.0*std::pow(x, 6))); } /** @@ -156,7 +156,7 @@ inline double log_gamma_lanczos(const double& x) for(int n = 0; n < 7; ++n) { a -= log(x + double(n)); - b += q[n] * pow(x, double(n)); + b += q[n] * std::pow(x, n); } return a + log(b); } @@ -1037,7 +1037,7 @@ double LineSegmentDetectorImpl::nfa(const int& n, const int& k, const double& p) bin_tail += term; if(bin_term < 1) { - double err = term * ((1 - pow(mult_term, double(n-i+1))) / (1 - mult_term) - 1); + double err = term * ((1 - std::pow(mult_term, double(n-i+1))) / (1 - mult_term) - 1); if(err < tolerance * fabs(-log10(bin_tail) - LOG_NT) * bin_tail) break; } diff --git a/modules/imgproc/test/test_drawing.cpp b/modules/imgproc/test/test_drawing.cpp index da984058e3..e7b8f60de1 100644 --- a/modules/imgproc/test/test_drawing.cpp +++ b/modules/imgproc/test/test_drawing.cpp @@ -554,9 +554,9 @@ TEST(Drawing, _914) line(img, Point(-5, 20), Point(260, 20), Scalar(0), 2, 4); line(img, Point(10, 0), Point(10, 255), Scalar(0), 2, 4); - double x0 = 0.0/pow(2.0, -2.0); - double x1 = 255.0/pow(2.0, -2.0); - double y = 30.5/pow(2.0, -2.0); + double x0 = 0.0/std::pow(2, -2); + double x1 = 255.0/std::pow(2, -2); + double y = 30.5/std::pow(2, -2); line(img, Point(int(x0), int(y)), Point(int(x1), int(y)), Scalar(0), 2, 4, 2); diff --git a/modules/imgproc/test/test_histograms.cpp b/modules/imgproc/test/test_histograms.cpp index f31bb34bed..7edab4e8ac 100644 --- a/modules/imgproc/test/test_histograms.cpp +++ b/modules/imgproc/test/test_histograms.cpp @@ -142,7 +142,7 @@ void CV_BaseHistTest::get_hist_params( int /*test_case_idx*/ ) cdims = cvtest::randInt(rng) % max_cdims + 1; hist_size = exp(cvtest::randReal(rng)*max_log_size*CV_LOG2); - max_dim_size = cvRound(pow(hist_size,1./cdims)); + max_dim_size = cvRound(std::pow(hist_size,1./cdims)); total_size = 1; uniform = cvtest::randInt(rng) % 2; hist_type = cvtest::randInt(rng) % 2 ? CV_HIST_SPARSE : CV_HIST_ARRAY; @@ -208,7 +208,7 @@ float** CV_BaseHistTest::get_hist_ranges( int /*test_case_idx*/ ) for( j = 0; j < 10; j++ ) { q = 1. + (j+1)*0.1; - if( (pow(q,(double)n)-1)/(q-1.) >= _high-_low ) + if( (std::pow(q,n)-1)/(q-1.) >= _high-_low ) break; } @@ -220,7 +220,7 @@ float** CV_BaseHistTest::get_hist_ranges( int /*test_case_idx*/ ) else { q = 1 + j*0.1; - delta = cvFloor((_high-_low)*(q-1)/(pow(q,(double)n) - 1)); + delta = cvFloor((_high-_low)*(q-1)/(std::pow(q,n) - 1)); delta = MAX(delta, 1.); } val = _low; diff --git a/modules/ml/src/ann_mlp.cpp b/modules/ml/src/ann_mlp.cpp index f4e00aaac7..719bc819c8 100644 --- a/modules/ml/src/ann_mlp.cpp +++ b/modules/ml/src/ann_mlp.cpp @@ -276,7 +276,7 @@ public: { int n1 = layer_sizes[i-1]; int n2 = layer_sizes[i]; - double val = 0, G = n2 > 2 ? 0.7*pow((double)n1,1./(n2-1)) : 1.; + double val = 0, G = n2 > 2 ? 0.7*std::pow(n1,1./(n2-1)) : 1.; double* w = weights[i].ptr(); // initialize weights using Nguyen-Widrow algorithm diff --git a/modules/photo/src/contrast_preserve.cpp b/modules/photo/src/contrast_preserve.cpp index d9b183964e..332159345f 100644 --- a/modules/photo/src/contrast_preserve.cpp +++ b/modules/photo/src/contrast_preserve.cpp @@ -102,7 +102,7 @@ void cv::decolor(InputArray _src, OutputArray _dst, OutputArray _color_boost) vector temp2(EXPsum.size()); vector wei1(polyGrad.size()); - while(sqrt(pow(E-pre_E,2)) > tol) + while(std::abs(E-pre_E) > tol) { iterCount +=1; pre_E = E; diff --git a/modules/photo/src/contrast_preserve.hpp b/modules/photo/src/contrast_preserve.hpp index 3fb98e2093..d0a19488d4 100644 --- a/modules/photo/src/contrast_preserve.hpp +++ b/modules/photo/src/contrast_preserve.hpp @@ -91,7 +91,7 @@ double Decolor::energyCalcu(const vector &Cg, const vector < vector &Cg) const Cg.resize(ImL.size()); for(size_t i=0;i > &polyGrad, for(int i = 0;i(i,j)=static_cast( - pow(rgb_channel[2].at(i,j),r)*pow(rgb_channel[1].at(i,j),g)* - pow(rgb_channel[0].at(i,j),b)); + std::pow(rgb_channel[2].at(i,j),r)*std::pow(rgb_channel[1].at(i,j),g)* + std::pow(rgb_channel[0].at(i,j),b)); vector curGrad; gradvector(curIm,curGrad); add_to_vector_poly(polyGrad,curGrad,idx1); @@ -366,8 +366,8 @@ void Decolor::grayImContruct(vector &wei, const Mat &img, Mat &Gray) co for(int i = 0;i(i,j)=static_cast(Gray.at(i,j) + - static_cast(wei[kk])*pow(rgb_channel[2].at(i,j),r)*pow(rgb_channel[1].at(i,j),g)* - pow(rgb_channel[0].at(i,j),b)); + static_cast(wei[kk])*std::pow(rgb_channel[2].at(i,j),r)*std::pow(rgb_channel[1].at(i,j),g)* + std::pow(rgb_channel[0].at(i,j),b)); kk=kk+1; } diff --git a/modules/photo/src/npr.hpp b/modules/photo/src/npr.hpp index 2ff1985aca..6e4bb7355a 100644 --- a/modules/photo/src/npr.hpp +++ b/modules/photo/src/npr.hpp @@ -184,7 +184,7 @@ void Domain_Filter::compute_Rfilter(Mat &output, Mat &hz, float sigma_h) for(int i=0;i(i,j) = pow(a,hz.at(i,j)); + V.at(i,j) = std::pow(a,hz.at(i,j)); for(int i=0; i(mean(gray_img)[0]); diff --git a/modules/stitching/src/autocalib.cpp b/modules/stitching/src/autocalib.cpp index 772eb7e7e9..40319b3423 100644 --- a/modules/stitching/src/autocalib.cpp +++ b/modules/stitching/src/autocalib.cpp @@ -156,7 +156,7 @@ bool calibrateRotatingCamera(const std::vector &Hs, Mat &K) for (int i = 0; i < m; ++i) { CV_Assert(Hs[i].size() == Size(3, 3) && Hs[i].type() == CV_64F); - Hs_[i] = Hs[i] / std::pow(determinant(Hs[i]), 1./3.); + Hs_[i] = Hs[i] / std::cbrt(determinant(Hs[i])); } const int idx_map[3][3] = {{0, 1, 2}, {1, 3, 4}, {2, 4, 5}}; diff --git a/modules/video/src/ecc.cpp b/modules/video/src/ecc.cpp index 87b3c53365..a8cd1735b3 100644 --- a/modules/video/src/ecc.cpp +++ b/modules/video/src/ecc.cpp @@ -217,7 +217,7 @@ static void project_onto_jacobian_ECC(const Mat& src1, const Mat& src2, Mat& dst Mat mat; for (int i = 0; i < dst.rows; i++) { mat = Mat(src1.colRange(i * w, (i + 1) * w)); - dstPtr[i * (dst.rows + 1)] = (float)pow(norm(mat), 2); // diagonal elements + dstPtr[i * (dst.rows + 1)] = (float)std::pow(norm(mat), 2); // diagonal elements for (int j = i + 1; j < dst.cols; j++) { // j starts from i+1 dstPtr[i * dst.cols + j] = (float)mat.dot(src2.colRange(j * w, (j + 1) * w)); diff --git a/modules/video/src/tracking/detail/tracking_online_mil.cpp b/modules/video/src/tracking/detail/tracking_online_mil.cpp index b1d74916f7..ebfb31098f 100644 --- a/modules/video/src/tracking/detail/tracking_online_mil.cpp +++ b/modules/video/src/tracking/detail/tracking_online_mil.cpp @@ -286,8 +286,8 @@ void ClfOnlineStump::update(const Mat& posx, const Mat& negx, const Mat_& _q = (_mu1 - _mu0) / 2; _s = sign(_mu1 - _mu0); - _log_n0 = std::log(float(1.0f / pow(_sig0, 0.5f))); - _log_n1 = std::log(float(1.0f / pow(_sig1, 0.5f))); + _log_n0 = std::log(float(1.0f / std::pow(_sig0, 0.5f))); + _log_n1 = std::log(float(1.0f / std::pow(_sig1, 0.5f))); //_e1 = -1.0f/(2.0f*_sig1+1e-99f); //_e0 = -1.0f/(2.0f*_sig0+1e-99f); _e1 = -1.0f / (2.0f * _sig1 + std::numeric_limits::min()); @@ -314,8 +314,8 @@ void ClfOnlineStump::update(const Mat& posx, const Mat& negx, const Mat_& _q = (_mu1 - _mu0) / 2; _s = sign(_mu1 - _mu0); - _log_n0 = std::log(float(1.0f / pow(_sig0, 0.5f))); - _log_n1 = std::log(float(1.0f / pow(_sig1, 0.5f))); + _log_n0 = std::log(float(1.0f / std::pow(_sig0, 0.5f))); + _log_n1 = std::log(float(1.0f / std::pow(_sig1, 0.5f))); //_e1 = -1.0f/(2.0f*_sig1+1e-99f); //_e0 = -1.0f/(2.0f*_sig0+1e-99f); _e1 = -1.0f / (2.0f * _sig1 + std::numeric_limits::min()); diff --git a/modules/videoio/src/cap_aravis.cpp b/modules/videoio/src/cap_aravis.cpp index b5be51b30c..a2e53da921 100644 --- a/modules/videoio/src/cap_aravis.cpp +++ b/modules/videoio/src/cap_aravis.cpp @@ -383,7 +383,7 @@ void CvCaptureCAM_Aravis::autoExposureControl(const Mat & image) midGrey = brightness; double maxe = 1e6 / fps; - double ne = CLIP( ( exposure * d ) / ( dmid * pow(sqrt(2), -2 * exposureCompensation) ), exposureMin, maxe); + double ne = CLIP( ( exposure * d ) / ( dmid * std::pow(sqrt(2), -2 * exposureCompensation) ), exposureMin, maxe); // if change of value requires intervention if(std::fabs(d-dmid) > 5) { diff --git a/modules/videoio/src/cap_mfx_writer.cpp b/modules/videoio/src/cap_mfx_writer.cpp index 51157e9ba1..3006c396bd 100644 --- a/modules/videoio/src/cap_mfx_writer.cpp +++ b/modules/videoio/src/cap_mfx_writer.cpp @@ -21,11 +21,11 @@ static float estimateBitrate(int codecId, size_t pixelNum, float fps) } else if (codecId == MFX_CODEC_AVC) { - bitrate = (mp * 140 + 19) * pow(fps, 0.60f); + bitrate = (mp * 140 + 19) * std::pow(fps, 0.60f); } else if (codecId == MFX_CODEC_HEVC) { - bitrate = (mp * 63 + 45) * pow(fps, 0.60f); + bitrate = (mp * 63 + 45) * std::pow(fps, 0.60f); } else { From abd0eb94f6aedfc192c2b21a920dc5103ab66545 Mon Sep 17 00:00:00 2001 From: Madan mohan Manokar Date: Mon, 5 Jan 2026 18:24:27 +0000 Subject: [PATCH 09/51] Fixes Issue: Race condition in GaussianBlurFixedPoint #28370 --- modules/imgproc/src/smooth.simd.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/modules/imgproc/src/smooth.simd.hpp b/modules/imgproc/src/smooth.simd.hpp index 1ca8021556..4bbd7722e6 100644 --- a/modules/imgproc/src/smooth.simd.hpp +++ b/modules/imgproc/src/smooth.simd.hpp @@ -619,7 +619,7 @@ void inline smooth3N121Impl(const ET* src, int cn, ET *dst, int ito, int idst, int v = idst - 1; int len = (width - offset) * cn; int x = offset * cn; - int maxRow = min((ito - vOffset),height-2); + int maxRow = min((ito - vOffset),height-vOffset); #if (CV_SIMD || CV_SIMD_SCALABLE) VFT v_8 = vx_setall((WET)8); const int VECSZ = VTraits::vlanes(); @@ -708,11 +708,11 @@ template void inline smooth5N14641Impl(const ET* src, int cn, ET* dst, int ito, int idst, int width, int height, size_t src_stride, size_t dst_stride) { int offset = 2; - int vOffset = 3; + int vOffset = 4; int v = idst - 2; int len = (width - offset) * cn; int x = offset * cn; - int maxRow = min((ito - vOffset),height-4); + int maxRow = min((ito - vOffset),height-vOffset); #if (CV_SIMD || CV_SIMD_SCALABLE) VFT v_6 = vx_setall((WET)6); From 175dd57bdd77229848536fc4df0edec6f52a0f4a Mon Sep 17 00:00:00 2001 From: WalkingDevFlag Date: Mon, 5 Jan 2026 14:34:38 +0530 Subject: [PATCH 10/51] Fix copyTo on empty fixed-type matrices (#28343) PR #27972 added _dst.create(size(), type()) in copyTo's empty() block. In Debug builds, Mat::release() was resetting flags to MAGIC_VAL, clearing the type information and causing assertion failures when destination has fixedType(). Preserve type flags in Mat::release() debug mode by using: flags = (flags & CV_MAT_TYPE_MASK) | MAGIC_VAL Thanks to @akretz for suggesting this better approach. --- modules/core/src/matrix.cpp | 2 +- modules/core/test/test_mat.cpp | 19 +++++++++++++++++++ 2 files changed, 20 insertions(+), 1 deletion(-) diff --git a/modules/core/src/matrix.cpp b/modules/core/src/matrix.cpp index 3480fffe78..98d25d909f 100644 --- a/modules/core/src/matrix.cpp +++ b/modules/core/src/matrix.cpp @@ -553,7 +553,7 @@ void Mat::release() for(int i = 0; i < dims; i++) size.p[i] = 0; #ifdef _DEBUG - flags = MAGIC_VAL; + flags = (flags & CV_MAT_TYPE_MASK) | MAGIC_VAL; dims = rows = cols = 0; if(step.p != step.buf) { diff --git a/modules/core/test/test_mat.cpp b/modules/core/test/test_mat.cpp index b0fcea60c6..33f438d0c4 100644 --- a/modules/core/test/test_mat.cpp +++ b/modules/core/test/test_mat.cpp @@ -1394,6 +1394,25 @@ TEST(Core_Mat, copyToConvertTo_Empty) ASSERT_EQ(C.type(), CV_32SC2); } +// Regression test for https://github.com/opencv/opencv/issues/28343 +// copyTo on empty fixed-type matrices should be a no-op and succeed +template class Core_Mat_copyTo : public testing::Test {}; +TYPED_TEST_CASE_P(Core_Mat_copyTo); + +TYPED_TEST_P(Core_Mat_copyTo, EmptyFixedType) +{ + cv::Mat_ a; + cv::Mat_ b; + EXPECT_NO_THROW(a.copyTo(b)); + EXPECT_TRUE(b.empty()); + // Verify type is still consistent after copyTo + EXPECT_EQ(b.type(), cv::traits::Type::value); +} + +REGISTER_TYPED_TEST_CASE_P(Core_Mat_copyTo, EmptyFixedType); +typedef ::testing::Types AllMatDepths; +INSTANTIATE_TYPED_TEST_CASE_P(CopyToTest, Core_Mat_copyTo, AllMatDepths); + TEST(Core_Mat, copyNx1ToVector) { cv::Mat_ src(5, 1); From a5b283c800bc1d64b4943e1552eb6df8899f8a77 Mon Sep 17 00:00:00 2001 From: ekharkov Date: Tue, 23 Dec 2025 09:04:50 -0800 Subject: [PATCH 11/51] Update IPPICV binaries (20250919) --- 3rdparty/ippicv/ippicv.cmake | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/3rdparty/ippicv/ippicv.cmake b/3rdparty/ippicv/ippicv.cmake index 980ba25b9e..642f33a41b 100644 --- a/3rdparty/ippicv/ippicv.cmake +++ b/3rdparty/ippicv/ippicv.cmake @@ -2,7 +2,7 @@ function(download_ippicv root_var) set(${root_var} "" PARENT_SCOPE) # Commit SHA in the opencv_3rdparty repo - set(IPPICV_COMMIT "c934a2a15a6df020446ac3dfa07e3acf72b63a8f") + set(IPPICV_COMMIT "e6154bd971073bc60f7141e5373108501b0310a9") # Define actual ICV versions if(APPLE) set(IPPICV_COMMIT "0cc4aa06bf2bef4b05d237c69a5a96b9cd0cb85a") @@ -14,8 +14,8 @@ function(download_ippicv root_var) set(OPENCV_ICV_PLATFORM "linux") set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_lnx") if(X86_64) - set(OPENCV_ICV_NAME "ippicv_2022.2.0_lnx_intel64_20250730_general.tgz") - set(OPENCV_ICV_HASH "55d18247d8ef707f009b94f69d77b948") + set(OPENCV_ICV_NAME "ippicv_2022.3.0_lnx_intel64_20250919_general.tgz") + set(OPENCV_ICV_HASH "cbd5a1cc19de8a863b71d03f03245b10") else() if(ANDROID) set(IPPICV_COMMIT "c7c6d527dde5fee7cb914ee9e4e20f7436aab3a1") @@ -31,8 +31,8 @@ function(download_ippicv root_var) set(OPENCV_ICV_PLATFORM "windows") set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_win") if(X86_64) - set(OPENCV_ICV_NAME "ippicv_2022.2.0_win_intel64_20250730_general.zip") - set(OPENCV_ICV_HASH "7c0973976ab0716bc33f03a76a50017f") + set(OPENCV_ICV_NAME "ippicv_2022.3.0_win_intel64_20250919_general.zip") + set(OPENCV_ICV_HASH "27575d20636f76cb81dcf3898cfe6837") else() set(IPPICV_COMMIT "7f55c0c26be418d494615afca15218566775c725") set(OPENCV_ICV_NAME "ippicv_2021.12.0_win_ia32_20240425_general.zip") From e9c6cb98eaa7f3b510061ca4f1e63fd4e3e714d9 Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Tue, 6 Jan 2026 00:48:59 +0100 Subject: [PATCH 12/51] Fix potential pointer overflow. srcY-roi.y is promoted to size_t which creates problems when it is negative. --- modules/imgproc/src/box_filter.simd.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/modules/imgproc/src/box_filter.simd.hpp b/modules/imgproc/src/box_filter.simd.hpp index b7d2a8b214..5fed5f8ff3 100644 --- a/modules/imgproc/src/box_filter.simd.hpp +++ b/modules/imgproc/src/box_filter.simd.hpp @@ -44,6 +44,7 @@ #include "precomp.hpp" #include "opencv2/core/hal/intrin.hpp" +#include namespace cv { CV_CPU_OPTIMIZATION_NAMESPACE_BEGIN @@ -1513,7 +1514,7 @@ void BlockSum(const Mat& _src, Mat& _dst, Size ksize, Point anchor, const Size & borderLeft*sizeof(T), inplace); } else - ref = (const T*)(src+(srcY-roi.y)*srcStep); + ref = (const T*)(src+(srcY-roi.y)*(ptrdiff_t)srcStep); S = ref; R = (T*)alignPtr(border, VEC_ALIGN); From b7efc11b5167c0210344e3b6d738febf3b2cf12a Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Tue, 6 Jan 2026 09:07:19 +0100 Subject: [PATCH 13/51] Merge pull request #28361 from vrabaud:msan Prevent a potential crash in FMEstimatorCallback::runKernel #28361 With solveCubic sometimes failing, n can be -1. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake --- modules/calib3d/src/fundam.cpp | 2 +- modules/calib3d/test/test_fundam.cpp | 8 ++++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/modules/calib3d/src/fundam.cpp b/modules/calib3d/src/fundam.cpp index e107332c95..c6020fcc8f 100644 --- a/modules/calib3d/src/fundam.cpp +++ b/modules/calib3d/src/fundam.cpp @@ -806,7 +806,7 @@ public: Mat F(count == 7 ? 9 : 3, 3, CV_64F, f); int n = count == 7 ? run7Point(m1, m2, F) : run8Point(m1, m2, F); - if( n == 0 ) + if( n <= 0 ) _model.release(); else F.rowRange(0, n*3).copyTo(_model); diff --git a/modules/calib3d/test/test_fundam.cpp b/modules/calib3d/test/test_fundam.cpp index ab987ffcea..58a57dba4a 100644 --- a/modules/calib3d/test/test_fundam.cpp +++ b/modules/calib3d/test/test_fundam.cpp @@ -1673,5 +1673,13 @@ TEST(Calib3d_FindFundamentalMat, correctMatches) cout << np2 << endl; } +TEST(Calib3d_FindFundamentalMat, Crash) +{ + vector m1 = {{245, 128},{284, 226},{140, 60},{133, 127},{71, 218},{152, 138},{181, 106}}; + vector m2 = m1; + vector mask; + findFundamentalMat(m1, m2, mask, FM_LMEDS, 1, 0.99); +} + }} // namespace /* End of file. */ From ef0172d636c019a7e986c1a903faaad423bd572b Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Tue, 6 Jan 2026 13:17:06 +0100 Subject: [PATCH 14/51] Improve precision of RotatedRect::points Not by much but enough to get a test to pass. --- modules/core/src/types.cpp | 20 ++++++++++++-------- modules/imgproc/test/test_convhull.cpp | 13 +++++++++++++ 2 files changed, 25 insertions(+), 8 deletions(-) diff --git a/modules/core/src/types.cpp b/modules/core/src/types.cpp index ccf3109989..8c732df5c7 100644 --- a/modules/core/src/types.cpp +++ b/modules/core/src/types.cpp @@ -176,14 +176,18 @@ void RotatedRect::points(Point2f pt[]) const float b = (float)cos(_angle)*0.5f; float a = (float)sin(_angle)*0.5f; - pt[0].x = center.x - a*size.height - b*size.width; - pt[0].y = center.y + b*size.height - a*size.width; - pt[1].x = center.x + a*size.height - b*size.width; - pt[1].y = center.y - b*size.height - a*size.width; - pt[2].x = 2*center.x - pt[0].x; - pt[2].y = 2*center.y - pt[0].y; - pt[3].x = 2*center.x - pt[1].x; - pt[3].y = 2*center.y - pt[1].y; + const float ah = a*size.height; + const float aw = a*size.width; + const float bh = b*size.height; + const float bw = b*size.width; + pt[0].x = center.x - ah - bw; + pt[0].y = center.y + bh - aw; + pt[1].x = center.x + ah - bw; + pt[1].y = center.y - bh - aw; + pt[2].x = center.x + ah + bw; + pt[2].y = center.y - bh + aw; + pt[3].x = center.x - ah + bw; + pt[3].y = center.y + bh + aw; } void RotatedRect::points(std::vector& pts) const { diff --git a/modules/imgproc/test/test_convhull.cpp b/modules/imgproc/test/test_convhull.cpp index 714ed75ba0..70b8beacdb 100644 --- a/modules/imgproc/test/test_convhull.cpp +++ b/modules/imgproc/test/test_convhull.cpp @@ -585,6 +585,19 @@ TEST(Imgproc_minAreaRect, reproducer_19769) EXPECT_TRUE(checkMinAreaRect(rr, contour)) << rr.center << " " << rr.size << " " << rr.angle; } +TEST(Imgproc_minAreaRect, roundtrip_accuracy) +{ + RotatedRect rect(Point2f(12.f, 56.f), Size2f(10.f, 25.f), -45.f); + std::vector points; + rect.points(points); + RotatedRect rect_out = minAreaRect(points); + EXPECT_LT(std::abs(rect.center.x - rect_out.center.x), 1e-5); + EXPECT_LT(std::abs(rect.center.y - rect_out.center.y), 1e-5); + EXPECT_LT(std::abs(rect.size.width - rect_out.size.width), 1e-5); + EXPECT_LT(std::abs(rect.size.height - rect_out.size.height), 1e-5); + EXPECT_LT(std::abs(rect.angle - rect_out.angle), 1e-5); +} + TEST(Imgproc_minEnclosingTriangle, regression_17585) { const int N = 3; From 29d68af2a8b93f72de89b102d347a92c328d1797 Mon Sep 17 00:00:00 2001 From: Adrian Kretz Date: Sat, 10 Jan 2026 16:39:44 +0100 Subject: [PATCH 15/51] Use Mat::total() in Darknet IO --- modules/dnn/src/darknet/darknet_io.