Merge pull request #14676 from 103yiran:103yiran-clang

make it compatible with clang
Merge pull request #13669 from alalek:test_eigen_relax_eps_2.4
2026-07-22 20:03:03 +04:00 · 2019-05-30 14:19:14 +03:00 · 2019-05-30 14:04:40 +08:00 · 2019-01-21 18:32:22 +03:00 · 2019-01-21 15:33:37 +03:00 · 2019-01-21 15:18:10 +03:00
84 changed files with 1920 additions and 400 deletions
@@ -1,10 +1,10 @@
+# ignore dot files/directories
+.*
+!.gitignore
+
 *.autosave
 *.pyc
 *.user
 *~
-.*.swp
-.DS_Store
-.sw[a-z]
 tags
 tegra/
-.cache
@@ -25,7 +25,7 @@ endif(WIN32 AND NOT MINGW)

 ocv_warnings_disable(CMAKE_C_FLAGS -Wno-implicit-function-declaration -Wno-uninitialized -Wmissing-prototypes
                                   -Wno-unused-but-set-parameter -Wmissing-declarations -Wunused -Wshadow -Wsign-compare)
-ocv_warnings_disable(CMAKE_C_FLAGS -Wunused-parameter) # clang
+ocv_warnings_disable(CMAKE_C_FLAGS -Wunused-parameter -Wstrict-prototypes) # clang
 ocv_warnings_disable(CMAKE_C_FLAGS /wd4013 /wd4018 /wd4101 /wd4244 /wd4267 /wd4715) # vs2005

 if(UNIX)
@@ -3,7 +3,7 @@
 #
 # ----------------------------------------------------------------------------

-if(ARM AND ENABLE_NEON AND NOT AARCH64)
+if(ARM AND ENABLE_NEON AND NOT AARCH64 AND NOT IOS)
  project(${PNG_LIBRARY} ASM)
 else()
  project(${PNG_LIBRARY})
@@ -14,7 +14,7 @@ ocv_include_directories("${CMAKE_CURRENT_SOURCE_DIR}" ${ZLIB_INCLUDE_DIR})
 file(GLOB lib_srcs *.c)
 file(GLOB lib_hdrs *.h)

-if(ARM AND ENABLE_NEON AND NOT AARCH64)
+if(ARM AND ENABLE_NEON AND NOT AARCH64 AND NOT IOS)
  list(APPEND lib_srcs arm/filter_neon.S arm/arm_init.c)
  add_definitions(-DPNG_ARM_NEON_OPT=2)
 else()
@@ -187,7 +187,7 @@ if (HAVE_LIBPTHREAD)
  add_definitions(-DUSE_PTHREAD) #required for Unix
 endif()

-if (CMAKE_COMPILER_IS_GNUCXX)
+if(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_COMPILER_IS_CLANGCXX)
  add_definitions(-DTBB_USE_GCC_BUILTINS=1) #required for ARM GCC
 endif()

@@ -10,7 +10,7 @@
 if(" ${CMAKE_SOURCE_DIR}" STREQUAL " ${CMAKE_BINARY_DIR}")
  message(FATAL_ERROR "
 FATAL: In-source builds are not allowed.
-       You should create separate directory for build files.
+       You should create a separate directory for build files.
 ")
 endif()

@@ -37,24 +37,15 @@ endif(NOT CMAKE_TOOLCHAIN_FILE)
 # Top level OpenCV project
 # --------------------------------------------------------------
 if(CMAKE_GENERATOR MATCHES Xcode AND XCODE_VERSION VERSION_GREATER 4.3)
-  cmake_minimum_required(VERSION 2.8.8)
+  cmake_minimum_required(VERSION 3.0)
 elseif(IOS)
-  cmake_minimum_required(VERSION 2.8.0)
+  cmake_minimum_required(VERSION 3.0)
 else()
-  cmake_minimum_required(VERSION 2.6.3)
-endif()
-
-if(POLICY CMP0017)
-  cmake_policy(SET CMP0017 NEW)
-endif()
-
-if(POLICY CMP0022)
-  cmake_policy(SET CMP0022 OLD)
+  cmake_minimum_required(VERSION 2.8.12.2)
 endif()

 if(POLICY CMP0026)
-  # silence cmake 3.0+ warnings about reading LOCATION attribute
-  cmake_policy(SET CMP0026 OLD)
+  cmake_policy(SET CMP0026 NEW)
 endif()

 if (POLICY CMP0042)
@@ -86,8 +77,8 @@ ocv_clear_vars(OpenCVModules_TARGETS)
 # Break in case of popular CMake configuration mistakes
 # ----------------------------------------------------------------------------
 if(NOT CMAKE_SIZEOF_VOID_P GREATER 0)
-  message(FATAL_ERROR "CMake fails to deterimine the bitness of target platform.
-  Please check your CMake and compiler installation. If you are crosscompiling then ensure that your CMake toolchain file correctly sets the compiler details.")
+  message(FATAL_ERROR "CMake fails to determine the bitness of the target platform.
+  Please check your CMake and compiler installation. If you are cross-compiling then ensure that your CMake toolchain file correctly sets the compiler details.")
 endif()

