Merge branch 4.x

samples/cpp/tutorial_code/ImgTrans/imageSegmentation.cpp

@@ -24,23 +24,16 @@ int main(int argc, char *argv[])
         return -1;
     }
 
-    // Show source image
+    // Show the source image
     imshow("Source Image", src);
     //! [load_image]
 
     //! [black_bg]
     // Change the background from white to black, since that will help later to extract
     // better results during the use of Distance Transform
-    for ( int i = 0; i < src.rows; i++ ) {
-        for ( int j = 0; j < src.cols; j++ ) {
-            if ( src.at<Vec3b>(i, j) == Vec3b(255,255,255) )
-            {
-                src.at<Vec3b>(i, j)[0] = 0;
-                src.at<Vec3b>(i, j)[1] = 0;
-                src.at<Vec3b>(i, j)[2] = 0;
-            }
-        }
-    }
+    Mat mask;
+    inRange(src, Scalar(255, 255, 255), Scalar(255, 255, 255), mask);
+    src.setTo(Scalar(0, 0, 0), mask);
 
     // Show output image
     imshow("Black Background Image", src);
@@ -124,7 +117,9 @@ int main(int argc, char *argv[])
 
     // Draw the background marker
     circle(markers, Point(5,5), 3, Scalar(255), -1);
-    imshow("Markers", markers*10000);
+    Mat markers8u;
+    markers.convertTo(markers8u, CV_8U, 10);
+    imshow("Markers", markers8u);
     //! [seeds]
 
     //! [watershed]

samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp

@@ -419,7 +419,12 @@ int main(int argc, char* argv[])
         {
             Mat temp = view.clone();
             if (s.useFisheye)
-              cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs);
+            {
+                Mat newCamMat;
+                fisheye::estimateNewCameraMatrixForUndistortRectify(cameraMatrix, distCoeffs, imageSize,
+                                                                    Matx33d::eye(), newCamMat, 1);
+                cv::fisheye::undistortImage(temp, view, cameraMatrix, distCoeffs, newCamMat);
+            }
             else
               undistort(temp, view, cameraMatrix, distCoeffs);
         }
@@ -445,7 +450,7 @@ int main(int argc, char* argv[])
 
     // -----------------------Show the undistorted image for the image list ------------------------
     //! [show_results]
-    if( s.inputType == Settings::IMAGE_LIST && s.showUndistorsed )
+    if( s.inputType == Settings::IMAGE_LIST && s.showUndistorsed && !cameraMatrix.empty())
     {
         Mat view, rview, map1, map2;
 
@@ -548,7 +553,7 @@ static bool runCalibration( Settings& s, Size& imageSize, Mat& cameraMatrix, Mat
 {
     //! [fixed_aspect]
     cameraMatrix = Mat::eye(3, 3, CV_64F);
-    if( s.flag & CALIB_FIX_ASPECT_RATIO )
+    if( !s.useFisheye && s.flag & CALIB_FIX_ASPECT_RATIO )
         cameraMatrix.at<double>(0,0) = s.aspectRatio;
     //! [fixed_aspect]
     if (s.useFisheye) {
@@ -631,7 +636,7 @@ static void saveCameraParams( Settings& s, Size& imageSize, Mat& cameraMatrix, M
     fs << "board_height" << s.boardSize.height;
     fs << "square_size" << s.squareSize;
 
-    if( s.flag & CALIB_FIX_ASPECT_RATIO )
+    if( !s.useFisheye && s.flag & CALIB_FIX_ASPECT_RATIO )
         fs << "fix_aspect_ratio" << s.aspectRatio;
 
     if (s.flag)

samples/cpp/tutorial_code/core/parallel_backend/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.9)
+
+find_package(OpenCV REQUIRED COMPONENTS opencv_core)
+
+find_package(OpenMP)
+if(OpenMP_FOUND)
+  project(opencv_example_openmp_backend)
+  add_executable(opencv_example_openmp_backend example-openmp.cpp)
+  target_link_libraries(opencv_example_openmp_backend PRIVATE
+      opencv_core
+      OpenMP::OpenMP_CXX
+  )
+endif()
+
+# TODO: find_package(TBB)
+find_path(TBB_INCLUDE_DIR NAMES "tbb/tbb.h")
+find_library(TBB_LIBRARY NAMES "tbb")
+if(TBB_INCLUDE_DIR AND TBB_LIBRARY AND NOT OPENCV_EXAMPLE_SKIP_TBB)
+  project(opencv_example_tbb_backend)
+  add_executable(opencv_example_tbb_backend example-tbb.cpp)
+  target_include_directories(opencv_example_tbb_backend SYSTEM PRIVATE ${TBB_INCLUDE_DIR})
+  target_link_libraries(opencv_example_tbb_backend PRIVATE
+      opencv_core
+      ${TBB_LIBRARY}
+  )
+endif()