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/modules/dnn/src/darknet/darknet_io.cpp b/modules/dnn/src/darknet/darknet_io.cpp index a3c7b37a73..674f2c2807 100644 --- a/modules/dnn/src/darknet/darknet_io.cpp +++ b/modules/dnn/src/darknet/darknet_io.cpp @@ -1008,7 +1008,6 @@ namespace cv { if (layer_type == "convolutional" || layer_type == "connected") { - size_t weights_size; int filters; bool use_batch_normalize; cv::Mat weightsBlob; @@ -1023,7 +1022,6 @@ namespace cv { CV_Assert(tensor_shape[0] > 0); CV_Assert(tensor_shape[0] % groups == 0); - weights_size = filters * (tensor_shape[0] / groups) * kernel_size * kernel_size; int sizes_weights[] = { filters, tensor_shape[0] / groups, kernel_size, kernel_size }; weightsBlob.create(4, sizes_weights, CV_32F); } @@ -1034,7 +1032,6 @@ namespace cv { CV_Assert(filters>0); - weights_size = total(tensor_shape) * filters; int sizes_weights[] = { filters, total(tensor_shape) }; weightsBlob.create(2, sizes_weights, CV_32F); } @@ -1051,7 +1048,7 @@ namespace cv { ifile.read(reinterpret_cast(meanData_mat.ptr()), sizeof(float)*filters); ifile.read(reinterpret_cast(stdData_mat.ptr()), sizeof(float)*filters); } - ifile.read(reinterpret_cast(weightsBlob.ptr()), sizeof(float)*weights_size); + ifile.read(reinterpret_cast(weightsBlob.ptr()), sizeof(float)*weightsBlob.total()); // set conv/connected weights std::vector layer_blobs; From c35259c856c81d669317e6eb460f0dc47dec22b8 Mon Sep 17 00:00:00 2001 From: Madan mohan Manokar Date: Mon, 12 Jan 2026 05:05:23 +0000 Subject: [PATCH 16/51] medianBlur improvement with AVX512 ICL --- modules/imgproc/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/imgproc/CMakeLists.txt b/modules/imgproc/CMakeLists.txt index dd5ba447f2..96f2e2b027 100644 --- a/modules/imgproc/CMakeLists.txt +++ b/modules/imgproc/CMakeLists.txt @@ -6,7 +6,7 @@ ocv_add_dispatched_file(filter SSE2 SSE4_1 AVX2) ocv_add_dispatched_file(color_hsv SSE2 SSE4_1 AVX2) ocv_add_dispatched_file(color_rgb SSE2 SSE4_1 AVX2) ocv_add_dispatched_file(color_yuv SSE2 SSE4_1 AVX2) -ocv_add_dispatched_file(median_blur SSE2 SSE4_1 AVX2 AVX512_SKX) +ocv_add_dispatched_file(median_blur SSE2 SSE4_1 AVX2 AVX512_SKX AVX512_ICL) ocv_add_dispatched_file(morph SSE2 SSE4_1 AVX2) ocv_add_dispatched_file(smooth SSE2 SSE4_1 AVX2 AVX512_ICL) ocv_add_dispatched_file(sumpixels SSE2 AVX2 AVX512_SKX) From 105a7747207e678aca53aee17b0f77f1bbd6bdef Mon Sep 17 00:00:00 2001 From: Kumataro Date: Tue, 13 Jan 2026 19:02:47 +0900 Subject: [PATCH 17/51] Merge pull request #28393 from Kumataro:develop/doc_build_config_avif doc: update image codec configuration reference (add AVIF, fix JPEG XL) #28393 This PR updates the build configuration documentation to: - Add AVIF to the supported format list (it was missing). - Clarify that some codecs (AVIF, JPEG XL) do not support BUILD_* options because OpenCV does not bundle their source code. - Update the description to include "write" capabilities for these formats. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake --- .../config_reference/config_reference.markdown | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/doc/tutorials/introduction/config_reference/config_reference.markdown b/doc/tutorials/introduction/config_reference/config_reference.markdown index b8b82b19b0..06bbbd16ed 100644 --- a/doc/tutorials/introduction/config_reference/config_reference.markdown +++ b/doc/tutorials/introduction/config_reference/config_reference.markdown @@ -317,7 +317,7 @@ Following formats can be read by OpenCV without help of any third-party library: | [PFM](https://en.wikipedia.org/wiki/Netpbm#File_formats) | `WITH_IMGCODEC_PFM` | _ON_ | | [GIF](https://en.wikipedia.org/wiki/GIF) | `WITH_IMGCODEC_GIF` | _ON_ | -### PNG, JPEG, TIFF, WEBP, JPEG 2000, EXR, JPEG XL support +### PNG, JPEG, TIFF, WEBP, JPEG 2000, EXR, JPEG XL, AVIF support | Formats | Library | Option | Default | Force build own | | --------| ------- | ------ | ------- | --------------- | @@ -331,12 +331,16 @@ Following formats can be read by OpenCV without help of any third-party library: |^| [JasPer](https://en.wikipedia.org/wiki/JasPer) | `WITH_JASPER` | _ON_ (see note) | `BUILD_JASPER` | | [OpenEXR](https://en.wikipedia.org/wiki/OpenEXR) || `WITH_OPENEXR` | _ON_ | `BUILD_OPENEXR` | | [JPEG XL](https://en.wikipedia.org/wiki/JPEG_XL) || `WITH_JPEGXL` | _ON_ | Not supported. (see note) | +| [AVIF](https://en.wikipedia.org/wiki/AVIF) || `WITH_AVIF` | _ON_ | Not supported. (see note) | -All libraries required to read images in these formats are included into OpenCV and will be built automatically if not found at the configuration stage. Corresponding `BUILD_*` options will force building and using own libraries, they are enabled by default on some platforms, e.g. Windows. +Most library source codes required to read/write images in these formats are bundled into OpenCV and will be built automatically if not found at the configuration stage +(except for some codecs that require external libraries, e.g. JPEG XL and AVIF). +Corresponding BUILD_* options will force building and using the bundled libraries; they are enabled by default on some platforms, e.g. Windows. @note (All) Only one library for each image format can be enabled(e.g. In order to use JasPer for JPEG 2000 format, OpenJPEG must be disabled). @note (JPEG 2000) OpenJPEG have higher priority than JasPer which is deprecated. -@note (JPEG XL) OpenCV doesn't contain libjxl source code, so `BUILD_JPEGXL` is not supported. +@note (JPEG XL) OpenCV doesn't contain libjxl source code, so `BUILD_JPEGXL` is not supported. Users must provide a system-wide installation of libjxl. +@note (AVIF) OpenCV doesn't contain libavif source code, so `BUILD_AVIF` is not supported. Users must provide a system-wide installation of libavif. @warning OpenEXR ver 2.2 or earlier cannot be used in combination with C++17 or later. In this case, updating OpenEXR ver 2.3.0 or later is required. From f994a43df23342b4e696ad3e8658dda288d795e8 Mon Sep 17 00:00:00 2001 From: Madan mohan Manokar Date: Wed, 14 Jan 2026 00:58:16 +0000 Subject: [PATCH 18/51] Improved Bilateral Filter level2 AVX512_SKX and AVX512_ICL dispatch added. BilateralFilter 32f has been improved for AVX512. --- modules/imgproc/CMakeLists.txt | 2 +- modules/imgproc/src/bilateral_filter.simd.hpp | 104 ++++++++++-------- 2 files changed, 57 insertions(+), 49 deletions(-) diff --git a/modules/imgproc/CMakeLists.txt b/modules/imgproc/CMakeLists.txt index dd5ba447f2..775efda294 100644 --- a/modules/imgproc/CMakeLists.txt +++ b/modules/imgproc/CMakeLists.txt @@ -1,6 +1,6 @@ set(the_description "Image Processing") ocv_add_dispatched_file(accum SSE4_1 AVX AVX2) -ocv_add_dispatched_file(bilateral_filter SSE2 AVX2) +ocv_add_dispatched_file(bilateral_filter SSE2 AVX2 AVX512_SKX AVX512_ICL) ocv_add_dispatched_file(box_filter SSE2 SSE4_1 AVX2 AVX512_SKX) ocv_add_dispatched_file(filter SSE2 SSE4_1 AVX2) ocv_add_dispatched_file(color_hsv SSE2 SSE4_1 AVX2) diff --git a/modules/imgproc/src/bilateral_filter.simd.hpp b/modules/imgproc/src/bilateral_filter.simd.hpp index d03ef01f59..1dde4377da 100644 --- a/modules/imgproc/src/bilateral_filter.simd.hpp +++ b/modules/imgproc/src/bilateral_filter.simd.hpp @@ -512,6 +512,9 @@ public: int nlanes_2 = 2 * nlanes; int nlanes_3 = 3 * nlanes; int nlanes_4 = 4 * nlanes; + v_float32 v_one = vx_setall_f32(1.f); + v_float32 sindex = vx_setall_f32(scale_index); + #endif for( i = range.start; i < range.end; i++ ) { @@ -523,9 +526,6 @@ public: j = 0; const float* sptr_j = sptr; #if (CV_SIMD || CV_SIMD_SCALABLE) - v_float32 v_one = vx_setall_f32(1.f); - v_float32 sindex = vx_setall_f32(scale_index); - for(; j <= size.width - nlanes_4; j += nlanes_4, sptr_j += nlanes_4, dptr += nlanes_4) { v_float32 v_wsum0 = vx_setzero_f32(); @@ -545,45 +545,37 @@ public: { const float* ksptr = sptr_j + space_ofs[k]; v_float32 kweight = vx_setall_f32(space_weight[k]); - - //0th v_float32 val0 = vx_load(ksptr); - v_float32 knan0 = v_not_nan(val0); - v_float32 alpha0 = v_and(v_and(v_mul(v_absdiff(val0, rval0), sindex), v_not_nan(rval0)), knan0); - v_int32 idx0 = v_min(v_trunc(alpha0), vx_setall_s32(kExpNumBins)); - alpha0 = v_sub(alpha0, v_cvt_f32(idx0)); - v_float32 w0 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx0), alpha0, v_mul(v_lut(this->expLUT, idx0), v_sub(v_one, alpha0)))), knan0); - v_wsum0 = v_add(v_wsum0, w0); - v_sum0 = v_muladd(v_and(val0, knan0), w0, v_sum0); - - //1st v_float32 val1 = vx_load(ksptr + nlanes); - v_float32 knan1 = v_not_nan(val1); - v_float32 alpha1 = v_and(v_and(v_mul(v_absdiff(val1, rval1), sindex), v_not_nan(rval1)), knan1); - v_int32 idx1 = v_min(v_trunc(alpha1), vx_setall_s32(kExpNumBins)); - alpha1 = v_sub(alpha1, v_cvt_f32(idx1)); - v_float32 w1 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx1), alpha1, v_mul(v_lut(this->expLUT, idx1), v_sub(v_one, alpha1)))), knan1); - v_wsum1 = v_add(v_wsum1, w1); - v_sum1 = v_muladd(v_and(val1, knan1), w1, v_sum1); - - //2nd v_float32 val2 = vx_load(ksptr + nlanes_2); - v_float32 knan2 = v_not_nan(val2); - v_float32 alpha2 = v_and(v_and(v_mul(v_absdiff(val2, rval2), sindex), v_not_nan(rval2)), knan2); - v_int32 idx2 = v_min(v_trunc(alpha2), vx_setall_s32(kExpNumBins)); - alpha2 = v_sub(alpha2, v_cvt_f32(idx2)); - v_float32 w2 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx2), alpha2, v_mul(v_lut(this->expLUT, idx2), v_sub(v_one, alpha2)))), knan2); - v_wsum2 = v_add(v_wsum2, w2); - v_sum2 = v_muladd(v_and(val2, knan2), w2, v_sum2); - - //3rd v_float32 val3 = vx_load(ksptr + nlanes_3); + v_float32 knan0 = v_not_nan(val0); + v_float32 knan1 = v_not_nan(val1); + v_float32 knan2 = v_not_nan(val2); v_float32 knan3 = v_not_nan(val3); + v_float32 alpha0 = v_and(v_and(v_mul(v_absdiff(val0, rval0), sindex), v_not_nan(rval0)), knan0); + v_float32 alpha1 = v_and(v_and(v_mul(v_absdiff(val1, rval1), sindex), v_not_nan(rval1)), knan1); + v_float32 alpha2 = v_and(v_and(v_mul(v_absdiff(val2, rval2), sindex), v_not_nan(rval2)), knan2); v_float32 alpha3 = v_and(v_and(v_mul(v_absdiff(val3, rval3), sindex), v_not_nan(rval3)), knan3); + v_int32 idx0 = v_min(v_trunc(alpha0), vx_setall_s32(kExpNumBins)); + v_int32 idx1 = v_min(v_trunc(alpha1), vx_setall_s32(kExpNumBins)); + v_int32 idx2 = v_min(v_trunc(alpha2), vx_setall_s32(kExpNumBins)); v_int32 idx3 = v_min(v_trunc(alpha3), vx_setall_s32(kExpNumBins)); + alpha0 = v_sub(alpha0, v_cvt_f32(idx0)); + alpha1 = v_sub(alpha1, v_cvt_f32(idx1)); + alpha2 = v_sub(alpha2, v_cvt_f32(idx2)); alpha3 = v_sub(alpha3, v_cvt_f32(idx3)); + v_float32 w0 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx0), alpha0, v_mul(v_lut(this->expLUT, idx0), v_sub(v_one, alpha0)))), knan0); + v_float32 w1 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx1), alpha1, v_mul(v_lut(this->expLUT, idx1), v_sub(v_one, alpha1)))), knan1); + v_float32 w2 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx2), alpha2, v_mul(v_lut(this->expLUT, idx2), v_sub(v_one, alpha2)))), knan2); v_float32 w3 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx3), alpha3, v_mul(v_lut(this->expLUT, idx3), v_sub(v_one, alpha3)))), knan3); + v_wsum0 = v_add(v_wsum0, w0); + v_wsum1 = v_add(v_wsum1, w1); + v_wsum2 = v_add(v_wsum2, w2); v_wsum3 = v_add(v_wsum3, w3); + v_sum0 = v_muladd(v_and(val0, knan0), w0, v_sum0); + v_sum1 = v_muladd(v_and(val1, knan1), w1, v_sum1); + v_sum2 = v_muladd(v_and(val2, knan2), w2, v_sum2); v_sum3 = v_muladd(v_and(val3, knan3), w3, v_sum3); } v_store(dptr , v_div(v_add(v_sum0, v_and(rval0, v_not_nan(rval0))), v_add(v_wsum0, v_and(v_one, v_not_nan(rval0))))); @@ -607,24 +599,21 @@ public: v_float32 kweight = vx_setall_f32(space_weight[k]); const float* ksptr = sptr_j + space_ofs[k]; - //0th v_float32 val0 = vx_load(ksptr); - v_float32 knan0 = v_not_nan(val0); - v_float32 alpha0 = v_and(v_and(v_mul(v_absdiff(val0, rval0), sindex), rval0_not_nan), knan0); - v_int32 idx0 = v_min(v_trunc(alpha0), vx_setall_s32(kExpNumBins)); - alpha0 = v_sub(alpha0, v_cvt_f32(idx0)); - v_float32 w0 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx0), alpha0, v_mul(v_lut(this->expLUT, idx0), v_sub(v_one, alpha0)))), knan0); - v_wsum0 = v_add(v_wsum0, w0); - v_sum0 = v_muladd(v_and(val0, knan0), w0, v_sum0); - - //1st v_float32 val1 = vx_load(ksptr + nlanes); + v_float32 knan0 = v_not_nan(val0); v_float32 knan1 = v_not_nan(val1); + v_float32 alpha0 = v_and(v_and(v_mul(v_absdiff(val0, rval0), sindex), rval0_not_nan), knan0); v_float32 alpha1 = v_and(v_and(v_mul(v_absdiff(val1, rval1), sindex), rval1_not_nan), knan1); + v_int32 idx0 = v_min(v_trunc(alpha0), vx_setall_s32(kExpNumBins)); v_int32 idx1 = v_min(v_trunc(alpha1), vx_setall_s32(kExpNumBins)); + alpha0 = v_sub(alpha0, v_cvt_f32(idx0)); alpha1 = v_sub(alpha1, v_cvt_f32(idx1)); + v_float32 w0 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx0), alpha0, v_mul(v_lut(this->expLUT, idx0), v_sub(v_one, alpha0)))), knan0); v_float32 w1 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx1), alpha1, v_mul(v_lut(this->expLUT, idx1), v_sub(v_one, alpha1)))), knan1); + v_wsum0 = v_add(v_wsum0, w0); v_wsum1 = v_add(v_wsum1, w1); + v_sum0 = v_muladd(v_and(val0, knan0), w0, v_sum0); v_sum1 = v_muladd(v_and(val1, knan1), w1, v_sum1); } v_store(dptr, v_div(v_add(v_sum0, v_and(rval0, rval0_not_nan)), v_add(v_wsum0, v_and(v_one, rval0_not_nan)))); @@ -660,42 +649,61 @@ public: j = 0; const float* sptr_j = sptr; #if (CV_SIMD || CV_SIMD_SCALABLE) - v_float32 v_one = vx_setall_f32(1.f); - v_float32 sindex = vx_setall_f32(scale_index); - for (; j <= size.width - nlanes; j += nlanes, sptr_j += nlanes_3, dptr += nlanes_3) + for (; j <= size.width - nlanes_2; j += nlanes_2, sptr_j += (nlanes_3*2), dptr += (nlanes_3*2)) { + v_float32 kb, kg, kr, kb1, kg1, kr1; + v_float32 rb, rg, rr, rb1, rg1, rr1; const float* rsptr = sptr_j; v_float32 v_wsum = vx_setzero_f32(); v_float32 v_sum_b = vx_setzero_f32(); v_float32 v_sum_g = vx_setzero_f32(); v_float32 v_sum_r = vx_setzero_f32(); + v_float32 v_wsum1 = vx_setzero_f32(); + v_float32 v_sum_b1 = vx_setzero_f32(); + v_float32 v_sum_g1 = vx_setzero_f32(); + v_float32 v_sum_r1 = vx_setzero_f32(); + v_load_deinterleave(rsptr, rb, rg, rr); + v_load_deinterleave(rsptr + nlanes_3, rb1, rg1, rr1); + for (k = 0; k < maxk; k++) { const float* ksptr = sptr_j + space_ofs[k]; v_float32 kweight = vx_setall_f32(space_weight[k]); - v_float32 kb, kg, kr, rb, rg, rr; v_load_deinterleave(ksptr, kb, kg, kr); - v_load_deinterleave(rsptr, rb, rg, rr); + v_load_deinterleave(ksptr + nlanes_3, kb1, kg1, kr1); v_float32 knan = v_and(v_and(v_not_nan(kb), v_not_nan(kg)), v_not_nan(kr)); + v_float32 knan1 = v_and(v_and(v_not_nan(kb1), v_not_nan(kg1)), v_not_nan(kr1)); v_float32 alpha = v_and(v_and(v_and(v_and(v_mul(v_add(v_add(v_absdiff(kb, rb), v_absdiff(kg, rg)), v_absdiff(kr, rr)), sindex), v_not_nan(rb)), v_not_nan(rg)), v_not_nan(rr)), knan); + v_float32 alpha1 = v_and(v_and(v_and(v_and(v_mul(v_add(v_add(v_absdiff(kb1, rb1), v_absdiff(kg1, rg1)), v_absdiff(kr1, rr1)), sindex), v_not_nan(rb1)), v_not_nan(rg1)), v_not_nan(rr1)), knan1); v_int32 idx = v_min(v_trunc(alpha), vx_setall_s32(kExpNumBins)); + v_int32 idx1 = v_min(v_trunc(alpha1), vx_setall_s32(kExpNumBins)); alpha = v_sub(alpha, v_cvt_f32(idx)); - + alpha1 = v_sub(alpha1, v_cvt_f32(idx1)); v_float32 w = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx), alpha, v_mul(v_lut(this->expLUT, idx), v_sub(v_one, alpha)))), knan); + v_float32 w1 = v_and(v_mul(kweight, v_muladd(v_lut(this->expLUT + 1, idx1), alpha1, v_mul(v_lut(this->expLUT, idx1), v_sub(v_one, alpha1)))), knan1); v_wsum = v_add(v_wsum, w); + v_wsum1 = v_add(v_wsum1, w1); v_sum_b = v_muladd(v_and(kb, knan), w, v_sum_b); v_sum_g = v_muladd(v_and(kg, knan), w, v_sum_g); v_sum_r = v_muladd(v_and(kr, knan), w, v_sum_r); + v_sum_b1 = v_muladd(v_and(kb1, knan1), w1, v_sum_b1); + v_sum_g1 = v_muladd(v_and(kg1, knan1), w1, v_sum_g1); + v_sum_r1 = v_muladd(v_and(kr1, knan1), w1, v_sum_r1); } v_float32 b, g, r; + v_float32 b1, g1, r1; v_load_deinterleave(sptr_j, b, g, r); + v_load_deinterleave(sptr_j + nlanes_3, b1, g1, r1); v_float32 mask = v_and(v_and(v_not_nan(b), v_not_nan(g)), v_not_nan(r)); + v_float32 mask1 = v_and(v_and(v_not_nan(b1), v_not_nan(g1)), v_not_nan(r1)); v_float32 w = v_div(v_one, v_add(v_wsum, v_and(v_one, mask))); + v_float32 w1 = v_div(v_one, v_add(v_wsum1, v_and(v_one, mask1))); v_store_interleave(dptr, v_mul(v_add(v_sum_b, v_and(b, mask)), w), v_mul(v_add(v_sum_g, v_and(g, mask)), w), v_mul(v_add(v_sum_r, v_and(r, mask)), w)); + v_store_interleave(dptr + nlanes_3, v_mul(v_add(v_sum_b1, v_and(b1, mask1)), w1), v_mul(v_add(v_sum_g1, v_and(g1, mask1)), w1), v_mul(v_add(v_sum_r1, v_and(r1, mask1)), w1)); } #endif for (; j < size.width; j++, sptr_j += 3) From 528d91e0bc2da771fd86b1d90aae15edfc1344fe Mon Sep 17 00:00:00 2001 From: Alexander Smorkalov Date: Tue, 20 Jan 2026 10:49:26 +0300 Subject: [PATCH 19/51] Removed unused CI pipelines. --- .github/workflows/arm64-build-checks.yml | 50 ------------------------ .github/workflows/lint_python.yml | 27 ------------- 2 files changed, 77 deletions(-) delete mode 100644 .github/workflows/arm64-build-checks.yml delete mode 100644 .github/workflows/lint_python.yml diff --git a/.github/workflows/arm64-build-checks.yml b/.github/workflows/arm64-build-checks.yml deleted file mode 100644 index e0d374ea77..0000000000 --- a/.github/workflows/arm64-build-checks.yml +++ /dev/null @@ -1,50 +0,0 @@ -name: arm64 build checks - -on: workflow_dispatch - -permissions: - contents: read # to fetch code (actions/checkout) - -jobs: - build: - - runs-on: ubuntu-18.04 - - steps: - - uses: actions/checkout@v2 - - name: Install dependency packages - run: | - sudo sed -i -E 's|^deb ([^ ]+) (.