 # ----------------------------------------------------------------------------
@@ -198,7 +189,7 @@ OCV_OPTION(BUILD_PACKAGE            "Enables 'make package_source' command"
 OCV_OPTION(BUILD_PERF_TESTS         "Build performance tests"                     ON  IF (NOT IOS) )
 OCV_OPTION(BUILD_TESTS              "Build accuracy & regression tests"           ON  IF (NOT IOS) )
 OCV_OPTION(BUILD_WITH_DEBUG_INFO    "Include debug info into debug libs (not MSCV only)" ON )
-OCV_OPTION(BUILD_WITH_STATIC_CRT    "Enables use of staticaly linked CRT for staticaly linked OpenCV" ON IF MSVC )
+OCV_OPTION(BUILD_WITH_STATIC_CRT    "Enables use of statically linked CRT for staticaly linked OpenCV" ON IF MSVC )
 OCV_OPTION(BUILD_FAT_JAVA_LIB       "Create fat java wrapper containing the whole OpenCV library" ON IF NOT BUILD_SHARED_LIBS AND CMAKE_COMPILER_IS_GNUCXX )
 OCV_OPTION(BUILD_ANDROID_SERVICE    "Build OpenCV Manager for Google Play" OFF IF ANDROID AND ANDROID_SOURCE_TREE )
 OCV_OPTION(BUILD_ANDROID_PACKAGE    "Build platform-specific package for Google Play" OFF IF ANDROID )
@@ -692,6 +683,16 @@ endif()
 # ========================== build platform ==========================
 status("")
 status("  Platform:")
+if(NOT DEFINED OPENCV_TIMESTAMP
+    AND NOT CMAKE_VERSION VERSION_LESS 2.8.11
+    AND NOT BUILD_INFO_SKIP_TIMESTAMP
+)
+  string(TIMESTAMP OPENCV_TIMESTAMP "" UTC)
+  set(OPENCV_TIMESTAMP "${OPENCV_TIMESTAMP}" CACHE STRING "Timestamp of OpenCV build configuration" FORCE)
+endif()
+if(OPENCV_TIMESTAMP)
+  status("    Timestamp:"      ${OPENCV_TIMESTAMP})
+endif()
 status("    Host:"             ${CMAKE_HOST_SYSTEM_NAME} ${CMAKE_HOST_SYSTEM_VERSION} ${CMAKE_HOST_SYSTEM_PROCESSOR})
 if(CMAKE_CROSSCOMPILING)
  status("    Target:"         ${CMAKE_SYSTEM_NAME} ${CMAKE_SYSTEM_VERSION} ${CMAKE_SYSTEM_PROCESSOR})
@@ -712,10 +713,6 @@ endif()
 # ========================== C/C++ options ==========================
 if(CMAKE_CXX_COMPILER_VERSION)
  set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} (ver ${CMAKE_CXX_COMPILER_VERSION})")
-elseif(CMAKE_COMPILER_IS_CLANGCXX)
-  set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} (ver ${CMAKE_CLANG_REGEX_VERSION})")
-elseif(CMAKE_COMPILER_IS_GNUCXX)
-  set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} (ver ${CMAKE_GCC_REGEX_VERSION})")
 else()
  set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1}")
 endif()
@@ -1029,7 +1026,7 @@ if(HAVE_OPENCL)
    set(__libs "")
    foreach(l ${OPENCL_LIBRARIES})
      if(TARGET ${l})
-        get_target_property(p ${l} LOCATION)
+        get_target_property(p ${l} IMPORTED_LOCATION)
        if(p MATCHES NOTFOUND)
          list(APPEND __libs "${l}")
        else()
@@ -1553,7 +1553,7 @@ macro(CUDA_ADD_LIBRARY cuda_target)
  # variable will have been defined.
  CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS("${link_file}" ${cuda_target} "${_options}" "${${cuda_target}_SEPARABLE_COMPILATION_OBJECTS}")

-  target_link_libraries(${cuda_target}
+  target_link_libraries(${cuda_target} LINK_PRIVATE
    ${CUDA_LIBRARIES}
    )

@@ -1597,7 +1597,7 @@ macro(CUDA_ADD_EXECUTABLE cuda_target)
  # variable will have been defined.
  CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS("${link_file}" ${cuda_target} "${_options}" "${${cuda_target}_SEPARABLE_COMPILATION_OBJECTS}")

-  target_link_libraries(${cuda_target}
+  target_link_libraries(${cuda_target} LINK_PRIVATE
    ${CUDA_LIBRARIES}
    )

@@ -1672,9 +1672,9 @@ endmacro()
 ###############################################################################
 macro(CUDA_ADD_CUFFT_TO_TARGET target)
  if (CUDA_BUILD_EMULATION)
-    target_link_libraries(${target} ${CUDA_cufftemu_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cufftemu_LIBRARY})
  else()
-    target_link_libraries(${target} ${CUDA_cufft_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cufft_LIBRARY})
  endif()
 endmacro()

@@ -1685,9 +1685,9 @@ endmacro()
 ###############################################################################
 macro(CUDA_ADD_CUBLAS_TO_TARGET target)
  if (CUDA_BUILD_EMULATION)
-    target_link_libraries(${target} ${CUDA_cublasemu_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cublasemu_LIBRARY})
  else()
-    target_link_libraries(${target} ${CUDA_cublas_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cublas_LIBRARY})
  endif()
 endmacro()

@@ -18,9 +18,9 @@ if(ENABLE_CCACHE AND NOT CMAKE_COMPILER_IS_CCACHE)
        message(STATUS "Unable to compile program with enabled ccache, reverting...")
        set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${__OLD_RULE_LAUNCH_COMPILE}")
      endif()
-    else()
-      message(STATUS "Looking for ccache - not found")
    endif()
+  else()
+    message(STATUS "Looking for ccache - not found")
  endif()
 endif()

@@ -164,7 +164,7 @@ if(CMAKE_COMPILER_IS_GNUCXX)
  # Other optimizations
  if(ENABLE_OMIT_FRAME_POINTER)
    add_extra_compiler_option(-fomit-frame-pointer)
-  else()
+  elseif(DEFINED ENABLE_OMIT_FRAME_POINTER)
    add_extra_compiler_option(-fno-omit-frame-pointer)
  endif()
  if(ENABLE_FAST_MATH)
@@ -61,7 +61,9 @@ if(NOT DEFINED OpenCV_CUDA)
  endif()
 endif()