samples/cpp/tutorial_code/core/parallel_backend/example-openmp.cpp

@@ -0,0 +1,44 @@
+#include "opencv2/core.hpp"
+#include <iostream>
+
+#include <chrono>
+#include <thread>
+
+//! [openmp_include]
+#include "opencv2/core/parallel/backend/parallel_for.openmp.hpp"
+//! [openmp_include]
+
+namespace cv { // private.hpp
+CV_EXPORTS const char* currentParallelFramework();
+}
+
+static
+std::string currentParallelFrameworkSafe()
+{
+    const char* framework = cv::currentParallelFramework();
+    if (framework)
+        return framework;
+    return std::string();
+}
+
+using namespace cv;
+int main()
+{
+    std::cout << "OpenCV builtin parallel framework: '" << currentParallelFrameworkSafe() << "' (nthreads=" << getNumThreads() << ")" << std::endl;
+
+    //! [openmp_backend]
+    //omp_set_dynamic(1);
+    cv::parallel::setParallelForBackend(std::make_shared<cv::parallel::openmp::ParallelForBackend>());
+    //! [openmp_backend]
+
+    std::cout << "New parallel backend: '" << currentParallelFrameworkSafe() << "'" << "' (nthreads=" << getNumThreads() << ")" << std::endl;
+
+    parallel_for_(Range(0, 20), [&](const Range range)
+    {
+        std::ostringstream out;
+        out << "Thread " << getThreadNum() << "(opencv=" << utils::getThreadID() << "): range " << range.start << "-" << range.end << std::endl;
+        std::cout << out.str() << std::flush;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    });
+}

samples/cpp/tutorial_code/core/parallel_backend/example-tbb.cpp

@@ -0,0 +1,43 @@
+#include "opencv2/core.hpp"
+#include <iostream>
+
+#include <chrono>
+#include <thread>
+
+//! [tbb_include]
+#include "opencv2/core/parallel/backend/parallel_for.tbb.hpp"
+//! [tbb_include]
+
+namespace cv { // private.hpp
+CV_EXPORTS const char* currentParallelFramework();
+}
+
+static
+std::string currentParallelFrameworkSafe()
+{
+    const char* framework = cv::currentParallelFramework();
+    if (framework)
+        return framework;
+    return std::string();
+}
+
+using namespace cv;
+int main()
+{
+    std::cout << "OpenCV builtin parallel framework: '" << currentParallelFrameworkSafe() << "' (nthreads=" << getNumThreads() << ")" << std::endl;
+
+    //! [tbb_backend]
+    cv::parallel::setParallelForBackend(std::make_shared<cv::parallel::tbb::ParallelForBackend>());
+    //! [tbb_backend]
+
+    std::cout << "New parallel backend: '" << currentParallelFrameworkSafe() << "'" << "' (nthreads=" << getNumThreads() << ")" << std::endl;
+
+    parallel_for_(Range(0, 20), [&](const Range range)
+    {
+        std::ostringstream out;
+        out << "Thread " << getThreadNum() << "(opencv=" << utils::getThreadID() << "): range " << range.start << "-" << range.end << std::endl;
+        std::cout << out.str() << std::flush;
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    });
+}

samples/cpp/tutorial_code/snippets/imgproc_segmentation.cpp

@@ -0,0 +1,35 @@
+#include "opencv2/imgproc.hpp"
+#include "opencv2/imgproc/segmentation.hpp"
+
+using namespace cv;
+
+static
+void usage_example_intelligent_scissors()
+{
+    Mat image(Size(1920, 1080), CV_8UC3, Scalar::all(128));
+
+    //! [usage_example_intelligent_scissors]
+    segmentation::IntelligentScissorsMB tool;
+    tool.setEdgeFeatureCannyParameters(16, 100)  // using Canny() as edge feature extractor
+        .setGradientMagnitudeMaxLimit(200);
+
+    // calculate image features
+    tool.applyImage(image);
+
+    // calculate map for specified source point
+    Point source_point(200, 100);
+    tool.buildMap(source_point);
+
+    // fast fetching of contours
+    // for specified target point and the pre-calculated map (stored internally)
+    Point target_point(400, 300);
+    std::vector<Point> pts;
+    tool.getContour(target_point, pts);
+    //! [usage_example_intelligent_scissors]
+}
+
+int main()
+{
+    usage_example_intelligent_scissors();
+    return 0;
+}

samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp

@@ -25,10 +25,10 @@ struct Frame
 int main()
 {
     //! [Open streams]
-    // Open color stream
-    VideoCapture colorStream(CAP_V4L2);
     // Open depth stream
     VideoCapture depthStream(CAP_OPENNI2_ASTRA);
+    // Open color stream
+    VideoCapture colorStream(0, CAP_V4L2);
     //! [Open streams]
 