*)$|deb [arch=amd64] \1 \2\ndeb [arch=arm64] http://ports.ubuntu.com/ubuntu-ports/ \2|' /etc/apt/sources.list - sudo dpkg --add-architecture arm64 - sudo apt-get update - sudo apt-get install -y --no-install-recommends \ - crossbuild-essential-arm64 \ - git \ - cmake \ - libpython-dev:arm64 \ - libpython3-dev:arm64 \ - python-numpy \ - python3-numpy - - - name: Fetch opencv_contrib - run: | - git clone --depth 1 https://github.com/opencv/opencv_contrib.git ../opencv_contrib - - - name: Configure - run: | - mkdir build - cd build - cmake -DPYTHON2_INCLUDE_PATH=/usr/include/python2.7/ \ - -DPYTHON2_LIBRARIES=/usr/lib/aarch64-linux-gnu/libpython2.7.so \ - -DPYTHON2_NUMPY_INCLUDE_DIRS=/usr/lib/python2.7/dist-packages/numpy/core/include \ - -DPYTHON3_INCLUDE_PATH=/usr/include/python3.6m/ \ - -DPYTHON3_LIBRARIES=/usr/lib/aarch64-linux-gnu/libpython3.6m.so \ - -DPYTHON3_NUMPY_INCLUDE_DIRS=/usr/lib/python3/dist-packages/numpy/core/include \ - -DCMAKE_TOOLCHAIN_FILE=../platforms/linux/aarch64-gnu.toolchain.cmake \ - -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \ - ../ - - - name: Build - run: | - cd build - make -j$(nproc --all) diff --git a/.github/workflows/lint_python.yml b/.github/workflows/lint_python.yml deleted file mode 100644 index b21191934c..0000000000 --- a/.github/workflows/lint_python.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: lint_python -on: workflow_dispatch -permissions: - contents: read # to fetch code (actions/checkout) -jobs: - lint_python: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - uses: actions/setup-python@v2 - - run: pip install --upgrade pip wheel - - run: pip install bandit black codespell flake8 flake8-2020 flake8-bugbear - flake8-comprehensions isort mypy pytest pyupgrade safety - - run: bandit --recursive --skip B101 . || true # B101 is assert statements - - run: black --check . || true - - run: codespell || true # --ignore-words-list="" --skip="*.css,*.js,*.lock" - - run: flake8 . --count --select=E9,F63,F7 --show-source --statistics - - run: flake8 . --count --exit-zero --max-complexity=10 --max-line-length=88 - --show-source --statistics - - run: isort --check-only --profile black . || true - - run: pip install -r requirements.txt || pip install --editable . || true - - run: mkdir --parents --verbose .mypy_cache - - run: mypy --ignore-missing-imports --install-types --non-interactive . || true - - run: pytest . || true - - run: pytest --doctest-modules . || true - - run: shopt -s globstar && pyupgrade --py36-plus **/*.py || true - - run: safety check From 9c561eb703ae1c66eda21398ba952c2f28e569e7 Mon Sep 17 00:00:00 2001 From: jinbo Date: Wed, 21 Jan 2026 16:16:07 +0800 Subject: [PATCH 20/51] 3rdparty(itt): support LOONGARCH64 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fix warning generated by `cmake -S . -B build -DWITH_ITT=ON -DBUILD_ITT=ON`： ``` CMake Warning at cmake/OpenCVUtils.cmake:762 (message): Unexpected option: BUILD_ITT (=ON) Condition: IF ((;X86_64;OR;X86;OR;ARM;OR;AARCH64;OR;PPC64;OR;PPC64LE;);AND;NOT;WINRT;AND;NOT;APPLE_FRAMEWORK) Call Stack (most recent call first): CMakeLists.txt:210 (OCV_OPTION) ``` --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index fc99f04129..8e30518445 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -209,7 +209,7 @@ OCV_OPTION(BUILD_TBB "Download and build TBB from source" (ANDROI OCV_OPTION(BUILD_IPP_IW "Build IPP IW from source" (NOT MINGW OR OPENCV_FORCE_3RDPARTY_BUILD) IF (X86_64 OR X86) AND NOT WINRT ) OCV_OPTION(BUILD_ITT "Build Intel ITT from source" (NOT MINGW OR OPENCV_FORCE_3RDPARTY_BUILD) - IF (X86_64 OR X86 OR ARM OR AARCH64 OR PPC64 OR PPC64LE) AND NOT WINRT AND NOT APPLE_FRAMEWORK + IF (X86_64 OR X86 OR ARM OR AARCH64 OR PPC64 OR PPC64LE OR LOONGARCH64) AND NOT WINRT AND NOT APPLE_FRAMEWORK ) # Optional 3rd party components From 97df136d322e2f04c838a97fa77c8fd372a695ab Mon Sep 17 00:00:00 2001 From: Kumataro Date: Wed, 21 Jan 2026 22:17:19 +0900 Subject: [PATCH 21/51] Merge pull request #28441 from Kumataro:fix28440 Properly preserve KAZE/AKAZE license as mandated by BSD-3-Clause #28441 Close https://github.com/opencv/opencv/issues/28440 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake --- modules/features2d/CMakeLists.txt | 1 + modules/features2d/src/kaze/LICENSE | 5 +++++ modules/features2d/src/kaze/LICENSE.AKAZE | 26 +++++++++++++++++++++++ modules/features2d/src/kaze/LICENSE.KAZE | 26 +++++++++++++++++++++++ 4 files changed, 58 insertions(+) create mode 100644 modules/features2d/src/kaze/LICENSE create mode 100644 modules/features2d/src/kaze/LICENSE.AKAZE create mode 100644 modules/features2d/src/kaze/LICENSE.KAZE diff --git a/modules/features2d/CMakeLists.txt b/modules/features2d/CMakeLists.txt index 91fea8bcc8..872251ca50 100644 --- a/modules/features2d/CMakeLists.txt +++ b/modules/features2d/CMakeLists.txt @@ -9,3 +9,4 @@ endif() ocv_define_module(features2d opencv_imgproc ${debug_modules} OPTIONAL opencv_flann WRAP java objc python js) ocv_install_3rdparty_licenses(mscr "${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/mscr/chi_table_LICENSE.txt") +ocv_install_3rdparty_licenses(features2d "${CMAKE_CURRENT_SOURCE_DIR}/src/kaze/LICENSE.KAZE" "${CMAKE_CURRENT_SOURCE_DIR}/src/kaze/LICENSE.AKAZE") diff --git a/modules/features2d/src/kaze/LICENSE b/modules/features2d/src/kaze/LICENSE new file mode 100644 index 0000000000..d1dd030519 --- /dev/null +++ b/modules/features2d/src/kaze/LICENSE @@ -0,0 +1,5 @@ +This folder contains both KAZE and AKAZE sources. +For license details, please refer to the following files: + +- KAZE: LICENSE.KAZE +- AKAZE: LICENSE.AKAZE diff --git a/modules/features2d/src/kaze/LICENSE.AKAZE b/modules/features2d/src/kaze/LICENSE.AKAZE new file mode 100644 index 0000000000..7c633bb061 --- /dev/null +++ b/modules/features2d/src/kaze/LICENSE.AKAZE @@ -0,0 +1,26 @@ +Copyright (c) 2014, Pablo Fernandez Alcantarilla, Jesus Nuevo +All Rights Reserved + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + + * Redistributions 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. + + * Neither the name of the copyright holders nor the names of its contributors + may 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 COPYRIGHT HOLDER 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. diff --git a/modules/features2d/src/kaze/LICENSE.KAZE b/modules/features2d/src/kaze/LICENSE.KAZE new file mode 100644 index 0000000000..a5e13ce836 --- /dev/null +++ b/modules/features2d/src/kaze/LICENSE.KAZE @@ -0,0 +1,26 @@ +Copyright (c) 2012, Pablo Fernández Alcantarilla +All Rights Reserved + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + + * Redistributions 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. + + * Neither the name of the copyright holders nor the names of its contributors + may 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 COPYRIGHT HOLDER 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. From b201018a25f412d97bda98e2a63ddd8a633b415e Mon Sep 17 00:00:00 2001 From: Erellu <71142033+Erellu@users.noreply.github.com> Date: Thu, 22 Jan 2026 13:26:02 +0100 Subject: [PATCH 22/51] Fix UB in cv::error when breakOnError set to true Fixes #28436. Replaces a nullptr dereference (unguaranteed to cause a SEGFAULT) by `std::terminate` which will call the current `std::terminate_handler` and then SIGARBT. --- modules/core/src/system.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/modules/core/src/system.cpp b/modules/core/src/system.cpp index ef9facd4f1..11d29fa846 100644 --- a/modules/core/src/system.cpp +++ b/modules/core/src/system.cpp @@ -1282,8 +1282,7 @@ void error( const Exception& exc ) if(breakOnError) { - static volatile int* p = 0; - *p = 0; + std::terminate(); } throw exc; From 1f47f5ba973a4d4dc116c56dba3dff34883c567d Mon Sep 17 00:00:00 2001 From: Nechama Krashinski Date: Thu, 22 Jan 2026 15:13:21 +0200 Subject: [PATCH 23/51] Merge pull request #28404 from NechamaKrashinski:imgproc-cornersubpix-error-handling imgproc: replace assertion in cornerSubPix with descriptive error #28404 Replace CV_Assert with explicit bounds check for initial corners in cornerSubPix. This provides a descriptive runtime error instead of abrupt termination, improving error handling for Python and C++ users. No algorithmic or behavioral change for valid inputs. Fixes #25139 (Related to #7276). ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake --- modules/imgproc/src/cornersubpix.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/modules/imgproc/src/cornersubpix.cpp b/modules/imgproc/src/cornersubpix.cpp index af5bd999dc..fa4380e368 100644 --- a/modules/imgproc/src/cornersubpix.cpp +++ b/modules/imgproc/src/cornersubpix.cpp @@ -96,7 +96,11 @@ void cv::cornerSubPix( InputArray _image, InputOutputArray _corners, for( int pt_i = 0; pt_i < count; pt_i++ ) { Point2f cT = corners[pt_i], cI = cT; - CV_Assert( Rect(0, 0, src.cols, src.rows).contains(cT) ); + if (!Rect(0, 0, src.cols, src.rows).contains(cT)) + { + CV_Error(Error::StsOutOfRange, + "cornerSubPix: initial corner is outside the image."); + } int iter = 0; double err = 0; From f286b8d3cdd473a03259a9ad82118e96efe8633b Mon Sep 17 00:00:00 2001 From: Alexander Smorkalov Date: Fri, 23 Jan 2026 11:25:05 +0300 Subject: [PATCH 24/51] Add color theme button to documentation. --- doc/Doxyfile.in | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/Doxyfile.in b/doc/Doxyfile.in index a8a3d83888..5145d4e883 100644 --- a/doc/Doxyfile.in +++ b/doc/Doxyfile.in @@ -185,7 +185,7 @@ HTML_FOOTER = @CMAKE_CURRENT_SOURCE_DIR@/footer.html HTML_STYLESHEET = HTML_EXTRA_STYLESHEET = @CMAKE_CURRENT_SOURCE_DIR@/stylesheet.css HTML_EXTRA_FILES = @CMAKE_DOXYGEN_HTML_FILES@ -HTML_COLORSTYLE = LIGHT +HTML_COLORSTYLE = TOGGLE HTML_COLORSTYLE_HUE = 220 HTML_COLORSTYLE_SAT = 100 HTML_COLORSTYLE_GAMMA = 80 From 8fbb871a9ce6f1fd116edee2f9313bd0f9a649b9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Luis=20Adame=20Rodr=C3=ADguez?= Date: Sat, 24 Jan 2026 01:23:41 +0100 Subject: [PATCH 25/51] fix setup usage example async syntax --- doc/js_tutorials/js_setup/js_usage/js_usage.markdown | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/js_tutorials/js_setup/js_usage/js_usage.markdown b/doc/js_tutorials/js_setup/js_usage/js_usage.markdown index ba124468f1..805b3a89c7 100644 --- a/doc/js_tutorials/js_setup/js_usage/js_usage.markdown +++ b/doc/js_tutorials/js_setup/js_usage/js_usage.markdown @@ -71,7 +71,7 @@ For example, you can create a cv.Mat from an image by cv.imread. @note Because image loading is asynchronous, you need to put cv.Mat creation inside the `onload` callback. @code{.js} -imgElement.onload = await function() { +imgElement.onload = async function() { cv = (cv instanceof Promise) ? await cv : cv; let mat = cv.imread(imgElement); } From b229f1efd394760f1360c50950807584c33f7906 Mon Sep 17 00:00:00 2001 From: pratham-mcw Date: Sat, 24 Jan 2026 16:12:16 +0530 Subject: [PATCH 26/51] Merge pull request #28243 from pratham-mcw:cvfloor-neon-opt core: add NEON support for cvFloor in fast_math.hpp #28243 - This PR adds NEON intrinsics-based implementation for the cvFloor function in fast_math.hpp for Windows-ARM64. - Both float and double overloads now use NEON intrinsics for cvFloor Function. - calchist and calchist1d function uses cvFloor function for its computations. - After adding these changes both functions showed improvement in performance. **Performance Benchmarks:** image See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch --- modules/core/include/opencv2/core/fast_math.hpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/modules/core/include/opencv2/core/fast_math.hpp b/modules/core/include/opencv2/core/fast_math.hpp index 370f5b439b..48ca333a03 100644 --- a/modules/core/include/opencv2/core/fast_math.hpp +++ b/modules/core/include/opencv2/core/fast_math.hpp @@ -237,6 +237,8 @@ CV_INLINE int cvFloor( double value ) #if defined CV__FASTMATH_ENABLE_GCC_MATH_BUILTINS || \ defined CV__FASTMATH_ENABLE_CLANG_MATH_BUILTINS return (int)__builtin_floor(value); +#elif defined(_MSC_VER) && (defined(_M_ARM64) || defined(_M_ARM64EC)) + return (int)vcvtmd_s64_f64(value); #elif defined __loongarch64 int i; double tmp; @@ -264,6 +266,8 @@ CV_INLINE int cvCeil( double value ) #if defined CV__FASTMATH_ENABLE_GCC_MATH_BUILTINS || \ defined CV__FASTMATH_ENABLE_CLANG_MATH_BUILTINS return (int)__builtin_ceil(value); +#elif defined(_MSC_VER) && (defined(_M_ARM64) || defined(_M_ARM64EC)) + return (int)vcvtpd_s64_f64(value); #elif defined __loongarch64 int i; double tmp; @@ -362,6 +366,8 @@ CV_INLINE int cvFloor( float value ) #if defined CV__FASTMATH_ENABLE_GCC_MATH_BUILTINS || \ defined CV__FASTMATH_ENABLE_CLANG_MATH_BUILTINS return (int)__builtin_floorf(value); +#elif defined(_MSC_VER) && (defined(_M_ARM64) || defined(_M_ARM64EC)) + return (int)vcvtms_s32_f32(value); #elif defined __loongarch__ int i; float tmp; @@ -389,6 +395,8 @@ CV_INLINE int cvCeil( float value ) #if defined CV__FASTMATH_ENABLE_GCC_MATH_BUILTINS || \ defined CV__FASTMATH_ENABLE_CLANG_MATH_BUILTINS return (int)__builtin_ceilf(value); +#elif defined(_MSC_VER) && (defined(_M_ARM64) || defined(_M_ARM64EC)) + return (int)vcvtps_s32_f32(value); #elif defined __loongarch__ int i; float tmp; From b93ea5412c1d80c7e269c06bab54ab5f336e3edb Mon Sep 17 00:00:00 2001 From: Abhishek Date: Sat, 24 Jan 2026 17:21:12 +0000 Subject: [PATCH 27/51] Optimize duplicated computation in QR code error correction MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Precompute X values in Forney algorithm to eliminate redundant gfPow calls. Previously, gfPow(2, ...) was computed multiple times for the same error location across different loop iterations, resulting in O(L²) redundant Galois field arithmetic operations. This change: - Precomputes all X values once before the main loop - Reduces complexity from O(L²) to O(L) for X value computations - Removes the TODO comment at line 1642 - No functional changes, only performance improvement The optimization is most beneficial when there are many error locations in QR codes (larger L values). --- modules/objdetect/src/qrcode_encoder.cpp | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/modules/objdetect/src/qrcode_encoder.cpp b/modules/objdetect/src/qrcode_encoder.cpp index 2bead8e498..a58eb08f9e 100644 --- a/modules/objdetect/src/qrcode_encoder.cpp +++ b/modules/objdetect/src/qrcode_encoder.cpp @@ -1629,9 +1629,15 @@ bool QRCodeDecoderImpl::errorCorrectionBlock(std::vector& codewords) { std::vector errEval; gfPolyMul(C, syndromes, errEval); + // Precompute all X values for error locations to avoid duplicated computation + std::vector X_values(errLocs.size()); + for (size_t j = 0; j < errLocs.size(); ++j) { + X_values[j] = gfPow(2, static_cast(codewords.size() - 1 - errLocs[j])); + } + for (size_t i = 0; i < errLocs.size(); ++i) { uint8_t numenator = 0, denominator = 0; - uint8_t X = gfPow(2, static_cast(codewords.size() - 1 - errLocs[i])); + uint8_t X = X_values[i]; uint8_t inv_X = gfDiv(1, X); for (size_t j = 0; j < L; ++j) { @@ -1639,12 +1645,11 @@ bool QRCodeDecoderImpl::errorCorrectionBlock(std::vector& codewords) { } // Compute demoninator as a product of (1-X_i * X_k) for i != k - // TODO: optimize, there is a dubplicated compute denominator = 1; for (size_t j = 0; j < errLocs.size(); ++j) { if (i == j) continue; - uint8_t Xj = gfPow(2, static_cast(codewords.size() - 1 - errLocs[j])); + uint8_t Xj = X_values[j]; denominator = gfMul(denominator, 1 ^ gfMul(inv_X, Xj)); } From 99dd085cd9c30e4107a66eba41b1cb0c542e2aa1 Mon Sep 17 00:00:00 2001 From: Shrutikasri04 Date: Mon, 26 Jan 2026 18:54:19 +0530 Subject: [PATCH 28/51] Merge pull request #28422 from Shrutikasri04:first-pr MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit docs(calib3d): fix grammar and clarify radial distortion formula in camera calibration tutorial #28422 This PR improves the camera calibration tutorial documentation by: - Fixing minor grammatical issues for better readability. - Clarifying the radial distortion model by explicitly defining r² = x² + y². These changes do not affect functionality and are intended to make the mathematical explanation clearer for readers and new users. --- .../camera_calibration.markdown | 20 +++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/doc/tutorials/calib3d/camera_calibration/camera_calibration.markdown b/doc/tutorials/calib3d/camera_calibration/camera_calibration.markdown index 0126829f48..1cad23be3f 100644 --- a/doc/tutorials/calib3d/camera_calibration/camera_calibration.markdown +++ b/doc/tutorials/calib3d/camera_calibration/camera_calibration.markdown @@ -12,9 +12,9 @@ Camera calibration With OpenCV {#tutorial_camera_calibration} | Compatibility | OpenCV >= 4.0 | -Cameras have been around for a long-long time. However, with the introduction of the cheap *pinhole* +Cameras have been around for a very long time. However, with the introduction of the cheap *pinhole* cameras in the late 20th century, they became a common occurrence in our everyday life. -Unfortunately, this cheapness comes with its price: significant distortion. Luckily, these are +Unfortunately, this low cost comes with a trade-off: significant distortion. Luckily, these are constants and with a calibration and some remapping we can correct this. Furthermore, with calibration you may also determine the relation between the camera's natural units (pixels) and the real world units (for example millimeters). @@ -22,8 +22,10 @@ real world units (for example millimeters). Theory ------ -For the distortion OpenCV takes into account the radial and tangential factors. For the radial -factor one uses the following formula: +For distortion, OpenCV