-if(MSVC)
+if(DEFINED OpenCV_ARCH AND DEFINED OpenCV_RUNTIME)
+  # custom overrided values
+elseif(MSVC)
  if(CMAKE_CL_64)
    set(OpenCV_ARCH x64)
    set(OpenCV_TBB_ARCH intel64)
@@ -81,7 +83,7 @@ if(MSVC)
    set(OpenCV_RUNTIME vc12)
  elseif(MSVC_VERSION EQUAL 1900)
    set(OpenCV_RUNTIME vc14)
-  elseif(MSVC_VERSION EQUAL 1910 OR MSVC_VERSION EQUAL 1911)
+  elseif(MSVC_VERSION MATCHES "^191[0-9]$")
    set(OpenCV_RUNTIME vc15)
  endif()
 elseif(MINGW)
@@ -302,16 +302,15 @@ macro(add_android_project target path)
        endif()

        add_library(${JNI_LIB_NAME} SHARED ${android_proj_jni_files})
-        target_link_libraries(${JNI_LIB_NAME} ${OPENCV_LINKER_LIBS} ${android_proj_NATIVE_DEPS})
+        target_link_libraries(${JNI_LIB_NAME} LINK_PRIVATE ${OPENCV_LINKER_LIBS} ${android_proj_NATIVE_DEPS})

        set_target_properties(${JNI_LIB_NAME} PROPERTIES
            OUTPUT_NAME "${JNI_LIB_NAME}"
            LIBRARY_OUTPUT_DIRECTORY "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}"
            )

-        get_target_property(android_proj_jni_location "${JNI_LIB_NAME}" LOCATION)
        if (NOT (CMAKE_BUILD_TYPE MATCHES "debug"))
-            add_custom_command(TARGET ${JNI_LIB_NAME} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${android_proj_jni_location}")
+            add_custom_command(TARGET ${JNI_LIB_NAME} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "$<TARGET_FILE:${JNI_LIB_NAME}>")
        endif()
      endif()

@@ -212,7 +212,7 @@ if(CUDA_FOUND)
    endif()

    # disabled because of multiple warnings during building nvcc auto generated files
-    if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_GCC_REGEX_VERSION VERSION_GREATER "4.6.0")
+    if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER "4.6.0")
      ocv_warnings_disable(CMAKE_CXX_FLAGS -Wunused-but-set-variable)
    endif()

@@ -42,49 +42,11 @@ if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
  set(CV_ICC   __INTEL_COMPILER_FOR_WINDOWS)
 endif()

-# ----------------------------------------------------------------------------
-# Detect GNU version:
-# ----------------------------------------------------------------------------
-if(CMAKE_COMPILER_IS_CLANGCXX)
-  set(CMAKE_GCC_REGEX_VERSION "4.2.1")
-  set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
-  set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
-  set(CMAKE_OPENCV_GCC_VERSION 42)
-  set(CMAKE_OPENCV_GCC_VERSION_NUM 402)
-
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
-                  ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
-                  ERROR_STRIP_TRAILING_WHITESPACE)
-
-  string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
-  string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
-
-elseif(CMAKE_COMPILER_IS_GNUCXX)
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
-                OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
-                OUTPUT_STRIP_TRAILING_WHITESPACE)
-
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
-                ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
-                OUTPUT_STRIP_TRAILING_WHITESPACE)
-
-  # Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
-  # Look for the version number
-  string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
-  if(NOT CMAKE_GCC_REGEX_VERSION)
-    string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
-  endif()
-
-  # Split the three parts:
-  string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")
-
-  list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
-  list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
-
-  set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
-  math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
-  message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")
+if(NOT DEFINED CMAKE_CXX_COMPILER_VERSION)
+  message(WARNING "Compiler version is not available: CMAKE_CXX_COMPILER_VERSION is not set")
+endif()

+if(CMAKE_COMPILER_IS_GNUCXX)
  if(WIN32)
    execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
              OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
@@ -120,7 +82,9 @@ if(NOT DEFINED OpenCV_STATIC)
  endif()
 endif()

-if(MSVC)
+if(DEFINED OpenCV_ARCH AND DEFINED OpenCV_RUNTIME)
+  # custom overrided values
+elseif(MSVC)
  if(CMAKE_CL_64)
    set(OpenCV_ARCH x64)
  else()
@@ -138,7 +102,7 @@ if(MSVC)
    set(OpenCV_RUNTIME vc12)
  elseif(MSVC_VERSION EQUAL 1900)
    set(OpenCV_RUNTIME vc14)
-  elseif(MSVC_VERSION EQUAL 1910 OR MSVC_VERSION EQUAL 1911)
+  elseif(MSVC_VERSION MATCHES "^191[0-9]$")
    set(OpenCV_RUNTIME vc15)
  endif()
 elseif(MINGW)
@@ -84,23 +84,16 @@ if(WITH_PVAPI)
      set(PVAPI_SDK_SUBDIR arm)
    endif()

-    get_filename_component(_PVAPI_LIBRARY "${PVAPI_INCLUDE_PATH}/../lib-pc" ABSOLUTE)
-    if(PVAPI_SDK_SUBDIR)
-      set(_PVAPI_LIBRARY "${_PVAPI_LIBRARY}/${PVAPI_SDK_SUBDIR}")
-    endif()
-    if(NOT WIN32 AND CMAKE_COMPILER_IS_GNUCXX)
-      set(_PVAPI_LIBRARY "${_PVAPI_LIBRARY}/${CMAKE_OPENCV_GCC_VERSION_MAJOR}.${CMAKE_OPENCV_GCC_VERSION_MINOR}")
-    endif()
+    get_filename_component(_PVAPI_LIBRARY_HINT "${PVAPI_INCLUDE_PATH}/../lib-pc" ABSOLUTE)

-    if(WIN32)
-      if(MINGW)
-        set(PVAPI_DEFINITIONS "-DPVDECL=__stdcall")
-      endif(MINGW)
-      set(PVAPI_LIBRARY "${_PVAPI_LIBRARY}/PvAPI.lib" CACHE PATH "The PvAPI library")
-    else(WIN32)
-      set(PVAPI_LIBRARY "${_PVAPI_LIBRARY}/${CMAKE_STATIC_LIBRARY_PREFIX}PvAPI${CMAKE_STATIC_LIBRARY_SUFFIX}" CACHE PATH "The PvAPI library")
-    endif(WIN32)
-    if(EXISTS "${PVAPI_LIBRARY}")
+    find_library(PVAPI_LIBRARY NAMES "PvAPI" PATHS "${_PVAPI_LIBRARY_HINT}")
+
+    if(PVAPI_LIBRARY)
+      if(WIN32)
+        if(MINGW)
+          set(PVAPI_DEFINITIONS "-DPVDECL=__stdcall")
+        endif(MINGW)
+      endif()
      set(HAVE_PVAPI TRUE)
    endif()
  endif(PVAPI_INCLUDE_PATH)
@@ -46,16 +46,16 @@ endif()
 set(OpenCV_LIB_COMPONENTS_)
 foreach(CVLib ${OpenCV_LIB_COMPONENTS})