     // Check that stream has opened
@@ -69,7 +69,6 @@ int main()
     //! [Read streams]
     // Create two lists to store frames
     std::list<Frame> depthFrames, colorFrames;
-    std::mutex depthFramesMtx, colorFramesMtx;
     const std::size_t maxFrames = 64;
 
     // Synchronization objects
@@ -90,8 +89,6 @@ int main()
                 Frame f;
                 f.timestamp = cv::getTickCount();
                 depthStream.retrieve(f.frame, CAP_OPENNI_DEPTH_MAP);
-                //depthStream.retrieve(f.frame, CAP_OPENNI_DISPARITY_MAP);
-                //depthStream.retrieve(f.frame, CAP_OPENNI_IR_IMAGE);
                 if (f.frame.empty())
                 {
                     cerr << "ERROR: Failed to decode frame from depth stream" << endl;
@@ -99,7 +96,7 @@ int main()
                 }
 
                 {
-                    std::lock_guard<std::mutex> lk(depthFramesMtx);
+                    std::lock_guard<std::mutex> lk(mtx);
                     if (depthFrames.size() >= maxFrames)
                         depthFrames.pop_front();
                     depthFrames.push_back(f);
@@ -127,7 +124,7 @@ int main()
                 }
 
                 {
-                    std::lock_guard<std::mutex> lk(colorFramesMtx);
+                    std::lock_guard<std::mutex> lk(mtx);
                     if (colorFrames.size() >= maxFrames)
                         colorFrames.pop_front();
                     colorFrames.push_back(f);
@@ -138,56 +135,66 @@ int main()
     });
     //! [Read streams]
 
-    while (true)
+    //! [Pair frames]
+    // Pair depth and color frames
+    while (!isFinish)
     {
         std::unique_lock<std::mutex> lk(mtx);
-        while (depthFrames.empty() && colorFrames.empty())
+        while (!isFinish && (depthFrames.empty() || colorFrames.empty()))
             dataReady.wait(lk);
 
-        depthFramesMtx.lock();
-        if (depthFrames.empty())
+        while (!depthFrames.empty() && !colorFrames.empty())
         {
-            depthFramesMtx.unlock();
-        }
-        else
-        {
-            // Get a frame from the list
-            Mat depthMap = depthFrames.front().frame;
-            depthFrames.pop_front();
-            depthFramesMtx.unlock();
+            if (!lk.owns_lock())
+                lk.lock();
 
+            // Get a frame from the list
+            Frame depthFrame = depthFrames.front();
+            int64 depthT = depthFrame.timestamp;
+
+            // Get a frame from the list
+            Frame colorFrame = colorFrames.front();
+            int64 colorT = colorFrame.timestamp;
+
+            // Half of frame period is a maximum time diff between frames
+            const int64 maxTdiff = int64(1000000000 / (2 * colorStream.get(CAP_PROP_FPS)));
+            if (depthT + maxTdiff < colorT)
+            {
+                depthFrames.pop_front();
+                continue;
+            }
+            else if (colorT + maxTdiff < depthT)
+            {
+                colorFrames.pop_front();
+                continue;
+            }
+            depthFrames.pop_front();
+            colorFrames.pop_front();
+            lk.unlock();
+
+            //! [Show frames]
             // Show depth frame
             Mat d8, dColor;
-            depthMap.convertTo(d8, CV_8U, 255.0 / 2500);
+            depthFrame.frame.convertTo(d8, CV_8U, 255.0 / 2500);
             applyColorMap(d8, dColor, COLORMAP_OCEAN);
             imshow("Depth (colored)", dColor);
-        }
-
-        //! [Show color frame]
-        colorFramesMtx.lock();
-        if (colorFrames.empty())
-        {
-            colorFramesMtx.unlock();
-        }
-        else
-        {
-            // Get a frame from the list
-            Mat colorFrame = colorFrames.front().frame;
-            colorFrames.pop_front();
-            colorFramesMtx.unlock();
 
             // Show color frame
-            imshow("Color", colorFrame);
+            imshow("Color", colorFrame.frame);
+            //! [Show frames]
+
+            // Exit on Esc key press
+            int key = waitKey(1);
+            if (key == 27) // ESC
+            {
+                isFinish = true;
+                break;
+            }
         }
-        //! [Show color frame]
-
-        // Exit on Esc key press
-        int key = waitKey(1);
-        if (key == 27) // ESC
-            break;
     }
+    //! [Pair frames]
 
-    isFinish = true;
+    dataReady.notify_one();
     depthReader.join();
     colorReader.join();