takes into account both radial and tangential factors. For the radial +factor one uses the following formulas: + +\f[r^2 = x^2 + y^2\f] \f[x_{distorted} = x( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6) \\ y_{distorted} = y( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6)\f] @@ -64,10 +66,10 @@ objects. Currently OpenCV supports three types of objects for calibration: - Symmetrical circle pattern - Asymmetrical circle pattern -Basically, you need to take snapshots of these patterns with your camera and let OpenCV find them. +In practice, you need to capture multiple images of these patterns using your camera and let OpenCV find them. Each found pattern results in a new equation. To solve the equation you need at least a predetermined number of pattern snapshots to form a well-posed equation system. This number is -higher for the chessboard pattern and less for the circle ones. For example, in theory the +higher for the chessboard pattern and lower for circle-based patterns.For example, in theory the chessboard pattern requires at least two snapshots. However, in practice we have a good amount of noise present in our input images, so for good results you will probably need at least 10 good snapshots of the input pattern in different positions. @@ -148,8 +150,8 @@ Explanation is defined in squares, but detection result is list of inner corners and that's why is smaller by 1 in both dimensions. - Then again in case of cameras we only take camera images when an input delay time is passed. - This is done in order to allow user moving the chessboard around and getting different images. + In the case of live cameras, we only capture images when an input delay time is passed. + This is done to allow the user to move the chessboard around and getting different images. Similar images result in similar equations, and similar equations at the calibration step will form an ill-posed problem, so the calibration will fail. For square images the positions of the corners are only approximate. We may improve this by calling the @ref cv::cornerSubPix function. @@ -160,6 +162,7 @@ Explanation visualization feedback purposes we will draw the found points on the input image using @ref cv::findChessboardCorners function. @snippet samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp pattern_found + -# **Show state and result to the user, plus command line control of the application** This part shows text output on the image. @@ -170,6 +173,7 @@ Explanation Then we show the image and wait for an input key and if this is *u* we toggle the distortion removal, if it is *g* we start again the detection process, and finally for the *ESC* key we quit the application: @snippet samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp await_input + -# **Show the distortion removal for the images too** When you work with an image list it is not From 774c7e01b3f559140b731b6ca95f3a36e8f52386 Mon Sep 17 00:00:00 2001 From: Murat Raimbekov Date: Tue, 27 Jan 2026 00:28:50 +0600 Subject: [PATCH 29/51] Merge pull request #28301 from raimbekovm:fix-more-typos MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit docs: fix spelling errors in documentation and code #28301 - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable - [ ] The feature is well documented and sample code can be built with the project CMake ### Description Fixed multiple spelling errors across documentation, comments, and code: - 'colummn' → 'column' (cublas.hpp, 3 occurrences) - 'points_per_colum' → 'points_per_column' (calib3d.hpp, 3 occurrences) - 'Asignee' → 'Assignee' (sift files, 2 occurrences) - 'compability' → 'compatibility' (face.hpp, 2 occurrences) - 'orignal' → 'original' (aruco_detector.cpp) - 'refrence' → 'reference' (chessboard.cpp) - 'indeces' → 'indices' (stitching.hpp) - 'OutputPrecison' → 'OutputPrecision' (test) - 'tranform' → 'transform' (slice_layer.cpp, 3 occurrences) Total: 24 fixes across 14 files. Documentation and comment changes only, no functional impact. --- modules/calib3d/include/opencv2/calib3d.hpp | 6 +++--- modules/dnn/src/cuda4dnn/csl/cublas.hpp | 6 +++--- modules/dnn/src/layers/slice_layer.cpp | 6 +++--- modules/features2d/src/sift.dispatch.cpp | 2 +- modules/features2d/src/sift.simd.hpp | 2 +- modules/gapi/test/infer/gapi_infer_ie_test.cpp | 2 +- modules/objdetect/include/opencv2/objdetect/face.hpp | 4 ++-- modules/objdetect/src/aruco/aruco_detector.cpp | 2 +- 8 files changed, 15 insertions(+), 15 deletions(-) diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp index b66fec1e04..c9f468f1f0 100644 --- a/modules/calib3d/include/opencv2/calib3d.hpp +++ b/modules/calib3d/include/opencv2/calib3d.hpp @@ -1337,7 +1337,7 @@ CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints, @param image Source chessboard view. It must be an 8-bit grayscale or color image. @param patternSize Number of inner corners per a chessboard row and column -( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ). +( patternSize = cv::Size(points_per_row,points_per_column) = cv::Size(columns,rows) ). @param corners Output array of detected corners. @param flags Various operation flags that can be zero or a combination of the following values: - @ref CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black @@ -1402,7 +1402,7 @@ CV_EXPORTS_W bool checkChessboard(InputArray img, Size size); @param image Source chessboard view. It must be an 8-bit grayscale or color image. @param patternSize Number of inner corners per a chessboard row and column -( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ). +( patternSize = cv::Size(points_per_row,points_per_column) = cv::Size(columns,rows) ). @param corners Output array of detected corners. @param flags Various operation flags that can be zero or a combination of the following values: - @ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before detection. @@ -1564,7 +1564,7 @@ typedef CirclesGridFinderParameters CirclesGridFinderParameters2; @param image grid view of input circles; it must be an 8-bit grayscale or color image. @param patternSize number of circles per row and column -( patternSize = Size(points_per_row, points_per_colum) ). +( patternSize = Size(points_per_row, points_per_column) ). @param centers output array of detected centers. @param flags various operation flags that can be one of the following values: - @ref CALIB_CB_SYMMETRIC_GRID uses symmetric pattern of circles. diff --git a/modules/dnn/src/cuda4dnn/csl/cublas.hpp b/modules/dnn/src/cuda4dnn/csl/cublas.hpp index 65e41a1399..b9f689893a 100644 --- a/modules/dnn/src/cuda4dnn/csl/cublas.hpp +++ b/modules/dnn/src/cuda4dnn/csl/cublas.hpp @@ -155,7 +155,7 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl { namespace cu std::shared_ptr handle; }; - /** @brief GEMM for colummn-major matrices + /** @brief GEMM for column-major matrices * * \f$ C = \alpha AB + \beta C \f$ * @@ -248,7 +248,7 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl { namespace cu ); } - /** @brief Strided batched GEMM for colummn-major matrices + /** @brief Strided batched GEMM for column-major matrices * * \f$ C_i = \alpha A_i B_i + \beta C_i \f$ for a stack of matrices A, B and C indexed by i * @@ -364,7 +364,7 @@ namespace cv { namespace dnn { namespace cuda4dnn { namespace csl { namespace cu ); } - /** @brief Strided batched GEMM for colummn-major matrices + /** @brief Strided batched GEMM for column-major matrices * * \f$ C_i = \alpha A_i B_i + \beta C_i \f$ for a stack of matrices A, B and C indexed by i * diff --git a/modules/dnn/src/layers/slice_layer.cpp b/modules/dnn/src/layers/slice_layer.cpp index 751dd59ed4..6f6046da3d 100644 --- a/modules/dnn/src/layers/slice_layer.cpp +++ b/modules/dnn/src/layers/slice_layer.cpp @@ -87,7 +87,7 @@ Range normalizeRange(const Range& input_range, int n) } // TODO: support cv::Range with steps and negative steps to get rid of this transformation -void tranformForNegSteps(const MatShape& inpShape, std::vector >& sliceRanges, std::vector >& sliceSteps) +void transformForNegSteps(const MatShape& inpShape, std::vector >& sliceRanges, std::vector >& sliceSteps) { // in case of negative steps, // x of shape [5, 10], x[5:0:-1, 10:1:-3] <=> np.flip(x[1:5:1, 2:10:3], aixs=(0, 1)) @@ -248,7 +248,7 @@ public: std::vector > sliceSteps_ = sliceSteps; std::vector > sliceRanges_ = sliceRanges; if (hasSteps && !neg_step_dims.empty()) - tranformForNegSteps(inpShape, sliceRanges_, sliceSteps_); + transformForNegSteps(inpShape, sliceRanges_, sliceSteps_); int axis_rw = axis; std::vector > sliceRanges_rw = finalizeSliceRange(inpShape, axis_rw, sliceRanges_); @@ -300,7 +300,7 @@ public: MatShape inpShape = shape(inputs[0]); if (hasSteps && !neg_step_dims.empty()) - tranformForNegSteps(inpShape, sliceRanges, sliceSteps); + transformForNegSteps(inpShape, sliceRanges, sliceSteps); finalSliceRanges = finalizeSliceRange(shape(inputs[0]), axis, sliceRanges); diff --git a/modules/features2d/src/sift.dispatch.cpp b/modules/features2d/src/sift.dispatch.cpp index 92d85ca86e..3f4a7ceb41 100644 --- a/modules/features2d/src/sift.dispatch.cpp +++ b/modules/features2d/src/sift.dispatch.cpp @@ -18,7 +18,7 @@ // software: "Method and apparatus for identifying scale invariant features // in an image and use of same for locating an object in an image," David // G. Lowe, US Patent 6,711,293 (March 23, 2004). Provisional application -// filed March 8, 1999. Asignee: The University of British Columbia. For +// filed March 8, 1999. Assignee: The University of British Columbia. For // further details, contact David Lowe (lowe@cs.ubc.ca) or the // University-Industry Liaison Office of the University of British // Columbia. diff --git a/modules/features2d/src/sift.simd.hpp b/modules/features2d/src/sift.simd.hpp index b6c44853cf..d4e13d2478 100644 --- a/modules/features2d/src/sift.simd.hpp +++ b/modules/features2d/src/sift.simd.hpp @@ -18,7 +18,7 @@ // software: "Method and apparatus for identifying scale invariant features // in an image and use of same for locating an object in an image," David // G. Lowe, US Patent 6,711,293 (March 23, 2004). Provisional application -// filed March 8, 1999. Asignee: The University of British Columbia. For +// filed March 8, 1999. Assignee: The University of British Columbia. For // further details, contact David Lowe (lowe@cs.ubc.ca) or the // University-Industry Liaison Office of the University of British // Columbia. diff --git a/modules/gapi/test/infer/gapi_infer_ie_test.cpp b/modules/gapi/test/infer/gapi_infer_ie_test.cpp index 26241c1185..495f15e921 100644 --- a/modules/gapi/test/infer/gapi_infer_ie_test.cpp +++ b/modules/gapi/test/infer/gapi_infer_ie_test.cpp @@ -3174,7 +3174,7 @@ TEST_F(AgeGenderInferTest, ChangeOutputPrecision) { validate(); } -TEST_F(AgeGenderInferTest, ChangeSpecificOutputPrecison) { +TEST_F(AgeGenderInferTest, ChangeSpecificOutputPrecision) { auto pp = cv::gapi::ie::Params { m_params.model_path, m_params.weights_path, m_params.device_id }.cfgOutputLayers({ "age_conv3", "prob" }) diff --git a/modules/objdetect/include/opencv2/objdetect/face.hpp b/modules/objdetect/include/opencv2/objdetect/face.hpp index 566204f7f9..df6539fa62 100644 --- a/modules/objdetect/include/opencv2/objdetect/face.hpp +++ b/modules/objdetect/include/opencv2/objdetect/face.hpp @@ -74,7 +74,7 @@ public: /** @brief Creates an instance of face detector class with given parameters * * @param model the path to the requested model - * @param config the path to the config file for compability, which is not requested for ONNX models + * @param config the path to the config file for compatibility, which is not requested for ONNX models * @param input_size the size of the input image * @param score_threshold the threshold to filter out bounding boxes of score smaller than the given value * @param nms_threshold the threshold to suppress bounding boxes of IoU bigger than the given value @@ -150,7 +150,7 @@ public: /** @brief Creates an instance of this class with given parameters * @param model the path of the onnx model used for face recognition - * @param config the path to the config file for compability, which is not requested for ONNX models + * @param config the path to the config file for compatibility, which is not requested for ONNX models * @param backend_id the id of backend * @param target_id the id of target device */ diff --git a/modules/objdetect/src/aruco/aruco_detector.cpp b/modules/objdetect/src/aruco/aruco_detector.cpp index 914580381b..48b9ead516 100644 --- a/modules/objdetect/src/aruco/aruco_detector.cpp +++ b/modules/objdetect/src/aruco/aruco_detector.cpp @@ -905,7 +905,7 @@ struct ArucoDetector::ArucoDetectorImpl { // only CORNER_REFINE_SUBPIX implement correctly for useAruco3Detection // Todo: update other CORNER_REFINE methods - // scale to orignal size, this however will lead to inaccurate detections! + // scale to original size, this however will lead to inaccurate detections! for (auto &vecPoints : candidates) for (auto &point : vecPoints) point *= 1.f/fxfy; From d8f8267700ffbfd783a52edcd95dd5c8de5c18fa Mon Sep 17 00:00:00 2001 From: Sikandar Date: Tue, 27 Jan 2026 09:35:36 +0500 Subject: [PATCH 30/51] Fix: TopK layer K boundary check allows K == input_dim (#28445) The TopK layer was incorrectly rejecting K values equal to the input dimension size. According to ONNX specification, K should be allowed to equal the dimension size (to retrieve all elements). Changed validation from 'K < input_shape[axis]' to 'K <= input_shape[axis]' This fixes the error when loading YOLOv10 ONNX models that use TopK with K equal to the dimension size. Fixes #28445 --- modules/dnn/src/layers/topk_layer.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/modules/dnn/src/layers/topk_layer.cpp b/modules/dnn/src/layers/topk_layer.cpp index 06b3ebdc37..8739e14c2b 100644 --- a/modules/dnn/src/layers/topk_layer.cpp +++ b/modules/dnn/src/layers/topk_layer.cpp @@ -97,9 +97,9 @@ public: // Normalize axis int axis_normalized = normalize_axis(axis, input_shape.size()); - // Check if K is in range (0, input_shape[axis]) + // Check if K is in range (0, input_shape[axis]] CV_CheckGT(K, 0, "TopK: K needs to be a positive integer"); - CV_CheckLT(K, input_shape[axis_normalized], "TopK: K is out of range"); + CV_CheckLE(K, input_shape[axis_normalized], "TopK: K is out of range"); // Assign output shape auto output_shape = input_shape; From d1e12b9aa919d6905add90fbee9176fb7a8ae75a Mon Sep 17 00:00:00 2001 From: Satge96 <35660525+Satge96@users.noreply.github.com> Date: Wed, 28 Jan 2026 11:14:29 +0100 Subject: [PATCH 31/51] fix: mark distCoeffs, cameraMatrix as optional in calibrateCamera function --- modules/python/src2/typing_stubs_generation/api_refinement.py | 1 + 1 file changed, 1 insertion(+) diff --git a/modules/python/src2/typing_stubs_generation/api_refinement.py b/modules/python/src2/typing_stubs_generation/api_refinement.py index fde10f0c0a..3019e67e96 100644 --- a/modules/python/src2/typing_stubs_generation/api_refinement.py +++ b/modules/python/src2/typing_stubs_generation/api_refinement.py @@ -397,6 +397,7 @@ NODES_TO_REFINE = { SymbolName(("cv", ), (), "solvePnPRefineVVS"): make_optional_arg("distCoeffs"), SymbolName(("cv", ), (), "undistort"): make_optional_arg("distCoeffs"), SymbolName(("cv", ), (), "undistortPoints"): make_optional_arg("distCoeffs"), + SymbolName(("cv", ), (), "calibrateCamera"): make_optional_arg("cameraMatrix", "distCoeffs"), SymbolName(("cv", "fisheye"), (), "initUndistortRectifyMap"): make_optional_arg("D"), SymbolName(("cv", ), (), "imread"): make_optional_none_return, SymbolName(("cv", ), (), "imdecode"): make_optional_none_return, From 65e6890f337736cc501aa61b8c083799350dc5d9 Mon Sep 17 00:00:00 2001 From: Adrian Kretz Date: Wed, 28 Jan 2026 12:23:43 +0100 Subject: [PATCH 32/51] Merge pull request #28386 from akretz:fix_issue_28385 Fix integer overflow in medianBlur #28386 The bug in #28385 is that the pointer arithmetic in https://github.com/opencv/opencv/blob/d8bc5b94b851d5b392c61e5b954fba992e18bb73/modules/imgproc/src/median_blur.simd.hpp#L666-L668 overflows if `i*sstep` is larger than `INT_MAX`, because both variables are of type `int`. If one operand is of type `size_t` instead, the other operand gets promoted to `size_t` before multiplication and overflow doesn't happen anymore. The test allocates 2.3GB for the Mat; I hope that's okay. This PR fixes #28385 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake --- modules/imgproc/src/median_blur.simd.hpp | 22 +++++++++++----------- modules/imgproc/test/test_filter.cpp | 13 +++++++++++++ 2 files changed, 24 insertions(+), 11 deletions(-) diff --git a/modules/imgproc/src/median_blur.simd.hpp b/modules/imgproc/src/median_blur.simd.hpp index a3e7a101bb..0b9db8ebb4 100644 --- a/modules/imgproc/src/median_blur.simd.hpp +++ b/modules/imgproc/src/median_blur.simd.hpp @@ -360,7 +360,7 @@ medianBlur_8u_Om( const Mat& _src, Mat& _dst, int m ) uchar* dst = _dst.ptr(); int src_step = (int)_src.step, dst_step = (int)_dst.step; int cn = _src.channels(); - const uchar* src_max = src + size.height*src_step; + const uchar* src_max = src + (size_t)size.height*src_step; CV_Assert(cn > 0 && cn <= 4); #define UPDATE_ACC01( pix, cn, op ) \ @@ -381,8 +381,8 @@ medianBlur_8u_Om( const Mat& _src, Mat& _dst, int m ) if( x % 2 != 0 ) { - src_bottom = src_top += src_step*(size.height-1); - dst_cur += dst_step*(size.height-1); + src_bottom = src_top += (size_t)src_step*(size.height-1); + dst_cur += (size_t)dst_step*(size.height-1); src_step1 = -src_step1; dst_step1 = -dst_step1; } @@ -663,9 +663,9 @@ medianBlur_SortNet( const Mat& _src, Mat& _dst, int m ) size.width *= cn; for( i = 0; i < size.height; i++, dst += dstep ) { - const T* row0 = src + std::max(i - 1, 0)*sstep; - const T* row1 = src + i*sstep; - const T* row2 = src + std::min(i + 1, size.height-1)*sstep; + const T* row0 = src + (size_t)std::max(i - 1, 0)*sstep; + const T* row1 = src + (size_t)i*sstep; + const T* row2 = src + (size_t)std::min(i + 1, size.height-1)*sstep; int limit = cn; for(j = 0;; ) @@ -750,11 +750,11 @@ medianBlur_SortNet( const Mat& _src, Mat& _dst, int m ) for( i = 0; i < size.height; i++, dst += dstep ) { const T* row[5]; - row[0] = src + std::max(i - 2, 0)*sstep; - row[1] = src + std::max(i - 1, 0)*sstep; - row[2] = src + i*sstep; - row[3] = src + std::min(i + 1, size.height-1)*sstep; - row[4] = src + std::min(i + 2, size.height-1)*sstep; + row[0] = src + (size_t)std::max(i - 2, 0)*sstep; + row[1] = src + (size_t)std::max(i - 1, 0)*sstep; + row[2] = src + (size_t)i*sstep; + row[3] = src + (size_t)std::min(i + 1, size.height-1)*sstep; + row[4] = src + (size_t)std::min(i + 2, size.height-1)*sstep; int limit = cn*2; for(j = 0;; ) diff --git a/modules/imgproc/test/test_filter.cpp b/modules/imgproc/test/test_filter.cpp index 2920b71e8a..d8e831162e 100644 --- a/modules/imgproc/test/test_filter.cpp +++ b/modules/imgproc/test/test_filter.cpp @@ -2264,6 +2264,19 @@ TEST(Imgproc_MedianBlur, hires_regression_13409) ASSERT_EQ(0.0, cvtest::norm(dst_hires(Rect(516, 516, 1016, 1016)), dst_ref(Rect(4, 4, 1016, 1016)), NORM_INF)); } +TEST(Imgproc_MedianBlur, regression_28385) +{ + applyTestTag(CV_TEST_TAG_MEMORY_6GB); + + Mat out; + // create a matrix larger than 2^31 to check for signed 32 bit integer overflow + Mat img(50000, 50000, CV_8U); + Mat sub = img(Rect(0, 0, 100, 50000)); + // this crashes in case of overflow because of out-of-bounds memory access + medianBlur(sub, out, 3); + ASSERT_EQ(out.size(), Size(100, 50000)); +} + TEST(Imgproc_Sobel, s16_regression_13506) { Mat src = (Mat_(8, 16) << 127, 138, 130, 102, 118, 97, 76, 84, 124, 90, 146, 63, 130, 87, 212, 85, From 0c613de006f87b6c813bc2123e863607b0767867 Mon Sep 17 00:00:00 2001 From: Siddharth Panditrao <115323514+WalkingDevFlag@users.noreply.github.com> Date: Wed, 28 Jan 2026 17:01:54 +0530 Subject: [PATCH 33/51] Merge pull request #28380 from WalkingDevFlag:fix/charuco-detector-offset-25539 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fix ~0.5px systematic offset in CharucoDetector subpixel refinement #28380 Resolves #25539 ### Problem `CharucoDetector::detectBoard` produces Charuco corner coordinates that are consistently offset by approximately **+0.5 pixels** compared to `findChessboardCorners + cornerSubPix`. This offset is systematic (mean ≈ −0.5 px when comparing legacy − Charuco) and reproducible across images. Visual inspection also shows that the legacy chessboard detector aligns better with the actual corner locations. ### Root cause In `charuco_detector.cpp`, the points passed to `cornerSubPix` are manually shifted by `-Point2f(0.5f, 0.5f)` before refinement and then shifted back by `+Point2f(0.5f, 0.5f)` after refinement. However, `cornerSubPix` refines corners in **absolute image coordinates** and converges to the true saddle point based on image gradients. Shifting the initial guess does not affect the converged result as long as the true corner lies within the refinement window. The additional `+0.5` shift applied after refinement therefore introduces a constant bias, resulting in: ``` P_out = P_true + 0.5 ``` ### Solution Remove the manual `±0.5` coordinate shifts around the `cornerSubPix` call and let the refined result be returned directly. ### Test updates Updated expected corner values in the following tests: - `testBoardSubpixelCoords` - `testSeveralBoardsWithCustomIds` The previous expected values (e.g. `200`, `250`, `300`) were only correct due to the +0.5px bias introduced by the bug. `generateImage` creates checkerboard squares of exactly **50 pixels**, which places true corner locations on **pixel boundaries** rather than pixel centers. As a result, the correct subpixel coordinates are: ``` 199.5, 249.5, 299.5 ``` instead of the previously expected integer values. After updating the expected values, all **30 Charuco-related tests pass** with the fix applied. ### Verification I verified the fix using a Python reproducer that compares `CharucoDetector` output against `findChessboardCorners + cornerSubPix`: - **Before fix:** mean error ≈ −0.501 px ![before_fix_multilocus](https://github.com/user-attachments/assets/cc812956-c081-4f00-a7e2-78b7427b1235) ![before_fix_zoomed_small](https://github.com/user-attachments/assets/7e6887cb-b09d-47dc-9fcd-03a27b17f310) - **After fix:** mean error ≈ −0.001 px ![after_fix_multilocus](https://github.com/user-attachments/assets/1c4f8dfa-d0ae-417c-881e-e2a9cbc4b9f1) ![after_fix_zoomed_small](https://github.com/user-attachments/assets/9c325995-fe0b-42f3-bdbb-6754f985e936) After the change, the Charuco detector output aligns with the legacy chessboard detector both numerically and visually. ### Notes This change only affects the post-refinement coordinate handling and does not alter detection logic, refinement parameters, or performance. See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake --- .../objdetect/misc/java/test/ArucoTest.java | 10 ++-- .../misc/python/test/test_objdetect_aruco.py | 14 ++++-- .../objdetect/src/aruco/charuco_detector.cpp | 4 +- .../objdetect/test/test_aruco_tutorial.cpp | 8 ++-- .../objdetect/test/test_charucodetection.cpp | 46 ++++++++++--------- 5 files changed, 48 insertions(+), 34 deletions(-) diff --git a/modules/objdetect/misc/java/test/ArucoTest.java b/modules/objdetect/misc/java/test/ArucoTest.java index 932141275c..f4bf6bd159 100644 --- a/modules/objdetect/misc/java/test/ArucoTest.java +++ b/modules/objdetect/misc/java/test/ArucoTest.java @@ -103,11 +103,13 @@ public class ArucoTest extends OpenCVTestCase { int[] intCharucoIds = (new MatOfInt(charucoIds)).toArray(); Assert.assertArrayEquals(new int[]{0, 1, 2, 3}, intCharucoIds); + // Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp + // The fix removes the incorrect +0.5 offset that was added after cornerSubPix double eps = 0.2; - assertArrayEquals(new double[]{cellSize, cellSize}, charucoCorners.get(0, 0), eps); - assertArrayEquals(new double[]{2*cellSize, cellSize}, charucoCorners.get(1, 0), eps); - assertArrayEquals(new double[]{cellSize, 2*cellSize}, charucoCorners.get(2, 0), eps); - assertArrayEquals(new double[]{2*cellSize, 2*cellSize}, charucoCorners.get(3, 0), eps); + assertArrayEquals(new double[]{cellSize - 0.5, cellSize - 0.5}, charucoCorners.get(0, 0), eps); + assertArrayEquals(new double[]{2*cellSize - 0.5, cellSize - 0.5}, charucoCorners.get(1, 0), eps); + assertArrayEquals(new double[]{cellSize - 0.5, 2*cellSize - 0.5}, charucoCorners.get(2, 0), eps); + assertArrayEquals(new double[]{2*cellSize - 0.5, 2*cellSize - 0.5}, charucoCorners.get(3, 0), eps); } } diff --git a/modules/objdetect/misc/python/test/test_objdetect_aruco.py b/modules/objdetect/misc/python/test/test_objdetect_aruco.py index 305d2bdca9..45ffcf3241 100644 --- a/modules/objdetect/misc/python/test/test_objdetect_aruco.py +++ b/modules/objdetect/misc/python/test/test_objdetect_aruco.py @@ -258,10 +258,12 @@ class aruco_objdetect_test(NewOpenCVTests): image = board.generateImage((cell_size*board_size[0], cell_size*board_size[1])) + # Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp + # The fix removes the incorrect +0.5 offset that was added after cornerSubPix list_gold_corners = [] for i in range(1, board_size[0]): for j in range(1, board_size[1]): - list_gold_corners.append((j*cell_size, i*cell_size)) + list_gold_corners.append((j*cell_size - 0.5, i*cell_size - 0.5)) gold_corners = np.array(list_gold_corners, dtype=np.float32) charucoCorners, charucoIds, markerCorners, markerIds = charuco_detector.detectBoard(image) @@ -280,8 +282,10 @@ class aruco_objdetect_test(NewOpenCVTests): image = board.generateImage((cell_size*board_size[0], cell_size*board_size[1])) - list_gold_corners = [(cell_size, cell_size), (2*cell_size, cell_size), (2*cell_size, 2*cell_size), - (cell_size, 2*cell_size)] + # Note: Expected values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp + # The fix removes the incorrect +0.5 offset that was added after cornerSubPix + list_gold_corners = [(cell_size - 0.5, cell_size - 0.5), (2*cell_size - 0.5, cell_size - 0.5), + (2*cell_size - 0.5, 2*cell_size - 0.5), (cell_size - 0.5, 2*cell_size - 0.5)] gold_corners = np.array(list_gold_corners, dtype=np.float32) diamond_corners, diamond_ids, marker_corners, marker_ids = charuco_detector.detectDiamonds(image) @@ -357,7 +361,9 @@ class aruco_objdetect_test(NewOpenCVTests): projectedCharucoCorners, _ = cv.projectPoints(copyChessboardCorners, rvec, tvec, cameraMatrix, distCoeffs) if charucoIds is None: - self.assertEqual(iteration, 46) + # Detection can fail at extreme viewing angles + self.assertTrue(abs(yaw) >= 45 or abs(pitch) >= 45, + f"Detection failed unexpectedly at yaw={yaw}, pitch={pitch}") continue for i in range(len(charucoIds)): diff --git a/modules/objdetect/src/aruco/charuco_detector.cpp b/modules/objdetect/src/aruco/charuco_detector.cpp index d4c861aca7..6b19114183 100644 --- a/modules/objdetect/src/aruco/charuco_detector.cpp +++ b/modules/objdetect/src/aruco/charuco_detector.cpp @@ -163,7 +163,7 @@ struct CharucoDetector::CharucoDetectorImpl { const int end = range.end; for (int i = begin; i < end; i++) { vector in; - in.push_back(filteredChessboardImgPoints[i] - Point2f(0.5, 0.5)); // adjust sub-pixel coordinates for cornerSubPix + in.push_back(filteredChessboardImgPoints[i]); Size winSize = filteredWinSizes[i]; if (winSize.height == -1 || winSize.width == -1) winSize = Size(arucoDetector.getDetectorParameters().cornerRefinementWinSize, @@ -172,7 +172,7 @@ struct CharucoDetector::CharucoDetectorImpl { TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS, arucoDetector.getDetectorParameters().cornerRefinementMaxIterations, arucoDetector.getDetectorParameters().cornerRefinementMinAccuracy)); - filteredChessboardImgPoints[i] = in[0] + Point2f(0.5, 0.5); + filteredChessboardImgPoints[i] = in[0]; } }); // parse output diff --git a/modules/objdetect/test/test_aruco_tutorial.cpp b/modules/objdetect/test/test_aruco_tutorial.cpp index 1af91bc637..182c6a2cdc 100644 --- a/modules/objdetect/test/test_aruco_tutorial.cpp +++ b/modules/objdetect/test/test_aruco_tutorial.cpp @@ -205,9 +205,11 @@ TEST(CV_ArucoTutorial, can_find_diamondmarkers) const size_t diamondsN = 3; // corners of diamonds with Vec4i indices - const float goldDiamondCorners[diamondsN][8] = {{195.6f,150.9f, 213.5f,201.2f, 136.4f,215.3f, 122.4f,163.5f}, - {501.1f,171.3f, 501.9f,208.5f, 446.2f,199.8f, 447.8f,163.3f}, - {343.4f,361.2f, 359.7f,328.7f, 400.8f,344.6f, 385.7f,378.4f}}; + // Note: Values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp + // The fix removes the incorrect +0.5 offset that was added after cornerSubPix + const float goldDiamondCorners[diamondsN][8] = {{195.1f,150.4f, 213.0f,200.7f, 135.9f,214.8f, 121.9f,163.0f}, + {500.6f,170.8f, 501.4f,208.0f, 445.7f,199.3f, 447.3f,162.8f}, + {342.9f,360.7f, 359.2f,328.2f, 400.3f,344.1f, 385.2f,377.9f}}; auto comp = [](const Vec4i& a, const Vec4i& b) { for (int i = 0; i < 3; i++) if (a[i] != b[i]) return a[i] < b[i]; diff --git a/modules/objdetect/test/test_charucodetection.cpp b/modules/objdetect/test/test_charucodetection.cpp index 4738c74acb..0e91c69ea9 100644 --- a/modules/objdetect/test/test_charucodetection.cpp +++ b/modules/objdetect/test/test_charucodetection.cpp @@ -602,16 +602,18 @@ TEST(Charuco, testBoardSubpixelCoords) 0, 0, 1); // set expected_corners values + // Note: Values adjusted by -0.5px after fixing the systematic offset bug in charuco_detector.cpp + // The fix removes the incorrect +0.5 offset that was added after cornerSubPix cv::Mat expected_corners = (cv::Mat_(9,2) << - 200, 200, - 250, 200, - 300, 200, - 200, 250, - 250, 250, - 300, 250, - 200, 300, - 250, 300, - 300, 300 + 199.5, 199.5, + 249.5, 199.5, + 299.5, 199.5, + 199.5, 249.5, + 249.5, 249.5, + 299.5, 249.5, + 199.5, 299.5, + 249.5, 299.5, + 299.5, 299.5 ); cv::Mat gray; @@ -639,7 +641,7 @@ TEST(Charuco, testBoardSubpixelCoords) ASSERT_EQ(ids.size(), size_t(8)); ASSERT_EQ(c_corners.rows, expected_corners.rows); - EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 1e-1); + EXPECT_NEAR(0, cvtest::norm(expected_corners, c_corners.reshape(1), NORM_INF), 0.1); } TEST(Charuco, issue_14014) @@ -900,16 +902,18 @@ TEST(Charuco, testSeveralBoardsWithCustomIds) 0, 0.5*res.height, 0.5*res.height, 0, 0, 1); + // Expected corner coordinates adjusted by -0.5px after fixing the systematic offset bug + // The fix removes the incorrect +0.5 offset that was added after cornerSubPix Mat expected_corners = (Mat_(9,2) << - 200, 200, - 250, 200, - 300, 200, - 200, 250, - 250, 250, - 300, 250, - 200, 300, - 250, 300, - 300, 300 + 199.5, 199.5, + 249.5, 199.5, + 299.5, 199.5, + 199.5, 249.5, + 249.5, 249.5, + 299.5, 249.5, + 199.5, 299.5, + 249.5, 299.5, + 299.5, 299.5 ); @@ -941,11 +945,11 @@ TEST(Charuco, testSeveralBoardsWithCustomIds) // In 4.x detectBoard() returns the charuco corners in a 2D Mat with shape (N_corners, 1) // In 5.x, after PR #23473, detectBoard() returns the charuco corners in a 1D Mat with shape (1, N_corners) ASSERT_EQ(expected_corners.total(), c_corners1.total()*c_corners1.channels()); - EXPECT_NEAR(0., cvtest::norm(expected_corners.reshape(1, 1), c_corners1.reshape(1, 1), NORM_INF), 3e-1); + EXPECT_NEAR(0., cvtest::norm(expected_corners.reshape(1, 1), c_corners1.reshape(1, 1), NORM_INF), 0.1); ASSERT_EQ(expected_corners.total(), c_corners2.total()*c_corners2.channels()); expected_corners.col(0) += 500; - EXPECT_NEAR(0., cvtest::norm(expected_corners.reshape(1, 1), c_corners2.reshape(1, 1), NORM_INF), 3e-1); + EXPECT_NEAR(0., cvtest::norm(expected_corners.reshape(1, 1), c_corners2.reshape(1, 1), NORM_INF), 0.1); } }} // namespace From bca17bcd29e98c2bad44cf31115b9a088bfaaa76 Mon Sep 17 00:00:00 2001 From: Denis Barucic Date: Fri, 30 Jan 2026 10:38:17 +0100 Subject: [PATCH 34/51] Fix typo in logger.hpp I believe this was just a copy-paste error. --- modules/core/include/opencv2/core/utils/logger.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/core/include/opencv2/core/utils/logger.hpp b/modules/core/include/opencv2/core/utils/logger.hpp index c58b0ccf6a..6c33d6d248 100644 --- a/modules/core/include/opencv2/core/utils/logger.hpp +++ b/modules/core/include/opencv2/core/utils/logger.hpp @@ -68,7 +68,7 @@ CV_EXPORTS void replaceWriteLogMessage(WriteLogMessageFuncType f); /** * @brief Replaces the OpenCV writeLogMessageEx function with a user-defined function. - * @note The user-defined function must have the same signature as writeLogMessage. + * @note The user-defined function must have the same signature as writeLogMessageEx. * @note The user-defined function must accept arguments that can be potentially null. * @note The user-defined function must be thread-safe, as OpenCV logging may be called * from multiple threads. From 4475fb24caff0dff7f3b7335110a871c805d54dd Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Fri, 23 Jan 2026 11:17:35 +0100 Subject: [PATCH 35/51] Remove unused C structs from VideoCapture/VideoWriter --- modules/videoio/include/opencv2/videoio.hpp | 10 ---------- modules/videoio/src/cap.cpp | 3 --- 2 files changed, 13 deletions(-) diff --git a/modules/videoio/include/opencv2/videoio.hpp b/modules/videoio/include/opencv2/videoio.hpp index 7688718c47..34e95421f8 100644 --- a/modules/videoio/include/opencv2/videoio.hpp +++ b/modules/videoio/include/opencv2/videoio.hpp @@ -66,9 +66,6 @@ ////////////////////////////////// video io ///////////////////////////////// -typedef struct CvCapture CvCapture; -typedef struct CvVideoWriter CvVideoWriter; - namespace cv { @@ -1060,7 +1057,6 @@ public: int64 timeoutNs = 0); protected: - Ptr cap; Ptr icap; bool throwOnFail; @@ -1239,18 +1235,12 @@ public: CV_WRAP String getBackendName() const; protected: - Ptr writer; Ptr iwriter; static Ptr create(const String& filename, int fourcc, double fps, Size frameSize, bool isColor = true); }; -//! @cond IGNORED -template<> struct DefaultDeleter{ CV_EXPORTS void operator ()(CvCapture* obj) const; }; -template<> struct DefaultDeleter{ CV_EXPORTS void operator ()(CvVideoWriter* obj) const; }; -//! @endcond IGNORED - //! @} videoio } // cv diff --git a/modules/videoio/src/cap.cpp b/modules/videoio/src/cap.cpp index 45dba466ea..9118ac8cdb 100644 --- a/modules/videoio/src/cap.cpp +++ b/modules/videoio/src/cap.cpp @@ -62,9 +62,6 @@ static bool param_VIDEOWRITER_DEBUG = utils::getConfigurationParameterBool("OPEN CV_LOG_WARNING(nullptr, __VA_ARGS__) \ } -void DefaultDeleter::operator ()(CvCapture* obj) const { cvReleaseCapture(&obj); } -void DefaultDeleter::operator ()(CvVideoWriter* obj) const { cvReleaseVideoWriter(&obj); } - IStreamReader::~IStreamReader() { // nothing From 1d5f28a44f7cc7154b67170d0f0ba56e27a35b56 Mon Sep 17 00:00:00 2001 From: Kavyansh Tyagi <142140238+KAVYANSHTYAGI@users.noreply.github.com> Date: Tue, 3 Feb 2026 13:32:34 +0530 Subject: [PATCH 36/51] Fix Laplacian kernel precision for double inputs --- modules/imgproc/src/deriv.cpp | 29 +++++++++++++++++------------ 1 file changed, 17 insertions(+), 12 deletions(-) diff --git a/modules/imgproc/src/deriv.cpp b/modules/imgproc/src/deriv.cpp index 4e5c0f986b..b4af465cfa 100644 --- a/modules/imgproc/src/deriv.cpp +++ b/modules/imgproc/src/deriv.cpp @@ -715,15 +715,30 @@ void cv::Laplacian( InputArray _src, OutputArray _dst, int ddepth, int ksize, ddepth = sdepth; _dst.create( _src.size(), CV_MAKETYPE(ddepth, cn) ); + int ktype = std::max(CV_32F, std::max(ddepth, sdepth)); + Mat kernel; + if( ksize == 1 || ksize == 3 ) { - float K[2][9] = + static const double K[2][9] = { { 0, 1, 0, 1, -4, 1, 0, 1, 0 }, { 2, 0, 2, 0, -8, 0, 2, 0, 2 } }; - Mat kernel(3, 3, CV_32F, K[ksize == 3]); + kernel.create(3, 3, ktype); + if (ktype == CV_32F) + { + float* kptr = kernel.ptr(); + for (int i = 0; i < 9; ++i) + kptr[i] = static_cast(K[ksize == 3][i]); + } + else + { + double* kptr = kernel.ptr(); + for (int i = 0; i < 9; ++i) + kptr[i] = K[ksize == 3][i]; + } if( scale != 1 ) kernel *= scale; @@ -735,20 +750,10 @@ void cv::Laplacian( InputArray _src, OutputArray _dst, int ddepth, int ksize, if( ksize == 1 || ksize == 3 ) { - float K[2][9] = - { - { 0, 1, 0, 1, -4, 1, 0, 1, 0 }, - { 2, 0, 2, 0, -8, 0, 2, 0, 2 } - }; - Mat kernel(3, 3, CV_32F, K[ksize == 3]); - if( scale != 1 ) - kernel *= scale; - filter2D( _src, _dst, ddepth, kernel, Point(-1, -1), delta, borderType ); } else { - int ktype = std::max(CV_32F, std::max(ddepth, sdepth)); int wdepth = sdepth == CV_8U && ksize <= 5 ? CV_16S : sdepth <= CV_32F ? CV_32F : CV_64F; int wtype = CV_MAKETYPE(wdepth, cn); Mat kd, ks; From 52633170a7c3c427dbddd7836b13d46db1915e9e Mon Sep 17 00:00:00 2001 From: Arnie Chang Date: Thu, 5 Feb 2026 20:50:31 +0800 Subject: [PATCH 37/51] Merge pull request #28375 from arniechangsifive:dev/arniec/fix-fails-on-tail-agnostic-as-1s hal/riscv-rvv: Fix test failures on hardware that implements tail-agnostic as all 1s #28375 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake ### Summary Fix test failures in `opencv_test_core` and `opencv_test_imgproc` on hardware that implements the tail-agnostic policy by overwriting tail elements with all 1s ### Root Cause According to the [RISC-V Vector Extension Specification v1.0](https://github.com/riscvarchive/riscv-v-spec/blob/master/v-spec.adoc#343-vector-tail-agnostic-and-vector-mask-agnostic-vta-and-vma): > "When a set is marked agnostic, the corresponding set of destination elements in any vector destination operand can either retain the value they previously held, or are overwritten with 1s." Both `dotProd_32f` and `dotProd_32s` functions use accumulator variables(`s`) that persist across loop iterations, but were using vector intrinsics with tail-agnostic policy. The tail elements can be overwritten with 1s, corrupting the accumulator and producing NaN during the final reduction sum. ### Solution Changed both functions to use `tail-undisturbed`(`tu`) policy to ensure tail elements remain unchanged across loop iterations. ### Reproduce Steps The failures can be reproduced using [QEMU](https://gitlab.com/qemu-project/qemu) with `rvv_ma_all_1s=true` and `rvv_ta_all_1s=true` options to emulate hardware implementing tail-agnostic policy as all 1s. #### Reproduce **`opencv_test_core`** failures: ``` qemu-riscv64 -cpu rv64,zba=true,zbb=true,zbc=true,zbs=true,v=true,vlen=512,elen=64,vext_spec=v1.0,rvv_ma_all_1s=true,rvv_ta_all_1s=true -L '/PATH_TO_SYSROOT/sysroot/' ./opencv_test_core --gtest_filter="Core_DotProduct*" ``` Before the patch: ``` [ FAILED ] Core_DotProduct.accuracy (24 ms) ``` After the patch: ``` [ PASSED ] 1 test. ``` #### Reproduce **`opencv_test_imgproc`** failures: ``` qemu-riscv64 -cpu rv64,zba=true,zbb=true,zbc=true,zbs=true,v=true,vlen=512,elen=64,vext_spec=v1.0,rvv_ma_all_1s=true,rvv_ta_all_1s=true -L '/workspace/riscv/sysroot/' ./opencv_test_imgproc --gtest_filter="fitLine_Modes.accuracy/*" ``` Before the patch ``` [ FAILED ] 24 tests, listed below: [ FAILED ] fitLine_Modes.accuracy/0, where GetParam() = (13, 1) [ FAILED ] fitLine_Modes.accuracy/1, where GetParam() = (13, 2) [ FAILED ] fitLine_Modes.accuracy/2, where GetParam() = (13, 4) [ FAILED ] fitLine_Modes.accuracy/3, where GetParam() = (13, 5) [ FAILED ] fitLine_Modes.accuracy/4, where GetParam() = (13, 6) [ FAILED ] fitLine_Modes.accuracy/5, where GetParam() = (13, 7) [ FAILED ] fitLine_Modes.accuracy/6, where GetParam() = (21, 1) [ FAILED ] fitLine_Modes.accuracy/7, where GetParam() = (21, 2) [ FAILED ] fitLine_Modes.accuracy/8, where GetParam() = (21, 4) [ FAILED ] fitLine_Modes.accuracy/9, where GetParam() = (21, 5) [ FAILED ] fitLine_Modes.accuracy/10, where GetParam() = (21, 6) [ FAILED ] fitLine_Modes.accuracy/11, where GetParam() = (21, 7) [ FAILED ] fitLine_Modes.accuracy/12, where GetParam() = (12, 1) [ FAILED ] fitLine_Modes.accuracy/13, where GetParam() = (12, 2) [ FAILED ] fitLine_Modes.accuracy/14, where GetParam() = (12, 4) [ FAILED ] fitLine_Modes.accuracy/15, where GetParam() = (12, 5) [ FAILED ] fitLine_Modes.accuracy/16, where GetParam() = (12, 6) [ FAILED ] fitLine_Modes.accuracy/17, where GetParam() = (12, 7) [ FAILED ] fitLine_Modes.accuracy/18, where GetParam() = (20, 1) [ FAILED ] fitLine_Modes.accuracy/19, where GetParam() = (20, 2) [ FAILED ] fitLine_Modes.accuracy/20, where GetParam() = (20, 4) [ FAILED ] fitLine_Modes.accuracy/21, where GetParam() = (20, 5) [ FAILED ] fitLine_Modes.accuracy/22, where GetParam() = (20, 6) [ FAILED ] fitLine_Modes.accuracy/23, where GetParam() = (20, 7) ``` After the patch `[ PASSED ] 24 tests.` --- hal/riscv-rvv/src/core/dotprod.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/hal/riscv-rvv/src/core/dotprod.cpp b/hal/riscv-rvv/src/core/dotprod.cpp index 11a44697de..a1ba9e345d 100644 --- a/hal/riscv-rvv/src/core/dotprod.cpp +++ b/hal/riscv-rvv/src/core/dotprod.cpp @@ -137,7 +137,7 @@ static inline double dotProd_32s(const int *a, const int *b, int len) { auto va = __riscv_vle32_v_i32m4(a + j, vl); auto vb = __riscv_vle32_v_i32m4(b + j, vl); - s = __riscv_vfadd(s, __riscv_vfcvt_f(__riscv_vwmul(va, vb, vl), vl), vl); + s = __riscv_vfadd_vv_f64m8_tu(s, s, __riscv_vfcvt_f(__riscv_vwmul(va, vb, vl), vl), vl); } r = __riscv_vfmv_f(__riscv_vfredosum(s, __riscv_vfmv_v_f_f64m1(0.f, __riscv_vsetvlmax_e64m1()), __riscv_vsetvlmax_e64m8())); @@ -160,7 +160,7 @@ static inline double dotProd_32f(const float *a, const float *b, int len) { auto va = __riscv_vle32_v_f32m4(a + j, vl); auto vb = __riscv_vle32_v_f32m4(b + j, vl); - s = __riscv_vfmacc(s, va, vb, vl); + s = __riscv_vfmacc_vv_f32m4_tu(s, va, vb, vl); } r += (double)__riscv_vfmv_f(__riscv_vfredusum(s, __riscv_vfmv_v_f_f32m1(0.f, __riscv_vsetvlmax_e32m1()), __riscv_vsetvlmax_e32m4())); From c7729066c417b35beac16fbede7401c044625a3d Mon Sep 17 00:00:00 2001 From: Murat Raimbekov Date: Fri, 6 Feb 2026 16:39:55 +0600 Subject: [PATCH 38/51] Merge pull request #28379 from raimbekovm:fix-bmp-sunras-overflow imgcodecs: fix integer overflow in BMP and SunRaster decoders #28379 ### Pull Request Readiness Checklist - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake Fixes #28350 ### Description This PR fixes integer overflow vulnerabilities in BMP and SunRaster image decoders that could cause heap buffer over-read when decoding malformed images. ### Root Cause The `src_pitch` and `width3` calculations in `BmpDecoder::readData()` and `SunRasterDecoder::readData()` used `int` arithmetic: ```cpp int src_pitch = ((m_width * m_bpp + 7) / 8 + 3) & -4; int width3 = m_width * nch; ``` When `m_width` or `m_bpp` are large values from a crafted malicious file, the multiplication overflows, resulting in a small or negative value. This leads to insufficient buffer allocation, causing heap buffer over-read during subsequent decoding operations. ### Fix 1. **Use `size_t` arithmetic**: Cast operands to `size_t` before multiplication: ```cpp const size_t bits_per_row = static_cast(m_width) * static_cast(m_bpp); const size_t src_pitch_size = ((bits_per_row + 7) / 8 + 3) & ~static_cast(3); ``` 2. **Add size validation**: Added `CV_CheckLT` to reject images requiring buffers larger than 256MB: ```cpp const size_t MAX_SRC_PITCH = static_cast(1) << 28; CV_CheckLT(src_pitch_size, MAX_SRC_PITCH, "BMP: src_pitch exceeds maximum allowed size"); ``` 3. **Safe conversion**: Use `validateToInt()` for safe conversion back to `int`. ### Files Changed - `modules/imgcodecs/src/grfmt_bmp.cpp` - BmpDecoder::readData() - `modules/imgcodecs/src/grfmt_sunras.cpp` - SunRasterDecoder::readData() ### Testing - Code compiles without warnings - Basic BMP and SunRaster encode/decode tests pass - Overflow conditions are now properly rejected with CV_CheckLT --- modules/imgcodecs/src/grfmt_bmp.cpp | 12 +++++++--- modules/imgcodecs/src/grfmt_sunras.cpp | 11 +++++---- modules/imgcodecs/src/utils.cpp | 31 ++++++++++++++++++++++++++ modules/imgcodecs/src/utils.hpp | 10 +++++++++ 4 files changed, 57 insertions(+), 7 deletions(-) diff --git a/modules/imgcodecs/src/grfmt_bmp.cpp b/modules/imgcodecs/src/grfmt_bmp.cpp index 77201b3af1..c8b604166c 100644 --- a/modules/imgcodecs/src/grfmt_bmp.cpp +++ b/modules/imgcodecs/src/grfmt_bmp.cpp @@ -233,9 +233,13 @@ bool BmpDecoder::readData( Mat& img ) bool color = img.channels() > 1; uchar gray_palette[256] = {0}; bool result = false; - int src_pitch = ((m_width*(m_bpp != 15 ? m_bpp : 16) + 7)/8 + 3) & -4; int nch = color ? 3 : 1; - int y, width3 = m_width*nch; + + const int effective_bpp = (m_bpp != 15) ? m_bpp : 16; + const RowPitchParams pitch_params = calculateRowPitch(m_width, effective_bpp, 4, "BMP"); + const int src_pitch = pitch_params.src_pitch; + const int width3 = calculateRowSize(m_width, nch, "BMP"); + int y; if( m_offset < 0 || !m_strm.isOpened()) return false; @@ -255,7 +259,9 @@ bool BmpDecoder::readData( Mat& img ) { CvtPaletteToGray( m_palette, gray_palette, 1 << m_bpp ); } - _bgr.allocate(m_width*3 + 32); + const size_t bgr_size = static_cast(m_width) * 3 + 32; + CV_CheckLT(bgr_size, MAX_IMAGE_ROW_SIZE, "BMP: bgr buffer size exceeds maximum allowed size"); + _bgr.allocate(bgr_size); } uchar *src = _src.data(), *bgr = _bgr.data(); diff --git a/modules/imgcodecs/src/grfmt_sunras.cpp b/modules/imgcodecs/src/grfmt_sunras.cpp index 0dd31b3b1a..06d55d2c44 100644 --- a/modules/imgcodecs/src/grfmt_sunras.cpp +++ b/modules/imgcodecs/src/grfmt_sunras.cpp @@ -133,10 +133,13 @@ bool SunRasterDecoder::readData( Mat& img ) size_t step = img.step; uchar gray_palette[256] = {0}; bool result = false; - int src_pitch = ((m_width*m_bpp + 7)/8 + 1) & -2; int nch = color ? 3 : 1; - int width3 = m_width*nch; - int y; + + const RowPitchParams pitch_params = calculateRowPitch(m_width, m_bpp, 2, "SunRaster"); + const int src_pitch = pitch_params.src_pitch; + const size_t bytes_per_row = pitch_params.bytes_per_row; + const int width3 = calculateRowSize(m_width, nch, "SunRaster"); + int y; if( m_offset < 0 || !m_strm.isOpened()) return false; @@ -169,7 +172,7 @@ bool SunRasterDecoder::readData( Mat& img ) } else { - uchar* line_end = src + (m_width*m_bpp + 7)/8; + uchar* line_end = src + bytes_per_row; uchar* tsrc = src; y = 0; diff --git a/modules/imgcodecs/src/utils.cpp b/modules/imgcodecs/src/utils.cpp index 3b597fe61c..5c3127792a 100644 --- a/modules/imgcodecs/src/utils.cpp +++ b/modules/imgcodecs/src/utils.cpp @@ -51,6 +51,37 @@ int validateToInt(size_t sz) return valueInt; } +RowPitchParams calculateRowPitch(int width, int bpp, int alignment, const char* format_name) +{ + CV_Assert(width > 0 && bpp > 0 && alignment > 0); + CV_Assert((alignment & (alignment - 1)) == 0); // must be power of 2 + + const size_t bits_per_row = static_cast(width) * static_cast(bpp); + const size_t bytes_per_row = (bits_per_row + 7) / 8; + const size_t aligned_pitch = (bytes_per_row + alignment - 1) & ~static_cast(alignment - 1); + + if (aligned_pitch >= MAX_IMAGE_ROW_SIZE) + CV_Error(cv::Error::StsOutOfRange, + cv::format("%s: src_pitch exceeds maximum allowed size", format_name)); + + RowPitchParams result; + result.src_pitch = validateToInt(aligned_pitch); + result.bytes_per_row = bytes_per_row; + return result; +} + +int calculateRowSize(int width, int nch, const char* format_name) +{ + CV_Assert(width > 0 && nch > 0); + + const size_t row_size = static_cast(width) * static_cast(nch); + if (row_size >= MAX_IMAGE_ROW_SIZE) + CV_Error(cv::Error::StsOutOfRange, + cv::format("%s: row size exceeds maximum allowed size", format_name)); + + return validateToInt(row_size); +} + #define SCALE 14 #define cR (int)(0.299*(1 << SCALE) + 0.5) #define cG (int)(0.587*(1 << SCALE) + 0.5) diff --git a/modules/imgcodecs/src/utils.hpp b/modules/imgcodecs/src/utils.hpp index 8b0ad1a9e9..3ed18eaaba 100644 --- a/modules/imgcodecs/src/utils.hpp +++ b/modules/imgcodecs/src/utils.hpp @@ -135,6 +135,16 @@ uchar* FillGrayRow4( uchar* data, uchar* indices, int len, uchar* palette ); uchar* FillColorRow1( uchar* data, uchar* indices, int len, PaletteEntry* palette ); uchar* FillGrayRow1( uchar* data, uchar* indices, int len, uchar* palette ); +static const size_t MAX_IMAGE_ROW_SIZE = static_cast(1) << 28; // 256 MB + +struct RowPitchParams { + int src_pitch; + size_t bytes_per_row; +}; + +RowPitchParams calculateRowPitch(int width, int bpp, int alignment, const char* format_name); +int calculateRowSize(int width, int nch, const char* format_name); + CV_INLINE bool isBigEndian( void ) { #ifdef WORDS_BIGENDIAN From aea90a9e314d220dcaa80a616808afc38e1c78b6 Mon Sep 17 00:00:00 2001 From: Karnav Shah Date: Fri, 6 Feb 2026 16:17:15 +0530 Subject: [PATCH 39/51] Merge pull request #28308 from shahkarnav115-beep:dnn-mvn-defensive-checks dnn: improve robustness of MVN layer#28308 This change adds small defensive improvements to the MVN layer implementation: ->Guard against zero-sized OpenCL kernel launches ->Add input validation in finalize() ->Use int64 for FLOPS computation to avoid overflow No functional or performance changes are intended. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake --- modules/dnn/src/layers/mvn_layer.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/modules/dnn/src/layers/mvn_layer.cpp b/modules/dnn/src/layers/mvn_layer.cpp index d59e339ac4..9c8bdf5106 100644 --- a/modules/dnn/src/layers/mvn_layer.cpp +++ b/modules/dnn/src/layers/mvn_layer.cpp @@ -171,7 +171,9 @@ public: String buildopt = "-DNUM=4" + opts; ocl::Kernel k("mean_fuse4", ocl::dnn::mvn_oclsrc, buildopt + " -DKERNEL_MEAN_FUSE"); size_t localsize[] = { LOCAL_SIZE }; - size_t globalsize[] = { (size_t)s[0] / 4 * localsize[0] }; + size_t groups = std::max(1, s[0] / 4); + size_t globalsize[] = { groups * localsize[0] }; + int argId = 0; k.set(argId++, ocl::KernelArg::PtrReadOnly(inpMat)); @@ -374,7 +376,7 @@ public: const std::vector &outputs) const CV_OVERRIDE { CV_UNUSED(outputs); // suppress unused variable warning - long flops = 0; + int64 flops = 0; for(int i = 0; i < inputs.size(); i++) { flops += 6*total(inputs[i]) + 3*total(inputs[i], 0, normVariance ? 2 : 1); From 11d318b540a86260b810906d42e62a79cf661164 Mon Sep 17 00:00:00 2001 From: Kumataro Date: Sat, 7 Feb 2026 13:36:50 +0900 Subject: [PATCH 40/51] videoio(gst): replace unnecessary get() usage with integer types --- modules/videoio/src/cap_gstreamer.cpp | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/modules/videoio/src/cap_gstreamer.cpp b/modules/videoio/src/cap_gstreamer.cpp index ff1ff2b028..24e414c5f9 100644 --- a/modules/videoio/src/cap_gstreamer.cpp +++ b/modules/videoio/src/cap_gstreamer.cpp @@ -488,9 +488,9 @@ bool GStreamerCapture::configureStreamsProperty(const cv::VideoCaptureParameters { if (params.has(CAP_PROP_VIDEO_STREAM)) { - double value = params.get(CAP_PROP_VIDEO_STREAM); + gint value = params.get(CAP_PROP_VIDEO_STREAM); if (value == -1 || value == 0) - videoStream = static_cast(value); + videoStream = value; else { CV_LOG_ERROR(NULL, "VIDEOIO/Gstreamer: CAP_PROP_VIDEO_STREAM parameter value is invalid/unsupported: " << value); @@ -499,9 +499,9 @@ bool GStreamerCapture::configureStreamsProperty(const cv::VideoCaptureParameters } if (params.has(CAP_PROP_AUDIO_STREAM)) { - double value = params.get(CAP_PROP_AUDIO_STREAM); - if (value == -1 || value > -1) - audioStream = static_cast(value); + gint value = params.get(CAP_PROP_AUDIO_STREAM); + if (value == -1 || value >= 0) + audioStream = value; else { CV_LOG_ERROR(NULL, "VIDEOIO/Gstreamer: CAP_PROP_AUDIO_STREAM parameter value is invalid/unsupported: " << value); @@ -515,7 +515,7 @@ bool GStreamerCapture::setAudioProperties(const cv::VideoCaptureParameters& para { if (params.has(CAP_PROP_AUDIO_DATA_DEPTH)) { - gint value = static_cast(params.get(CAP_PROP_AUDIO_DATA_DEPTH)); + gint value = params.get(CAP_PROP_AUDIO_DATA_DEPTH); if (value != CV_8S && value != CV_16S && value != CV_32S && value != CV_32F) { CV_LOG_ERROR(NULL, "VIDEOIO/Gstreamer: CAP_PROP_AUDIO_DATA_DEPTH parameter value is invalid/unsupported: " << value); @@ -528,7 +528,7 @@ bool GStreamerCapture::setAudioProperties(const cv::VideoCaptureParameters& para } if (params.has(CAP_PROP_AUDIO_SAMPLES_PER_SECOND)) { - int value = static_cast(params.get(CAP_PROP_AUDIO_SAMPLES_PER_SECOND)); + int value = params.get(CAP_PROP_AUDIO_SAMPLES_PER_SECOND); if (value < 0) { CV_LOG_ERROR(NULL, "VIDEOIO/Gstreamer: CAP_PROP_AUDIO_SAMPLES_PER_SECOND parameter can't be negative: " << value); @@ -541,8 +541,7 @@ bool GStreamerCapture::setAudioProperties(const cv::VideoCaptureParameters& para } if (params.has(CAP_PROP_AUDIO_SYNCHRONIZE)) { - int value = static_cast(params.get(CAP_PROP_AUDIO_SYNCHRONIZE)); - syncLastFrame = (value != 0) ? true : false; + syncLastFrame = params.get(CAP_PROP_AUDIO_SYNCHRONIZE); } return true; } From 9224e5d90a1021c5a3b0135d4e2e39350a0f3ce1 Mon Sep 17 00:00:00 2001 From: Kumataro Date: Sun, 8 Feb 2026 06:36:54 +0900 Subject: [PATCH 41/51] videoio(msmf): replace unnecessary get() usage with integer types --- modules/videoio/src/cap_msmf.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/modules/videoio/src/cap_msmf.cpp b/modules/videoio/src/cap_msmf.cpp index 751279d2b1..a79cb19716 100644 --- a/modules/videoio/src/cap_msmf.cpp +++ b/modules/videoio/src/cap_msmf.cpp @@ -1388,9 +1388,9 @@ bool CvCapture_MSMF::configureStreams(const cv::VideoCaptureParameters& params) { if (params.has(CAP_PROP_VIDEO_STREAM)) { - double value = params.get(CAP_PROP_VIDEO_STREAM); + int value = params.get(CAP_PROP_VIDEO_STREAM); if (value == -1 || value == 0) - videoStream = static_cast(value); + videoStream = value; else { CV_LOG_ERROR(NULL, "VIDEOIO/MSMF: CAP_PROP_VIDEO_STREAM parameter value is invalid/unsupported: " << value); @@ -1399,8 +1399,8 @@ bool CvCapture_MSMF::configureStreams(const cv::VideoCaptureParameters& params) } if (params.has(CAP_PROP_AUDIO_STREAM)) { - double value = params.get(CAP_PROP_AUDIO_STREAM); - if (value == -1 || value > -1) + int value = params.get(CAP_PROP_AUDIO_STREAM); + if (value == -1 || value >= 0) audioStream = static_cast(value); else { @@ -1414,7 +1414,7 @@ bool CvCapture_MSMF::setAudioProperties(const cv::VideoCaptureParameters& params { if (params.has(CAP_PROP_AUDIO_DATA_DEPTH)) { - int value = static_cast(params.get(CAP_PROP_AUDIO_DATA_DEPTH)); + int value = params.get(CAP_PROP_AUDIO_DATA_DEPTH); if (value != CV_8S && value != CV_16S && value != CV_32S && value != CV_32F) { CV_LOG_ERROR(NULL, "VIDEOIO/MSMF: CAP_PROP_AUDIO_DATA_DEPTH parameter value is invalid/unsupported: " << value); @@ -1427,7 +1427,7 @@ bool CvCapture_MSMF::setAudioProperties(const cv::VideoCaptureParameters& params } if (params.has(CAP_PROP_AUDIO_SAMPLES_PER_SECOND)) { - int value = static_cast(params.get(CAP_PROP_AUDIO_SAMPLES_PER_SECOND)); + int value = params.get(CAP_PROP_AUDIO_SAMPLES_PER_SECOND); if (value < 0) { CV_LOG_ERROR(NULL, "VIDEOIO/MSMF: CAP_PROP_AUDIO_SAMPLES_PER_SECOND parameter can't be negative: " << value); @@ -1440,8 +1440,7 @@ bool CvCapture_MSMF::setAudioProperties(const cv::VideoCaptureParameters& params } if (params.has(CAP_PROP_AUDIO_SYNCHRONIZE)) { - int value = static_cast(params.get(CAP_PROP_AUDIO_SYNCHRONIZE)); - syncLastFrame = (value != 0) ? true : false; + syncLastFrame = params.get(CAP_PROP_AUDIO_SYNCHRONIZE); } return true; } From 71ed3dccaf9452d35d74635af21e40c62d0499b4 Mon Sep 17 00:00:00 2001 From: Kumataro Date: Sun, 8 Feb 2026 06:43:01 +0900 Subject: [PATCH 42/51] videoio(obsensor): replace unnecessary get() usage with integer types --- modules/videoio/src/cap_obsensor_liborbbec.