-  get_target_property(libloc ${CVLib} LOCATION_${CMAKE_BUILD_TYPE})
-  if(libloc MATCHES "3rdparty")
-    set(libpath "\${exec_prefix}/share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH}")
-  else()
-    set(libpath "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
+  get_target_property(libname ${CVLib} OUTPUT_NAME_${CMAKE_BUILD_TYPE})
+  if(NOT libname)
+    get_target_property(libname ${CVLib} OUTPUT_NAME)
+  endif()
+  if(NOT libname)
+    set(libname "${CVLib}")
  endif()
-  list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libpath}")

-  get_filename_component(libname ${CVLib} NAME_WE)
-  string(REGEX REPLACE "^lib" "" libname "${libname}")
+  set(libpath "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
+  list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libpath}")
  list(APPEND OpenCV_LIB_COMPONENTS_ "-l${libname}")

 endforeach()
@@ -66,7 +66,7 @@ if(OpenCV_EXTRA_COMPONENTS)
    if(TARGET "${extra_component}")
      get_target_property(extra_component_is_imported "${extra_component}" IMPORTED)
      if(extra_component_is_imported)
-        get_target_property(extra_component "${extra_component}" LOCATION)
+        get_target_property(extra_component "${extra_component}" IMPORTED_LOCATION)
      endif()
    endif()

@@ -578,12 +578,12 @@ macro(ocv_create_module)
    ${${the_module}_pch})

  if(NOT "${ARGN}" STREQUAL "SKIP_LINK")
-    target_link_libraries(${the_module} ${OPENCV_MODULE_${the_module}_DEPS})
-    target_link_libraries(${the_module} LINK_INTERFACE_LIBRARIES ${OPENCV_MODULE_${the_module}_DEPS})
+    target_link_libraries(${the_module} LINK_PUBLIC ${OPENCV_MODULE_${the_module}_DEPS})
+    target_link_libraries(${the_module} LINK_PUBLIC ${OPENCV_MODULE_${the_module}_DEPS})
    set(extra_deps ${OPENCV_MODULE_${the_module}_DEPS_EXT} ${OPENCV_LINKER_LIBS} ${IPP_LIBS} ${ARGN})
    ocv_extract_simple_libs(extra_deps _simple_deps _other_deps)
-    target_link_libraries(${the_module} LINK_INTERFACE_LIBRARIES ${_simple_deps}) # this list goes to "export"
-    target_link_libraries(${the_module} ${extra_deps})
+    target_link_libraries(${the_module} LINK_PRIVATE ${_simple_deps}) # this list goes to "export"
+    target_link_libraries(${the_module} LINK_PRIVATE ${extra_deps})
  endif()

  add_dependencies(opencv_modules ${the_module})
@@ -124,7 +124,7 @@ set(STD_OPENCV_DEV libopencv-dev)

 set(ABI_VERSION_SUFFIX "")
 if(CMAKE_COMPILER_IS_GNUCXX)
-  if(${CMAKE_OPENCV_GCC_VERSION_MAJOR} EQUAL 5)
+  if(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5 AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6)
     set(ABI_VERSION_SUFFIX "v5")
  endif()
 endif()
@@ -5,8 +5,8 @@ if(UNIX)
  find_package(PkgConfig)
 endif()

-# Search packages for host system instead of packages for target system
-# in case of cross compilation thess macro should be defined by toolchain file
+# Search packages for the host system instead of packages for target system
+# in case of cross compilation these macros should be defined by the toolchain file
 if(NOT COMMAND find_host_package)
  macro(find_host_package)
    find_package(${ARGN})
@@ -82,7 +82,7 @@ macro(ocv_check_environment_variables)
  endforeach()
 endmacro()

-# adds include directories in such way that directories from the OpenCV source tree go first
+# adds include directories in such a way that directories from the OpenCV source tree go first
 function(ocv_include_directories)
  set(__add_before "")
  foreach(dir ${ARGN})
@@ -337,7 +337,7 @@ macro(ocv_check_modules define)
 endmacro()


-# Macros that checks if module have been installed.
+# Macro that checks if module has been installed.
 # After it adds module to build and define
 # constants passed as second arg
 macro(CHECK_MODULE module_name define)
@@ -526,7 +526,7 @@ macro(ocv_list_add_suffix LST SUFFIX)
 endmacro()


-# gets and removes the first element from list
+# gets and removes the first element from the list
 macro(ocv_list_pop_front LST VAR)
  if(${LST})
    list(GET ${LST} 0 ${VAR})
@@ -751,7 +751,10 @@ endfunction()

 macro(ocv_get_libname var_name)
  get_filename_component(__libname "${ARGN}" NAME)
-  string(REGEX REPLACE "^lib(.+).(a|so)(.[.0-9]+)?$" "\\1" __libname "${__libname}")
+  # libopencv_core.so.3.3 -> opencv_core
+  string(REGEX REPLACE "^lib(.+)\\.(a|so)(\\.[.0-9]+)?$" "\\1" __libname "${__libname}")
+  # MacOSX: libopencv_core.3.3.1.dylib -> opencv_core
+  string(REGEX REPLACE "^lib(.+[^.0-9])\\.([.0-9]+\\.)?dylib$" "\\1" __libname "${__libname}")
  set(${var_name} "${__libname}")
 endmacro()

@@ -14,6 +14,6 @@ endif()
 set(OPENCV_SOVERSION "${OPENCV_VERSION_MAJOR}.${OPENCV_VERSION_MINOR}")
 set(OPENCV_LIBVERSION "${OPENCV_VERSION_MAJOR}.${OPENCV_VERSION_MINOR}.${OPENCV_VERSION_PATCH}")

