Replaces wasteful temporary object construction with in-place construction using emplace_back. Covers hot paths in objdetect, imgproc, and stitching modules.
stitching: pass warp params by value to avoid CUDA constant races #28118
### 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 the Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on 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 are accuracy tests, performance tests, and test data in the opencv_extra repository, if applicable.
The patch to opencv_extra uses the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake configuration.
Fixes#26870.
In `modules/stitching/src/cuda/build_warp_maps.cu`, the original implementation copied parameters into global GPU constant symbols:
```cpp
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9 * sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9 * sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
```
As discussed in the issue, this can cause race conditions when multiple warps are built concurrently. This patch removes the use of these global constant symbols and instead passes the required data as kernel parameters (a total of 11 floats encapsulated in `WarpParams`).
One potential concern is increased register pressure due to additional kernel arguments. However, based on experiments using the test case from issue #26870, there is no significant performance regression; in fact, a small speed‑up was observed.
Testing was performed on an NVIDIA GeForce RTX 4090 (single GPU).
Note: ./bin/opencv_perf_stitching did not run successfully on my system even with an unmodified git checkout, so performance was evaluated using the test case from issue #26870 instead.
Fixed multiband blender memory leak 27333 #28085Fixes#27333
This PR fixes a memory leak in MultiBandBlender where memory from pyramid vectors was not being released when prepare() was called multiple times or when the blender object was reused.
Problem:
MultiBandBlender retains hundreds of MB to several GB of memory even after the blender pointer is released. The issue occurs because:
1. The resize() function on std::vector does not release memory when the new size is less than or equal to the current size
2. It only adjusts the size marker while retaining the capacity and existing data
3. When prepare() is called, the pyramid vectors are resized but old data remains allocated
Example from the bug report: Blending 14 images (1920x1080) retained ~200MB after blender.release(). With larger images, several GB could be retained.
Root Cause:
GPU path (lines 254-256): Correctly calls clear() before operations
Non-GPU path (lines 285-298): Missing clear() calls, causing resize() to retain old data
Solution:
Added .clear() calls before .resize() in the non-GPU path to match the GPU path behavior. This ensures:
- Memory from previous blend operations is released in prepare()
- Reusing a blender object doesn't accumulate memory
- Behavior is consistent between GPU and non-GPU code paths
Changes:
modules/stitching/src/blenders.cpp: Added 2 clear() calls (dst_pyr_laplace_.clear() and dst_band_weights_.clear()) before resize() in the non-GPU path
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 (4.x)
- [x] There is a reference to the original bug report and related work (issue #27333)
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
N/A - This is a memory management fix that doesn't affect algorithm behavior. Existing stitching tests verify correctness.
- [x] The feature is well documented and sample code can be built with the project CMake
The fix maintains existing API behavior, no documentation changes needed
Add direct pdf links in the bibliography #26754
Update and add pdf links in the bibliography.
### 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
Imgproc: use double to determine whether the corners points are within src #26022close#26016
Related https://github.com/opencv/opencv_contrib/pull/3778
### 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
Removed all pre-C++11 code, workarounds, and branches #23736
This removes a bunch of pre-C++11 workrarounds that are no longer necessary as C++11 is now required.
It is a nice clean up and simplification.
* No longer unconditionally #include <array> in cvdef.h, include explicitly where needed
* Removed deprecated CV_NODISCARD, already unused in the codebase
* Removed some pre-C++11 workarounds, and simplified some backwards compat defines
* Removed CV_CXX_STD_ARRAY
* Removed CV_CXX_MOVE_SEMANTICS and CV_CXX_MOVE
* Removed all tests of CV_CXX11, now assume it's always true. This allowed removing a lot of dead code.
* Updated some documentation consequently.
* Removed all tests of CV_CXX11, now assume it's always true
* Fixed links.
---------
Co-authored-by: Maksim Shabunin <maksim.shabunin@gmail.com>
Co-authored-by: Alexander Smorkalov <alexander.smorkalov@xperience.ai>
python binding for matches and inliers_mask attributes of cv2.detail_MatchesInfo class
* making matches and inliers_mask attributes of cv2.detail_MatchesInfo class accessible from python interface
* binding test for cv2.detail_MatchesInfo class
Added CV_PROP_RW macro to keypoints
* Added CV_PROP_RW macro to keypoints
As outlined in the feature request in the issue https://github.com/opencv/opencv/issues/21171 : the keypoints field has been made parsable by the bindings.
* Added test for keypoints
Added test to check if the CV_PROP_RW macro added in the previous commit makes keypoints public and accessible through the python API.
Ordinary quaternion
* version 1.0
* add assumeUnit;
add UnitTest;
check boundary value;
fix the func using method: func(obj);
fix 4x4;
add rodrigues vector transformation;
fix mat to quat;
* fix blank and tab
* fix blank and tab
modify test;cpp to hpp
* mainly improve comment;
add rvec2Quat;fix toRodrigues;
fix throw to CV_Error
* fix bug of quatd * int;
combine hpp and cpp;
fix << overload error in win system;
modify include in test file;
* move implementation to quaternion.ini.hpp;
change some constructor to createFrom* function;
change Rodrigues vector to rotation vector;
change the matexpr to mat of 3x3 return type;
improve comments;
* try fix log function error in win
* add enums for assumeUnit;
improve docs;
add using std::cos funcs
* remove using std::* from header;
add std::* in affine.hpp,warpers_inl.hpp;
* quat: coding style
* quat: AssumeType => QuatAssumeType
* support similarity masks
* add test for similarity threshold
* short license in test
* use UMat in buildSimilarityMask
* fix win32 warnings
* fix test indentation
* fix umat/mat sync
* no in-place argument for erode/dilate
Fixes two errors when building with the options WITH_CUDA=ON and BUILD_CUDA_STUBS=ON on a machine without CUDA.
In the cudaarithm module, make sure cuda_runtime.h only gets included when CUDA is installed.
In the stitching module, don't assume that cuda is present just because cudaarithm and cudawarping are present (as is the case when building with the above options).
Vincent Rabaud
Alexander Smorkalov
raimbekovm
AdwaithBatchu
sinkboy-chen
Ghazi-raad
cudawarped
Alexander Smorkalov
s-trinh
Kumataro
Sean McBride
Wang Kai
Jaakko Rantala
Lilit Grigoryan
Andrey Senyaev
Andrew Chinery
Alexander Alekhin
Tomoaki Teshima
Dan
Namgoo Lee
Oguzhan Guclu
KaurkerDevourer
Tejas M R
danielenricocahall
Amir Tulegenov
chargerKong
Alexander Alekhin
Quentin Chateau
Rob Timpe