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/modules/videoio/src/cap_obsensor_liborbbec.cpp b/modules/videoio/src/cap_obsensor_liborbbec.cpp index d8b44cf196..345fa691db 100644 --- a/modules/videoio/src/cap_obsensor_liborbbec.cpp +++ b/modules/videoio/src/cap_obsensor_liborbbec.cpp @@ -42,9 +42,9 @@ VideoCapture_obsensor::VideoCapture_obsensor(int, const cv::VideoCaptureParamete alignFilter = std::make_shared(OB_STREAM_COLOR); #endif - int color_width = params.get(CAP_PROP_FRAME_WIDTH, OB_WIDTH_ANY); - int color_height = params.get(CAP_PROP_FRAME_HEIGHT, OB_HEIGHT_ANY); - int color_fps = params.get(CAP_PROP_FPS, OB_FPS_ANY); + int color_width = params.get(CAP_PROP_FRAME_WIDTH, OB_WIDTH_ANY); + int color_height = params.get(CAP_PROP_FRAME_HEIGHT, OB_HEIGHT_ANY); + int color_fps = params.get(CAP_PROP_FPS, OB_FPS_ANY); auto colorProfiles = pipe->getStreamProfileList(OB_SENSOR_COLOR); if (color_width == OB_WIDTH_ANY && color_height == OB_HEIGHT_ANY && color_fps == OB_FPS_ANY) @@ -60,9 +60,9 @@ VideoCapture_obsensor::VideoCapture_obsensor(int, const cv::VideoCaptureParamete config->enableStream(colorProfile->as()); } - int depth_width = params.get(CAP_PROP_OBSENSOR_DEPTH_WIDTH, OB_WIDTH_ANY); - int depth_height = params.get(CAP_PROP_OBSENSOR_DEPTH_HEIGHT, OB_HEIGHT_ANY); - int depth_fps = params.get(CAP_PROP_OBSENSOR_DEPTH_FPS, OB_FPS_ANY); + int depth_width = params.get(CAP_PROP_OBSENSOR_DEPTH_WIDTH, OB_WIDTH_ANY); + int depth_height = params.get(CAP_PROP_OBSENSOR_DEPTH_HEIGHT, OB_HEIGHT_ANY); + int depth_fps = params.get(CAP_PROP_OBSENSOR_DEPTH_FPS, OB_FPS_ANY); auto depthProfiles = pipe->getStreamProfileList(OB_SENSOR_DEPTH); if (depth_width == OB_WIDTH_ANY && depth_height == OB_HEIGHT_ANY && depth_fps == OB_FPS_ANY) From 12b5091ba48611da9812422e93431259eee6d27c Mon Sep 17 00:00:00 2001 From: Anemptyship Date: Mon, 9 Feb 2026 03:06:08 +0000 Subject: [PATCH 43/51] optimize(dnn): parallelize Resize layer implementation Backport of PR #28442 to 4.x branch. Signed-off-by: Anemptyship --- modules/dnn/perf/perf_resize.cpp | 63 +++++++++++++++++++++++++ modules/dnn/src/layers/resize_layer.cpp | 14 ++++-- 2 files changed, 73 insertions(+), 4 deletions(-) create mode 100644 modules/dnn/perf/perf_resize.cpp diff --git a/modules/dnn/perf/perf_resize.cpp b/modules/dnn/perf/perf_resize.cpp new file mode 100644 index 0000000000..b1cf798b26 --- /dev/null +++ b/modules/dnn/perf/perf_resize.cpp @@ -0,0 +1,63 @@ +// 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 "perf_precomp.hpp" + +namespace opencv_test { + +struct Layer_Resize : public TestBaseWithParam> +{ + void test_layer(const std::vector& inpShape, int outH, int outW, const String& interp) + { + int backendId = get<0>(GetParam()); + int targetId = get<1>(GetParam()); + + Mat input(inpShape, CV_32FC1); + randu(input, 0.f, 1.f); + + Net net; + LayerParams lp; + lp.type = "Resize"; + lp.name = "testLayer"; + lp.set("interpolation", interp); + lp.set("width", outW); + lp.set("height", outH); + + int id = net.addLayerToPrev(lp.name, lp.type, lp); + net.connect(0, 0, id, 0); + + // warmup + { + net.setInputsNames({"data"}); + net.setInput(input, "data"); + net.setPreferableBackend(backendId); + net.setPreferableTarget(targetId); + Mat out = net.forward(); + } + + TEST_CYCLE() + { + Mat res = net.forward(); + } + + SANITY_CHECK_NOTHING(); + } +}; + +PERF_TEST_P_(Layer_Resize, Resize_Upsample_Linear) +{ + // N=4, C=64, H=64, W=64 -> 128x128 (x2 upsample) + // Common in segmentation/detection heads + test_layer({4, 64, 64, 64}, 128, 128, "opencv_linear"); +} + +PERF_TEST_P_(Layer_Resize, Resize_Downsample_Nearest) +{ + // N=4, C=128, H=128, W=128 -> 64x64 (x0.5 downsample) + test_layer({4, 128, 128, 128}, 64, 64, "nearest"); +} + +INSTANTIATE_TEST_CASE_P(/**/, Layer_Resize, dnnBackendsAndTargets()); + +} // namespace opencv_test diff --git a/modules/dnn/src/layers/resize_layer.cpp b/modules/dnn/src/layers/resize_layer.cpp index a7c80cc210..3d904db67a 100644 --- a/modules/dnn/src/layers/resize_layer.cpp +++ b/modules/dnn/src/layers/resize_layer.cpp @@ -140,14 +140,20 @@ public: { // INTER_LINEAR Resize mode does not support INT8 inputs InterpolationFlags mode = interpolation == "nearest" ? INTER_NEAREST : INTER_LINEAR; - for (size_t n = 0; n < inputs[0].size[0]; ++n) - { - for (size_t ch = 0; ch < inputs[0].size[1]; ++ch) + + size_t nbatch = inputs[0].size[0]; + size_t nch = inputs[0].size[1]; + size_t total_planes = nbatch * nch; + + parallel_for_(Range(0, (int)total_planes), [&](const Range& range){ + for (int i = range.start; i < range.end; ++i) { + int n = i / nch; + int ch = i % nch; resize(getPlane(inp, n, ch), getPlane(out, n, ch), Size(outWidth, outHeight), 0, 0, mode); } - } + }); } else if (interpolation == "nearest") { From 7942f976c1378418fd73b220c1448f41059b778c Mon Sep 17 00:00:00 2001 From: Hanbin Bae Date: Tue, 10 Feb 2026 15:11:13 +0900 Subject: [PATCH 44/51] Merge pull request #28511 from Anemptyship:optimize/slice-parallel-4.x optimize(dnn): parallelize Slice layer implementation (4.x) #28511 ### Summary Backport of PR #28447 to 4.x branch. ### Description This PR optimizes the SliceLayer implementation for strided inputs (where step > 1). The original implementation used a recursive element-wise copy (getSliceRecursive) for any strided slice, which was extremely inefficient. This PR introduces: - **Parallelization**: Uses `cv::parallel_for_` to parallelize the outermost dimension of the slice operation. - **Memcpy Optimization**: Automatically detects "pseudo-contiguous" blocks in strided slices (e.g., slicing an outer dimension but keeping inner dimensions intact) and uses `std::memcpy` instead of scalar loops. - **Refactoring**: Replaces the recursive function with a dedicated `ParallelSlice` loop body. ### Impact Significant performance improvement for strided slice operations (common in detection heads, strided sampling, etc.). ### Benchmark Results Tested on CPU with 20 threads. | Test Case | Baseline (ms) | Optimized (ms) | Speedup | | :--- | :--- | :--- | :--- | | Strided Axis 0 [::2, ...] | 1.10 | 0.02 | **~55x** | | Strided Axis 2 [..., ::2] | 1.15 | 0.11 | **~10.5x** | ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable - [ ] The feature is well documented and sample code can be built with the project CMake --- modules/dnn/perf/perf_slice.cpp | 93 ++++++++++++++ modules/dnn/src/layers/slice_layer.cpp | 169 +++++++++++++++++++++---- 2 files changed, 236 insertions(+), 26 deletions(-) create mode 100644 modules/dnn/perf/perf_slice.cpp diff --git a/modules/dnn/perf/perf_slice.cpp b/modules/dnn/perf/perf_slice.cpp new file mode 100644 index 0000000000..18593aa8c7 --- /dev/null +++ b/modules/dnn/perf/perf_slice.cpp @@ -0,0 +1,93 @@ +// 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 "perf_precomp.hpp" + +namespace opencv_test { + +struct Layer_Slice_Test : public TestBaseWithParam> +{ + void test_slice(const std::vector& input_shape, int axis, int begin, int end, int step = 1) + { + int backendId = get<0>(GetParam()); + int targetId = get<1>(GetParam()); + + Mat data(input_shape, CV_32FC1); + randu(data, 0.f, 1.f); + + Net net; + LayerParams lp; + lp.type = "Slice"; + lp.name = "testLayer"; + lp.set("axis", axis); + + std::vector begins(input_shape.size(), 0); + std::vector ends = input_shape; + std::vector steps(input_shape.size(), 1); + + begins[axis] = begin; + ends[axis] = end; + steps[axis] = step; + + lp.set("begin", DictValue::arrayInt(&begins[0], begins.size())); + lp.set("end", DictValue::arrayInt(&ends[0], ends.size())); + if (step != 1) { + lp.set("steps", DictValue::arrayInt(&steps[0], steps.size())); + } + + int id = net.addLayerToPrev(lp.name, lp.type, lp); + net.connect(0, 0, id, 0); + + net.setInputsNames({"data"}); + + // warmup + { + net.setInput(data, "data"); + net.setPreferableBackend(backendId); + net.setPreferableTarget(targetId); + Mat out = net.forward(); + } + + TEST_CYCLE() + { + Mat res = net.forward(); + } + + SANITY_CHECK_NOTHING(); + } +}; + +PERF_TEST_P_(Layer_Slice_Test, Slice_Contiguous_Axis0) +{ + test_slice({64, 128, 128}, 0, 10, 54); +} + +PERF_TEST_P_(Layer_Slice_Test, Slice_Contiguous_Axis2) +{ + test_slice({64, 128, 128}, 2, 10, 118); +} + +PERF_TEST_P_(Layer_Slice_Test, Slice_Small_Middle) +{ + test_slice({32, 64, 32}, 1, 20, 40); +} + +PERF_TEST_P_(Layer_Slice_Test, Slice_Strided_Axis0_Step2) +{ + // Strided slice on outer axis. + // [64, 128, 128] -> [0:64:2, ...] + test_slice({64, 128, 128}, 0, 0, 64, 2); +} + +PERF_TEST_P_(Layer_Slice_Test, Slice_Strided_Axis2_Step2) +{ + // Strided slice on inner axis. + // [64, 128, 128] -> [..., 0:128:2] + test_slice({64, 128, 128}, 2, 0, 128, 2); +} + + +INSTANTIATE_TEST_CASE_P(/**/, Layer_Slice_Test, dnnBackendsAndTargets(false, false, true, false, false, false, false, false)); + +} // namespace opencv_test diff --git a/modules/dnn/src/layers/slice_layer.cpp b/modules/dnn/src/layers/slice_layer.cpp index 6f6046da3d..cae6b2c716 100644 --- a/modules/dnn/src/layers/slice_layer.cpp +++ b/modules/dnn/src/layers/slice_layer.cpp @@ -144,6 +144,144 @@ std::vector > finalizeSliceRange(const MatShape& inpShape return sliceRanges; } + +template +class ParallelSlice : public cv::ParallelLoopBody +{ +public: + ParallelSlice(const Mat& inp, Mat& out, + const std::vector& ranges, + const std::vector& steps, + int nstripes) + : inp_(inp), out_(out), ranges_(ranges), steps_(steps), nstripes_(nstripes) + { + dims_ = inp.dims; + es_ = inp.elemSize(); + + inp_strides_.resize(dims_); + out_strides_.resize(dims_); + for(int i=0; i= 1) return; + + // Logic for inner loop same as below + int begin = ranges_[0].start; + size_t src_offset = begin * inp_strides_[0]; + size_t dst_offset = 0; + + if (inner_step == 1) + { + std::memcpy(dst_base + dst_offset, src_base + src_offset, inner_count * es_); + } + else + { + const uchar* s = src_base + src_offset; + uchar* d = dst_base + dst_offset; + for (int i = 0; i < inner_count; ++i) + { + std::memcpy(d, s, es_); + s += inner_src_step; + d += inner_dst_step; + } + } + return; + } + + for (size_t i = stripeStart; i < stripeEnd; ++i) + { + size_t idx = i; + size_t src_offset = 0; + size_t dst_offset = 0; + + // Reconstruct indices for outer dims + for (int d = dims_ - 2; d >= 0; --d) + { + int range_len = ranges_[d].end - ranges_[d].start; + int step = steps_[d]; + int count = (step == 1) ? range_len : ((range_len - 1) / step + 1); + + int k = idx % count; + idx /= count; + + src_offset += (ranges_[d].start + k * step) * inp_strides_[d]; + dst_offset += k * out_strides_[d]; + } + + // Process inner dimension + int begin = ranges_[inner_dim].start; + // Add bias for inner dim start + src_offset += begin * inp_strides_[inner_dim]; + + if (inner_step == 1) + { + std::memcpy(dst_base + dst_offset, src_base + src_offset, inner_count * es_); + } + else + { + const uchar* s = src_base + src_offset; + uchar* d = dst_base + dst_offset; + for (int k = 0; k < inner_count; ++k) + { + std::memcpy(d, s, es_); + s += inner_src_step; + d += inner_dst_step; + } + } + } + } + +private: + const Mat& inp_; + Mat& out_; + const std::vector& ranges_; + const std::vector& steps_; + int nstripes_; + int dims_; + size_t es_; + std::vector inp_strides_; + std::vector out_strides_; +}; + class SliceLayerImpl : public SliceLayer { public: @@ -620,17 +758,17 @@ public: else { int dimsNum = inpMat.dims; + int nstripes = getNumThreads(); + std::vector dummy_steps(dimsNum, 1); for (size_t i = 0; i < outputs.size(); i++) { - std::vector inpIdx(dimsNum, 0); - std::vector outIdx(dimsNum, 0); if (inpMat.type() == CV_16F) - getSliceRecursive(inpMat, inpIdx, finalSliceRanges[i], sliceSteps[i], 0, dimsNum, outputs[i], outIdx); + parallel_for_(Range(0, nstripes), ParallelSlice(inpMat, outputs[i], finalSliceRanges[i], sliceSteps.empty() ? dummy_steps : sliceSteps[i], nstripes), nstripes); else if (inpMat.type() == CV_8S) - getSliceRecursive(inpMat, inpIdx, finalSliceRanges[i], sliceSteps[i], 0, dimsNum, outputs[i], outIdx); + parallel_for_(Range(0, nstripes), ParallelSlice(inpMat, outputs[i], finalSliceRanges[i], sliceSteps.empty() ? dummy_steps : sliceSteps[i], nstripes), nstripes); else - getSliceRecursive(inpMat, inpIdx, finalSliceRanges[i], sliceSteps[i], 0, dimsNum, outputs[i], outIdx); + parallel_for_(Range(0, nstripes), ParallelSlice(inpMat, outputs[i], finalSliceRanges[i], sliceSteps.empty() ? dummy_steps : sliceSteps[i], nstripes), nstripes); // flip for negative steps flip(outputs[i]); } @@ -826,28 +964,7 @@ public: } private: - template - void getSliceRecursive(const Mat &inpMat, std::vector &inpIdx, - const std::vector &sliceRanges, - const std::vector &sliceSteps, int dim, int dimsNum, - Mat &outputs, std::vector &outIdx) - { - int begin = sliceRanges[dim].start; - int end = sliceRanges[dim].end; - int step = !sliceSteps.empty() ? sliceSteps[dim] : 1; - // TODO optimization is required (for 2D tail case at least) - for (int k = begin, j = 0; k < end; k += step, j++) - { - inpIdx[dim] = k; - outIdx[dim] = j; - - if (dim + 1 < dimsNum) - getSliceRecursive(inpMat, inpIdx, sliceRanges, sliceSteps, dim + 1, dimsNum, outputs, outIdx); - else - outputs.at(outIdx.data()) = inpMat.at(inpIdx.data()); - } - } void flip(Mat& output) // break if 1d tensor? { From dc0a276edce12d9d813d9efd5b106fa848059520 Mon Sep 17 00:00:00 2001 From: Murat Raimbekov Date: Wed, 11 Feb 2026 18:06:26 +0600 Subject: [PATCH 45/51] Merge pull request #28324 from raimbekovm:fix-kaze-charbonnier features2d: add missing KAZE DIFF_CHARBONNIER support #28324 ### Description This PR fixes the missing implementation for `DIFF_CHARBONNIER` diffusivity type in KAZE feature detector. ### Changes - Added `charbonnier_diffusivity()` call for `DIFF_CHARBONNIER` type in `Create_Nonlinear_Scale_Space()` - Added proper error handling for unsupported diffusivity types ### Problem When using KAZE with `DIFF_CHARBONNIER` diffusivity type, keypoint coordinates were not computed at subpixel level, because the code lacked the specific handling for this diffusivity mode. ### Solution The `charbonnier_diffusivity()` function already exists in `nldiffusion_functions.cpp`, it just wasn't being called. This PR adds the missing `else if` branch to call it, matching the pattern already implemented in `AKAZEFeatures.cpp`. Fixes #27134 ### Pull Request Readiness Checklist - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another copyleft license. - [x] The PR is proposed to the proper branch. - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable - [ ] The feature is well documented and sample code can be built with the project CMake --- modules/features2d/src/kaze/KAZEFeatures.cpp | 4 ++ modules/features2d/test/test_akaze.cpp | 41 ++++++++++++++++++++ 2 files changed, 45 insertions(+) diff --git a/modules/features2d/src/kaze/KAZEFeatures.cpp b/modules/features2d/src/kaze/KAZEFeatures.cpp index 72327e8683..30e0390359 100644 --- a/modules/features2d/src/kaze/KAZEFeatures.cpp +++ b/modules/features2d/src/kaze/KAZEFeatures.cpp @@ -128,6 +128,10 @@ int KAZEFeatures::Create_Nonlinear_Scale_Space(const Mat &img) pm_g2(evolution_[i].Lx, evolution_[i].Ly, Lflow, options_.kcontrast); else if (options_.diffusivity == KAZE::DIFF_WEICKERT) weickert_diffusivity(evolution_[i].Lx, evolution_[i].Ly, Lflow, options_.kcontrast); + else if (options_.diffusivity == KAZE::DIFF_CHARBONNIER) + charbonnier_diffusivity(evolution_[i].Lx, evolution_[i].Ly, Lflow, options_.kcontrast); + else + CV_Error_(Error::StsError, ("Diffusivity is not supported: %d", static_cast(options_.diffusivity))); // Perform FED n inner steps for (int j = 0; j < nsteps_[i - 1]; j++) diff --git a/modules/features2d/test/test_akaze.cpp b/modules/features2d/test/test_akaze.cpp index aafa8a7545..e24894129a 100644 --- a/modules/features2d/test/test_akaze.cpp +++ b/modules/features2d/test/test_akaze.cpp @@ -45,4 +45,45 @@ TEST(Features2d_AKAZE, uninitialized_and_nans) akaze->detectAndCompute(b1, noArray(), keypoints, desc); } +// Test for https://github.com/opencv/opencv/issues/27134 +TEST(Features2d_KAZE, diffusivity_charbonnier) +{ + Mat testImg(200, 200, CV_8U); + RNG rng(42); + rng.fill(testImg, RNG::UNIFORM, Scalar(0), Scalar(255), true); + + // KAZE with DIFF_CHARBONNIER + Ptr kaze_charbonnier = KAZE::create(false, false, 0.001f, 4, 4, KAZE::DIFF_CHARBONNIER); + vector kps_charbonnier; + Mat desc_charbonnier; + kaze_charbonnier->detectAndCompute(testImg, noArray(), kps_charbonnier, desc_charbonnier); + + // KAZE with DIFF_PM_G2 (default) + Ptr kaze_pm_g2 = KAZE::create(false, false, 0.001f, 4, 4, KAZE::DIFF_PM_G2); + vector kps_pm_g2; + Mat desc_pm_g2; + kaze_pm_g2->detectAndCompute(testImg, noArray(), kps_pm_g2, desc_pm_g2); + + // Both should detect keypoints + ASSERT_FALSE(kps_charbonnier.empty()); + ASSERT_FALSE(kps_pm_g2.empty()); + + // Check subpixel accuracy for DIFF_CHARBONNIER (issue #27134) + bool hasSubpixel = false; + for (size_t i = 0; i < kps_charbonnier.size(); i++) + { + float fx = kps_charbonnier[i].pt.x - std::floor(kps_charbonnier[i].pt.x); + float fy = kps_charbonnier[i].pt.y - std::floor(kps_charbonnier[i].pt.y); + if (fx > 1e-5f || fy > 1e-5f) + { + hasSubpixel = true; + break; + } + } + EXPECT_TRUE(hasSubpixel) << "KAZE with DIFF_CHARBONNIER should have subpixel keypoint coordinates"; + + // Descriptor dimensions should match + ASSERT_EQ(desc_charbonnier.cols, desc_pm_g2.cols); +} + }} // namespace From 0e8441a66b8ba3d70b11fc06b4e28127b1d40ce1 Mon Sep 17 00:00:00 2001 From: Igraine Date: Fri, 13 Feb 2026 16:34:31 +0800 Subject: [PATCH 46/51] docs: fix typo 'neccessary' in gapi module --- modules/gapi/include/opencv2/gapi/infer/ov.