-# create a dependency on version file
-# we never use output of the following command but cmake will rerun automatically if the version file changes
+# create a dependency on the version file
+# we never use the output of the following command but cmake will rerun automatically if the version file changes
 configure_file("${OPENCV_VERSION_FILE}" "${CMAKE_BINARY_DIR}/junk/version.junk" COPYONLY)
@@ -219,6 +219,14 @@ foreach(__cvcomponent ${OpenCV_FIND_COMPONENTS})
    string(TOUPPER "${__cvcomponent}" __cvcomponent)
    set(${__cvcomponent}_FOUND 1)
  endif()
+  # OpenCV supports Debug and Release only.
+  # RelWithDebInfo and MinSizeRel are mapped to Release
+  if(TARGET ${__cvcomponent})
+    set_target_properties(${__cvcomponent} PROPERTIES
+        MAP_IMPORTED_CONFIG_MINSIZEREL "Release"
+        MAP_IMPORTED_CONFIG_RELWITHDEBINFO "Release"
+    )
+  endif()
 endforeach()
 set(OpenCV_FIND_COMPONENTS ${OpenCV_FIND_COMPONENTS_})

@@ -440,5 +440,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html

  <div align="center">
-  <iframe title=" Camera calibration With OpenCV - Chessboard or asymmetrical circle pattern." width="560" height="349" src="http://www.youtube.com/embed/ViPN810E0SU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title=" Camera calibration With OpenCV - Chessboard or asymmetrical circle pattern." width="560" height="349" src="https://www.youtube.com/embed/ViPN810E0SU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -275,5 +275,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html

  <div align="center">
-  <iframe title="File Input and Output using XML and YAML files in OpenCV" width="560" height="349" src="http://www.youtube.com/embed/A4yqVnByMMM?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="File Input and Output using XML and YAML files in OpenCV" width="560" height="349" src="https://www.youtube.com/embed/A4yqVnByMMM?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -179,5 +179,5 @@ Finally, you may watch a sample run of the program on the `video posted <https:/
 .. raw:: html

  <div align="center">
-  <iframe title="How to scan images in OpenCV?" width="560" height="349" src="http://www.youtube.com/embed/fB3AN5fjgwc?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="How to scan images in OpenCV?" width="560" height="349" src="https://www.youtube.com/embed/fB3AN5fjgwc?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -125,5 +125,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html

  <div align="center">
-  <iframe title="Interoperability with OpenCV 1" width="560" height="349" src="http://www.youtube.com/embed/qckm-zvo31w?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Interoperability with OpenCV 1" width="560" height="349" src="https://www.youtube.com/embed/qckm-zvo31w?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -128,7 +128,7 @@ For example:

 You can download this source code from :download:`here <../../../../samples/cpp/tutorial_code/core/mat_mask_operations/mat_mask_operations.cpp>` or look in the OpenCV source code libraries sample directory at :file:`samples/cpp/tutorial_code/core/mat_mask_operations/mat_mask_operations.cpp`.

-Check out an instance of running the program on our `YouTube channel <http://www.youtube.com/watch?v=7PF1tAU9se4>`_ .
+Check out an instance of running the program on our `YouTube channel <https://www.youtube.com/watch?v=7PF1tAU9se4>`_ .

 .. raw:: html

@@ -307,5 +307,5 @@ You can also find a quick video demonstration of this on `YouTube <https://www.y
 .. raw:: html

  <div align="center">
-  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="http://www.youtube.com/embed/1tibU7vGWpk?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="https://www.youtube.com/embed/1tibU7vGWpk?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -144,5 +144,5 @@ In both cases we managed a performance increase of almost 100% compared to the C
 .. raw:: html

  <div align="center">
-  <iframe title="Similarity check (PNSR and SSIM) on the GPU" width="560" height="349" src="http://www.youtube.com/embed/3_ESXmFlnvY?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Similarity check (PNSR and SSIM) on the GPU" width="560" height="349" src="https://www.youtube.com/embed/3_ESXmFlnvY?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -111,7 +111,7 @@ Then the PSNR is expressed as:

   PSNR = 10 \cdot \log_{10} \left( \frac{MAX_I^2}{MSE} \right)

-Here the :math:`MAX_I^2` is the maximum valid value for a pixel. In case of the simple single byte image per pixel per channel this is 255. When two images are the same the MSE will give zero, resulting in an invalid divide by zero operation in the PSNR formula. In this case the PSNR is undefined and as we'll need to handle this case separately. The transition to a logarithmic scale is made because the pixel values have a very wide dynamic range. All this translated to OpenCV and a C++ function looks like:
+Here the :math:`MAX_I` is the maximum valid value for a pixel. In case of the simple single byte image per pixel per channel this is 255. When two images are the same the MSE will give zero, resulting in an invalid divide by zero operation in the PSNR formula. In this case the PSNR is undefined and as we'll need to handle this case separately. The transition to a logarithmic scale is made because the pixel values have a very wide dynamic range. All this translated to OpenCV and a C++ function looks like:

 .. code-block:: cpp

@@ -212,5 +212,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html

  <div align="center">
-  <iframe title="Video Input with OpenCV (Plus PSNR and MSSIM)" width="560" height="349" src="http://www.youtube.com/embed/iOcNljutOgg?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Video Input with OpenCV (Plus PSNR and MSSIM)" width="560" height="349" src="https://www.youtube.com/embed/iOcNljutOgg?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -132,5 +132,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html

  <div align="center">
-  <iframe title="Creating a video with OpenCV" width="560" height="349" src="http://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Creating a video with OpenCV" width="560" height="349" src="https://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -81,7 +81,7 @@ Gaussian Filter

      G_{0}(x, y) = A  e^{ \dfrac{ -(x - \mu_{x})^{2} }{ 2\sigma^{2}_{x} } +  \dfrac{ -(y - \mu_{y})^{2} }{ 2\sigma^{2}_{y} } }

-   where :math:`\mu` is the mean (the peak) and :math:`\sigma` represents the variance (per each of the variables :math:`x` and :math:`y`)
+   where :math:`\mu` is the mean (the peak) and :math:`\sigma` represents the standard deviation (per each of the variables :math:`x` and :math:`y`)


 Median Filter
@@ -129,5 +129,5 @@ Result
   .. raw:: html

     <div align="center">
-     <iframe title="Introduction - Display an Image" width="560" height="349" src="http://www.youtube.com/embed/1OJEqpuaGc4?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+     <iframe title="Introduction - Display an Image" width="560" height="349" src="https://www.youtube.com/embed/1OJEqpuaGc4?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
     </div>
@@ -358,7 +358,7 @@ Now here's our recommendation for the structure of the tutorial (although, remem
          .. raw:: html

             <div align="center">
-             <iframe title="Creating a video with OpenCV" width="560" height="349" src="http://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+             <iframe title="Creating a video with OpenCV" width="560" height="349" src="https://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
             </div>

       This results in the text and video: You may observe a runtime instance of this on the `YouTube here <https://www.youtube.com/watch?v=jpBwHxsl1_0>`_.
@@ -366,7 +366,7 @@ Now here's our recommendation for the structure of the tutorial (although, remem
       .. raw:: html

          <div align="center">
-          <iframe title="Creating a video with OpenCV" width="560" height="349" src="http://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+          <iframe title="Creating a video with OpenCV" width="560" height="349" src="https://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
          </div>

     When these aren't self-explanatory make sure to throw in a few guiding lines about what and why we can see.
@@ -40,8 +40,8 @@ You may find the content of this tutorial also inside the following videos: `Par
 .. raw:: html

  <div align="center">
-  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="http://www.youtube.com/embed/NnovZ1cTlMs?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
-  <iframe title="Install OpenCV by using its source files - Part 2" width="560" height="349" src="http://www.youtube.com/embed/qGNWMcfWwPU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="https://www.youtube.com/embed/NnovZ1cTlMs?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Install OpenCV by using its source files - Part 2" width="560" height="349" src="https://www.youtube.com/embed/qGNWMcfWwPU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>

 .. warning:: These videos above are long-obsolete and contain inaccurate information. Be careful, since solutions described in those videos are no longer supported and may even break your install.
@@ -120,10 +120,10 @@ After the processing we need to convert it back to UIImage.
     :alt: header
     :align: center

-Check out an instance of running code with more Image Effects on `YouTube <http://www.youtube.com/watch?v=Ko3K_xdhJ1I>`_ .
+Check out an instance of running code with more Image Effects on `YouTube <https://www.youtube.com/watch?v=Ko3K_xdhJ1I>`_ .

 .. raw:: html

  <div align="center">
- <iframe width="560" height="350" src="http://www.youtube.com/embed/Ko3K_xdhJ1I" frameborder="0" allowfullscreen></iframe>
+ <iframe width="560" height="350" src="https://www.youtube.com/embed/Ko3K_xdhJ1I" frameborder="0" allowfullscreen></iframe>
  </div>
@@ -215,5 +215,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html

  <div align="center">
-  <iframe title="Support Vector Machines for Non-Linearly Separable Data" width="560" height="349" src="http://www.youtube.com/embed/vFv2yPcSo-Q?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Support Vector Machines for Non-Linearly Separable Data" width="560" height="349" src="https://www.youtube.com/embed/vFv2yPcSo-Q?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
  </div>
@@ -5,8 +5,10 @@
 #include <android/log.h>
 #include <cctype>
 #include <string>
+#include <cstring>
 #include <vector>
 #include <algorithm>
+#include <functional>
 #include <opencv2/core/version.hpp>
 #include "camera_activity.hpp"
 #include "camera_wrapper.h"
@@ -864,10 +864,10 @@ Rect getValidDisparityROI( Rect roi1, Rect roi2,
                          int SADWindowSize )
 {
    int SW2 = SADWindowSize/2;
-    int minD = minDisparity, maxD = minDisparity + numberOfDisparities - 1;
+    int maxD = minDisparity + numberOfDisparities - 1;

    int xmin = max(roi1.x, roi2.x + maxD) + SW2;
-    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width - minD) - SW2;
+    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width) - SW2;
    int ymin = max(roi1.y, roi2.y) + SW2;
    int ymax = min(roi1.y + roi1.height, roi2.y + roi2.height) - SW2;

@@ -60,7 +60,7 @@ protected:

 protected:
    std::string combine(const std::string& _item1, const std::string& _item2);
-    cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r);
+    static void merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged);
 };

 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -385,11 +385,7 @@ TEST_F(fisheyeTest, EstimateUncertainties)
    CV_Assert(errors.alpha == 0);
 }

-#ifdef HAVE_TEGRA_OPTIMIZATION
-TEST_F(fisheyeTest, DISABLED_rectify)
-#else
-TEST_F(fisheyeTest, rectify)
-#endif
+TEST_F(fisheyeTest, stereoRectify)
 {
    const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");

@@ -405,20 +401,65 @@ TEST_F(fisheyeTest, rectify)
    cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
                      cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);