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/gapi/include/opencv2/gapi/infer/ov.hpp b/modules/gapi/include/opencv2/gapi/infer/ov.hpp index d228879fd1..f79e670fa7 100644 --- a/modules/gapi/include/opencv2/gapi/infer/ov.hpp +++ b/modules/gapi/include/opencv2/gapi/infer/ov.hpp @@ -214,7 +214,7 @@ public: This function is used to ensure that all tensors in the model have names. It goes through all input and output nodes of the model and sets the names - if they are not set. This is neccessary for models with nameless tensors. + if they are not set. This is necessary for models with nameless tensors. If a tensor does not have a name, it will be assigned a default name based on the producer node's friendly name. If the producer node has multiple From feee8b202d6687a32df5486012857ab992f69833 Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Fri, 13 Feb 2026 13:40:38 +0100 Subject: [PATCH 47/51] Help compiler vectorize loops in meanSplit Otherwise, it does not know dataset_, mean_ and var_ do not overlap. --- .../include/opencv2/flann/kdtree_index.h | 26 ++++++++++++++----- 1 file changed, 19 insertions(+), 7 deletions(-) diff --git a/modules/flann/include/opencv2/flann/kdtree_index.h b/modules/flann/include/opencv2/flann/kdtree_index.h index 8245f7db79..ed17cecb7c 100644 --- a/modules/flann/include/opencv2/flann/kdtree_index.h +++ b/modules/flann/include/opencv2/flann/kdtree_index.h @@ -46,6 +46,11 @@ #include "random.h" #include "saving.h" +#if defined(__clang__) || defined(__GNUC__) +#define CV_RESTRICT __restrict__ +#else +#define CV_RESTRICT +#endif namespace cvflann { @@ -320,9 +325,7 @@ private: int cnt = std::min((int)SAMPLE_MEAN+1, count); for (int j = 0; j < cnt; ++j) { ElementType* v = dataset_[ind[j]]; - for (size_t k=0; k Date: Tue, 17 Feb 2026 10:56:28 +0300 Subject: [PATCH 48/51] Merge pull request #28333 from hailer-MIT:docs-calib3d-fisheye-clarification docs(calib3d): clarify coordinate systems in projectPoints, undistort Points, and fisheye::undistortPoints #28333 This PR improves documentation clarity by explicitly describing: - Input/output coordinate systems (pixel vs normalized coordinates) - When to use normalized vs pixel coordinates in undistortPoints output - Differences between fisheye and standard pinhole camera models - Coordinate system transformations for better understanding Changes: - projectPoints: Added explicit note about input (world coords) and output (pixel coords) - undistortPoints: Clarified that input is pixel coordinates, and output depends on parameter P (normalized vs pixel) - fisheye::undistortPoints: Added comprehensive documentation including coordinate systems, when to use fisheye vs standard model, and distortion coefficient differences These improvements help users avoid ambiguity when using these functions for camera calibration and 3D vision pipelines. --- modules/calib3d/include/opencv2/calib3d.hpp | 84 +++++++++++++++------ 1 file changed, 63 insertions(+), 21 deletions(-) diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp index c9f468f1f0..52d32e9613 100644 --- a/modules/calib3d/include/opencv2/calib3d.hpp +++ b/modules/calib3d/include/opencv2/calib3d.hpp @@ -958,6 +958,22 @@ CV_EXPORTS_W void composeRT( InputArray rvec1, InputArray tvec1, /** @brief Projects 3D points to an image plane. +The function computes the 2D projections of 3D points to the image plane, given intrinsic and +extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial +derivatives of image points coordinates (as functions of all the input parameters) with respect to +the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global +optimization in @ref calibrateCamera, @ref solvePnP, and @ref stereoCalibrate. The function itself +can also be used to compute a re-projection error, given the current intrinsic and extrinsic +parameters. + +@note **Coordinate Systems:** +- **Input (`objectPoints`)**: 3D points in the **world coordinate frame**. +- **Output (`imagePoints`)**: 2D projections in **pixel coordinates** of the image plane, with distortion applied. + The coordinates \f$(u, v)\f$ are measured in pixels from the top-left corner of the image. + +The transformation chain is: World coordinates → Camera coordinates (via rvec/tvec) → Normalized camera coordinates +→ Distortion applied → Pixel coordinates (via cameraMatrix). + @param objectPoints Array of object points expressed wrt. the world coordinate frame. A 3xN/Nx3 1-channel or 1xN/Nx1 3-channel (or vector\ ), where N is the number of points in the view. @param rvec The rotation vector (@ref Rodrigues) that, together with tvec, performs a change of @@ -966,7 +982,7 @@ basis from world to camera coordinate system, see @ref calibrateCamera for detai @param cameraMatrix Camera intrinsic matrix \f$\cameramatrix{A}\f$ . @param distCoeffs Input vector of distortion coefficients \f$\distcoeffs\f$ . If the vector is empty, the zero distortion coefficients are assumed. -@param imagePoints Output array of image points, 1xN/Nx1 2-channel, or +@param imagePoints Output array of image points in **pixel coordinates**, 1xN/Nx1 2-channel, or vector\ . @param jacobian Optional output 2Nx(10+\) jacobian matrix of derivatives of image points with respect to components of the rotation vector, translation vector, focal lengths, @@ -976,14 +992,6 @@ components of the jacobian are returned via different output parameters. function assumes that the aspect ratio (\f$f_x / f_y\f$) is fixed and correspondingly adjusts the jacobian matrix. -The function computes the 2D projections of 3D points to the image plane, given intrinsic and -extrinsic camera parameters. Optionally, the function computes Jacobians -matrices of partial -derivatives of image points coordinates (as functions of all the input parameters) with respect to -the particular parameters, intrinsic and/or extrinsic. The Jacobians are used during the global -optimization in @ref calibrateCamera, @ref solvePnP, and @ref stereoCalibrate. The function itself -can also be used to compute a re-projection error, given the current intrinsic and extrinsic -parameters. - @note By setting rvec = tvec = \f$[0, 0, 0]\f$, or by setting cameraMatrix to a 3x3 identity matrix, or by passing zero distortion coefficients, one can get various useful partial cases of the function. This means, one can compute the distorted coordinates for a sparse set of points or apply @@ -4005,10 +4013,21 @@ point coordinates out of the normalized distorted point coordinates ("normalized coordinates do not depend on the camera matrix). The function can be used for both a stereo camera head or a monocular camera (when R is empty). -@param src Observed point coordinates, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or + +@note **Coordinate Systems:** +- **Input (`src`)**: Points are expected in **pixel coordinates** of the distorted image, i.e., + coordinates \f$(u, v)\f$ measured in pixels from the top-left corner of the image. +- **Output (`dst`)**: The coordinate system of output points depends on parameter `P`: + - If `P` is provided (not empty): Output points are in **pixel coordinates** of the rectified/undistorted image plane, using the camera matrix `P`. + - If `P` is empty or identity: Output points are in **normalized camera coordinates** (also called "normalized image coordinates"), + which are dimensionless coordinates \f$(x, y)\f$ in the camera's focal plane, related to pixel coordinates by: + \f$x = (u - c_x) / f_x\f$ and \f$y = (v - c_y) / f_y\f$. These normalized coordinates are independent of the camera's intrinsic parameters and are useful for 3D reconstruction or epipolar geometry. + +@param src Observed point coordinates in **pixel coordinates** of the distorted image, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel (CV_32FC2 or CV_64FC2) (or vector\ ). @param dst Output ideal point coordinates (1xN/Nx1 2-channel or vector\ ) after undistortion and reverse perspective -transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates. +transformation. If matrix P is identity or omitted, dst will contain **normalized camera coordinates** (normalized image coordinates), +otherwise it contains pixel coordinates in the coordinate system defined by P. @param cameraMatrix Camera matrix \f$\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . @param distCoeffs Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ @@ -4016,7 +4035,7 @@ of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion @param R Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation is used. @param P New camera matrix (3x3) or new projection matrix (3x4) \f$\begin{bmatrix} {f'}_x & 0 & {c'}_x & t_x \\ 0 & {f'}_y & {c'}_y & t_y \\ 0 & 0 & 1 & t_z \end{bmatrix}\f$. P1 or P2 computed by -#stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used. +#stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used and output will be in normalized coordinates. */ CV_EXPORTS_W void undistortPoints(InputArray src, OutputArray dst, @@ -4125,17 +4144,40 @@ namespace fisheye */ CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray Kundistorted, InputArray K, InputArray D, double alpha = 0); - /** @brief Undistorts 2D points using fisheye model + /** @brief Undistorts 2D points using fisheye camera model - @param distorted Array of object points, 1xN/Nx1 2-channel (or vector\ ), where N is the - number of points in the view. - @param K Camera intrinsic matrix \f$\cameramatrix{K}\f$. - @param D Input vector of distortion coefficients \f$\distcoeffsfisheye\f$. + This function performs undistortion for fisheye camera models, which use a different distortion model + compared to the standard pinhole camera model used by #undistortPoints. The fisheye model is suitable + for wide-angle cameras. + + The function transforms points from the distorted fisheye image to undistorted coordinates, optionally + applying a rectification transformation (R) and projecting to a new image plane (P). + + @note **Coordinate Systems:** + - **Input (`distorted`)**: Points are expected in **pixel coordinates** of the distorted fisheye image, + i.e., coordinates measured in pixels from the top-left corner of the image. + - **Output (`undistorted`)**: The coordinate system depends on parameter `P`: + - If `P` is provided (not empty): Output points are in **pixel coordinates** of the rectified/undistorted + image plane, using the camera matrix `P`. + - If `P` is empty or identity: Output points are in **normalized camera coordinates** (normalized image coordinates), + which are dimensionless coordinates in the camera's focal plane, independent of intrinsic parameters. + + @note **Fisheye vs. Standard Model:** + Use this function (#fisheye::undistortPoints) for fisheye cameras (wide-angle lenses). + For standard pinhole cameras, use #undistortPoints instead. The fisheye model uses a different distortion + parameterization (4 coefficients) compared to the standard model (4-14 coefficients). + + @param distorted Array of distorted point coordinates in **pixel coordinates** of the fisheye image, + 1xN/Nx1 2-channel (or vector\ ), where N is the number of points in the view. + @param K Camera intrinsic matrix \f$\cameramatrix{K}\f$ of the fisheye camera. + @param D Input vector of fisheye distortion coefficients \f$\distcoeffsfisheye\f$ (must contain exactly 4 coefficients). @param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3 - 1-channel or 1x1 3-channel - @param P New camera intrinsic matrix (3x3) or new projection matrix (3x4) - @param criteria Termination criteria - @param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\ . + 1-channel or 1x1 3-channel. If empty, the identity transformation is used. + @param P New camera intrinsic matrix (3x3) or new projection matrix (3x4). If empty or identity, + output will be in normalized camera coordinates. + @param criteria Termination criteria for the iterative undistortion algorithm. + @param undistorted Output array of undistorted image points, 1xN/Nx1 2-channel, or vector\ . + The coordinate system depends on parameter P (see above). */ CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray(), From d77e46eb6ad0b803325ebf83b08f0d9dd25c4309 Mon Sep 17 00:00:00 2001 From: steaphenai Date: Wed, 17 Dec 2025 19:18:44 +0530 Subject: [PATCH 49/51] docs(env_reference): clarify OpenEXR optional support and security rationale --- .../introduction/env_reference/env_reference.markdown | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/tutorials/introduction/env_reference/env_reference.markdown b/doc/tutorials/introduction/env_reference/env_reference.markdown index c370ab8d6e..e6abc90f58 100644 --- a/doc/tutorials/introduction/env_reference/env_reference.markdown +++ b/doc/tutorials/introduction/env_reference/env_reference.markdown @@ -352,3 +352,7 @@ Some external dependencies can be detached into a dynamic library, which will be | OPENCV_IO_MAX_IMAGE_PIXELS | num | 1 << 30 | | | OPENCV_IO_ENABLE_OPENEXR | bool | true (set build option OPENCV_IO_FORCE_OPENEXR or use external OpenEXR), false (otherwise) | enable OpenEXR backend | | OPENCV_IO_ENABLE_JASPER | bool | true (set build option OPENCV_IO_FORCE_JASPER), false (otherwise) | enable Jasper backend | + +### Note +* OpenEXR support in OpenCV is optional. Source builds may include a bundled 3rdparty OpenEXR 2.3.0, but runtime support must be explicitly enabled via `OPENCV_IO_ENABLE_OPENEXR`. Users can also build OpenCV against a system-installed OpenEXR library. +* Support is disabled by default due to historical security considerations with malformed EXR files in older OpenEXR versions. Upgrading to OpenEXR 3.x is not a drop-in change and requires API and ABI adaptations. \ No newline at end of file From 94c8b747f01c72003315374077050c647e98edc2 Mon Sep 17 00:00:00 2001 From: Hanbin Bae Date: Wed, 18 Feb 2026 00:29:45 +0900 Subject: [PATCH 50/51] Merge pull request #28425 from Anemptyship:fix/squeeze-all-dims MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit DNN: Fix Squeeze to remove all size-1 dims when axes is empty #28425 Fixes #28424 OpenCV Extra: [opencv/opencv_extra#1308](https://github.com/opencv/opencv_extra/pull/1308) This PR fixes the ONNX Squeeze operator to correctly remove all size-1 dimensions when `axes` is not provided, conforming to the ONNX specification. ### Details Per [ONNX Squeeze specification](https://onnx.ai/onnx/operators/onnx__Squeeze.html): > 'If axes is not provided, all the single dimensions will be removed from the shape.' Previously, OpenCV DNN would not remove any dimensions in this case, causing shape mismatch errors with models like LaMa (inpainting). ### Example ```python # Input: [1, 1, 2, 4] # Squeeze with no axes attribute # Before: [1, 1, 2, 4] ✗ (No change) # After: [2, 4] ✓ (matches ONNX Runtime) ``` ### Tests Added `testONNXModels("squeeze_no_axes")` which validates this behavior with new test data. opencv_extra_pr=opencv/opencv_extra#1324 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch (4.x for bug fixes) - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable - Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake --- modules/dnn/src/onnx/onnx_importer.cpp | 8 ++++++++ modules/dnn/test/test_onnx_importer.cpp | 3 +++ 2 files changed, 11 insertions(+) diff --git a/modules/dnn/src/onnx/onnx_importer.cpp b/modules/dnn/src/onnx/onnx_importer.cpp index 5af114e803..11d24eadb8 100644 --- a/modules/dnn/src/onnx/onnx_importer.cpp +++ b/modules/dnn/src/onnx/onnx_importer.cpp @@ -2163,6 +2163,14 @@ void ONNXImporter::parseSqueeze(LayerParams& layerParams, const opencv_onnx::Nod else CV_Error(Error::StsNotImplemented, cv::format("ONNX/Squeeze: doesn't support non-constant 'axes' input")); } + else + { + for (int i = 0; i < inpShape.size(); ++i) + { + if (inpShape[i] == 1) + maskedAxes[i] = true; + } + } MatShape outShape; for (int i = 0; i < inpShape.size(); ++i) diff --git a/modules/dnn/test/test_onnx_importer.cpp b/modules/dnn/test/test_onnx_importer.cpp index c1b50f3fcf..a69e94990b 100644 --- a/modules/dnn/test/test_onnx_importer.cpp +++ b/modules/dnn/test/test_onnx_importer.cpp @@ -103,6 +103,8 @@ public: net.setInput(inps[i], inputNames[i]); Mat out = net.forward(""); + EXPECT_EQ(shape(out), shape(ref)); + if (useSoftmax) { LayerParams lp; @@ -1187,6 +1189,7 @@ TEST_P(Test_ONNX_layers, Squeeze) applyTestTag(CV_TEST_TAG_DNN_SKIP_IE_MYRIAD, CV_TEST_TAG_DNN_SKIP_IE_NN_BUILDER); testONNXModels("squeeze"); testONNXModels("squeeze_axes_op13"); + testONNXModels("squeeze_no_axes"); } TEST_P(Test_ONNX_layers, ReduceL2) From e1e170afc210aef025547b42330361c431e19f07 Mon Sep 17 00:00:00 2001 From: Sergey Fedorov Date: Wed, 18 Feb 2026 04:35:41 +0800 Subject: [PATCH 51/51] parallel_impl.cpp: fix assembler syntax for powerpc*-darwin --- modules/core/src/parallel_impl.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/modules/core/src/parallel_impl.cpp b/modules/core/src/parallel_impl.cpp index fc7c4c2b6e..e203569ac1 100644 --- a/modules/core/src/parallel_impl.cpp +++ b/modules/core/src/parallel_impl.cpp @@ -53,6 +53,8 @@ DECLARE_CV_PAUSE # define CV_PAUSE(v) do { for (int __delay = (v); __delay > 0; --__delay) { asm volatile("" ::: "memory"); } } while (0) # elif defined __GNUC__ && defined __mips__ && __mips_isa_rev >= 2 # define CV_PAUSE(v) do { for (int __delay = (v); __delay > 0; --__delay) { asm volatile("pause" ::: "memory"); } } while (0) +# elif defined __APPLE__ && defined __POWERPC__ +# define CV_PAUSE(v) do { for (int __delay = (v); __delay > 0; --__delay) { asm volatile("or r27,r27,r27" ::: "memory"); } } while (0) # elif defined __GNUC__ && defined __PPC64__ # define CV_PAUSE(v) do { for (int __delay = (v); __delay > 0; --__delay) { asm volatile("or 27,27,27" ::: "memory"); } } while (0) # elif defined __GNUC__ && defined __riscv