+    // Collected with these CMake flags: -DWITH_IPP=OFF -DCMAKE_BUILD_TYPE=Debug
+    cv::Matx33d R1_ref(
+        0.9992853269091279, 0.03779164101000276, -0.0007920188690205426,
+        -0.03778569762983931, 0.9992646472015868, 0.006511981857667881,
+        0.001037534936357442, -0.006477400933964018, 0.9999784831677112
+    );
+    cv::Matx33d R2_ref(
+        0.9994868963898833, -0.03197579751378937, -0.001868774538573449,
+        0.03196298186616116, 0.9994677442608699, -0.0065265589947392,
+        0.002076471801477729, 0.006463478587068991, 0.9999769555891836
+    );
+    cv::Matx34d P1_ref(
+        420.8551870450913, 0, 586.501617798451, 0,
+        0, 420.8551870450913, 374.7667511986098, 0,
+        0, 0, 1, 0
+    );
+    cv::Matx34d P2_ref(
+        420.8551870450913, 0, 586.501617798451, -41.77758076597302,
+        0, 420.8551870450913, 374.7667511986098, 0,
+        0, 0, 1, 0
+    );
+    cv::Matx44d Q_ref(
+        1, 0, 0, -586.501617798451,
+        0, 1, 0, -374.7667511986098,
+        0, 0, 0, 420.8551870450913,
+        0, 0, 10.07370889670733, -0
+    );
+
+    const double eps = 1e-10;
+    EXPECT_MAT_NEAR(R1_ref, R1, eps);
+    EXPECT_MAT_NEAR(R2_ref, R2, eps);
+    EXPECT_MAT_NEAR(P1_ref, P1, eps);
+    EXPECT_MAT_NEAR(P2_ref, P2, eps);
+    EXPECT_MAT_NEAR(Q_ref, Q, eps);
+
+    if (::testing::Test::HasFailure())
+    {
+        std::cout << "Actual values are:" << std::endl
+            << "R1 =" << std::endl << R1 << std::endl
+            << "R2 =" << std::endl << R2 << std::endl
+            << "P1 =" << std::endl << P1 << std::endl
+            << "P2 =" << std::endl << P2 << std::endl
+            << "Q =" << std::endl << Q << std::endl;
+    }
+
+#if 1 // Debug code
    cv::Mat lmapx, lmapy, rmapx, rmapy;
    //rewrite for fisheye
    cv::fisheye::initUndistortRectifyMap(K1, D1, R1, P1, requested_size, CV_32F, lmapx, lmapy);
    cv::fisheye::initUndistortRectifyMap(K2, D2, R2, P2, requested_size, CV_32F, rmapx, rmapy);

    cv::Mat l, r, lundist, rundist;
-    cv::VideoCapture lcap(combine(folder, "left/stereo_pair_%03d.jpg")),
-                     rcap(combine(folder, "right/stereo_pair_%03d.jpg"));
-
-    for(int i = 0;; ++i)
+    for (int i = 0; i < 34; ++i)
    {
-        lcap >> l; rcap >> r;
-        if (l.empty() || r.empty())
-            break;
+        SCOPED_TRACE(cv::format("image %d", i));
+        l = imread(combine(folder, cv::format("left/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
+        r = imread(combine(folder, cv::format("right/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
+        ASSERT_FALSE(l.empty());
+        ASSERT_FALSE(r.empty());

        int ndisp = 128;
        cv::rectangle(l, cv::Rect(255,       0, 829,       l.rows-1), CV_RGB(255, 0, 0));
@@ -427,15 +468,18 @@ TEST_F(fisheyeTest, rectify)
        cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
        cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);

-        cv::Mat rectification = mergeRectification(lundist, rundist);
+        for (int ii = 0; ii < lundist.rows; ii += 20)
+        {
+            cv::line(lundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
+            cv::line(rundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
+        }

-        cv::Mat correct = cv::imread(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)));
+        cv::Mat rectification;
+        merge4(l, r, lundist, rundist, rectification);

-        if (correct.empty())
-            cv::imwrite(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)), rectification);
-         else
-             EXPECT_MAT_NEAR(correct, rectification, 1e-10);
-     }
+        cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
+    }
+#endif
 }

 TEST_F(fisheyeTest, stereoCalibrate)
@@ -601,17 +645,17 @@ std::string fisheyeTest::combine(const std::string& _item1, const std::string& _
    return item1 + (last != '/' ? "/" : "") + item2;
 }

-cv::Mat fisheyeTest::mergeRectification(const cv::Mat& l, const cv::Mat& r)
+void fisheyeTest::merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged)
 {
-    CV_Assert(l.type() == r.type() && l.size() == r.size());
-    cv::Mat merged(l.rows, l.cols * 2, l.type());
-    cv::Mat lpart = merged.colRange(0, l.cols);
-    cv::Mat rpart = merged.colRange(l.cols, merged.cols);
-    l.copyTo(lpart);
-    r.copyTo(rpart);
+    int type = tl.type();
+    cv::Size sz = tl.size();
+    ASSERT_EQ(type, tr.type()); ASSERT_EQ(type, bl.type()); ASSERT_EQ(type, br.type());
+    ASSERT_EQ(sz.width, tr.cols); ASSERT_EQ(sz.width, bl.cols); ASSERT_EQ(sz.width, br.cols);
+    ASSERT_EQ(sz.height, tr.rows); ASSERT_EQ(sz.height, bl.rows); ASSERT_EQ(sz.height, br.rows);

-    for(int i = 0; i < l.rows; i+=20)
-        cv::line(merged, cv::Point(0, i), cv::Point(merged.cols, i), CV_RGB(0, 255, 0));
-
-    return merged;
+    merged.create(cv::Size(sz.width * 2, sz.height * 2), type);
+    tl.copyTo(merged(cv::Rect(0, 0, sz.width, sz.height)));
+    tr.copyTo(merged(cv::Rect(sz.width, 0, sz.width, sz.height)));
+    bl.copyTo(merged(cv::Rect(0, sz.height, sz.width, sz.height)));
+    bl.copyTo(merged(cv::Rect(sz.width, sz.height, sz.width, sz.height)));
 }
@@ -326,9 +326,15 @@ string ERROR_PREFIXES[] = { "borderedAll",
                            "borderedTextureless",
                            "borderedDepthDiscont" }; // size of ERROR_KINDS_COUNT

+string ROI_PREFIXES[] = {   "roiX",
+                            "roiY",
+                            "roiWidth",
+                            "roiHeight" };
+

 const string RMS_STR = "RMS";
 const string BAD_PXLS_FRACTION_STR = "BadPxlsFraction";
+const string ROI_STR = "ValidDisparityROI";

 class QualityEvalParams
 {
@@ -366,16 +372,20 @@ public:
 protected:
    // assumed that left image is a reference image
    virtual int runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
-                   Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0; // return ignored border width
+                   Rect& calcROI, Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0; // return ignored border width

    int readDatasetsParams( FileStorage& fs );
    virtual int readRunParams( FileStorage& fs );
    void writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs = 0 );
+    void writeROI( const Rect& calcROI, FileStorage* fs = 0 );
    void readErrors( FileNode& fn, const string& errName, vector<float>& errors );
+    void readROI( FileNode& fn, Rect& trueROI );
    int compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
                       const vector<float>& eps, const string& errName );
+    int compareROI( const Rect& calcROI, const Rect& validROI );
    int processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
                  const Mat& leftImg, const Mat& rightImg,
+                  const Rect& calcROI,
                  const Mat& trueLeftDisp, const Mat& trueRightDisp,
                  const Mat& leftDisp, const Mat& rightDisp,
                  const QualityEvalParams& qualityEvalParams  );
@@ -451,6 +461,7 @@ void CV_StereoMatchingTest::run(int)
        Mat rightImg = imread(datasetFullDirName + RIGHT_IMG_NAME);
        Mat trueLeftDisp = imread(datasetFullDirName + TRUE_LEFT_DISP_NAME, 0);
        Mat trueRightDisp = imread(datasetFullDirName + TRUE_RIGHT_DISP_NAME, 0);
+        Rect calcROI;

        if( leftImg.empty() || rightImg.empty() || trueLeftDisp.empty() )
        {
@@ -473,7 +484,7 @@ void CV_StereoMatchingTest::run(int)
        }

        Mat leftDisp, rightDisp;
-        int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);
+        int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, calcROI, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);

        leftDisp.convertTo( tmp, CV_32FC1 );
        leftDisp = tmp;
@@ -484,7 +495,7 @@ void CV_StereoMatchingTest::run(int)
        tmp.release();

        int tempCode = processStereoMatchingResults( resFS, ci, isWrite,
-                   leftImg, rightImg, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
+                   leftImg, rightImg, calcROI, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
        code = tempCode==cvtest::TS::OK ? code : tempCode;
    }

@@ -538,6 +549,7 @@ void calcErrors( const Mat& leftImg, const Mat& /*rightImg*/,

 int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
              const Mat& leftImg, const Mat& rightImg,
+              const Rect& calcROI,
              const Mat& trueLeftDisp, const Mat& trueRightDisp,
              const Mat& leftDisp, const Mat& rightDisp,
              const QualityEvalParams& qualityEvalParams )
@@ -574,6 +586,8 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
        writeErrors( RMS_STR, rmss, &fs );
        cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 );
        writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs );
+        cvWriteComment( fs.fs, ROI_STR.c_str(), 0 );
+        writeROI( calcROI, &fs );
        fs << "}"; // datasetName
    }
    else // compare
@@ -583,16 +597,22 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
        writeErrors( RMS_STR, rmss );
        ts->printf( cvtest::TS::LOG, "%s\n", BAD_PXLS_FRACTION_STR.c_str() );
        writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions );
+        ts->printf( cvtest::TS::LOG, "%s\n", ROI_STR.c_str() );
+        writeROI( calcROI );

        FileNode fn = fs.getFirstTopLevelNode()[caseNames[caseIdx]];
        vector<float> validRmss, validBadPxlsFractions;
+        Rect validROI;

        readErrors( fn, RMS_STR, validRmss );
        readErrors( fn, BAD_PXLS_FRACTION_STR, validBadPxlsFractions );
+        readROI( fn, validROI );
        int tempCode = compareErrors( rmss, validRmss, rmsEps, RMS_STR );
        code = tempCode==cvtest::TS::OK ? code : tempCode;
        tempCode = compareErrors( badPxlsFractions, validBadPxlsFractions, fracEps, BAD_PXLS_FRACTION_STR );
        code = tempCode==cvtest::TS::OK ? code : tempCode;
+        tempCode = compareROI( calcROI, validROI );
+        code = tempCode==cvtest::TS::OK ? code : tempCode;
    }
    return code;
 }
@@ -642,6 +662,24 @@ void CV_StereoMatchingTest::writeErrors( const string& errName, const vector<flo
            ts->printf( cvtest::TS::LOG, "%s = %f\n", string(ERROR_PREFIXES[i]+errName).c_str(), *it );
 }

+void CV_StereoMatchingTest::writeROI( const Rect& calcROI, FileStorage* fs )
+{
+    if( fs )
+    {
+        *fs << ROI_PREFIXES[0] << calcROI.x;
+        *fs << ROI_PREFIXES[1] << calcROI.y;
+        *fs << ROI_PREFIXES[2] << calcROI.width;
+        *fs << ROI_PREFIXES[3] << calcROI.height;
+    }
+    else
+    {
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[0].c_str(), calcROI.x );
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[1].c_str(), calcROI.y );
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[2].c_str(), calcROI.width );
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[3].c_str(), calcROI.height );
+    }
+}
+
 void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vector<float>& errors )
 {
    errors.resize( ERROR_KINDS_COUNT );
@@ -650,6 +688,14 @@ void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vec
        fn[ERROR_PREFIXES[i]+errName] >> *it;
 }

+void CV_StereoMatchingTest::readROI( FileNode& fn, Rect& validROI )
+{
+    fn[ROI_PREFIXES[0]] >> validROI.x;
+    fn[ROI_PREFIXES[1]] >> validROI.y;
+    fn[ROI_PREFIXES[2]] >> validROI.width;
+    fn[ROI_PREFIXES[3]] >> validROI.height;
+}
+
 int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
                   const vector<float>& eps, const string& errName )
 {
@@ -669,6 +715,26 @@ int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const
    return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
 }

+int CV_StereoMatchingTest::compareROI( const Rect& calcROI, const Rect& validROI )
+{
+    int compare[4][2] = {
+        { calcROI.x, validROI.x },
+        { calcROI.y, validROI.y },
+        { calcROI.width, validROI.width },
+        { calcROI.height, validROI.height },
+    };
+    bool ok = true;
+    for (int i = 0; i < 4; i++)
+    {
+        if (compare[i][0] != compare[i][1])
+        {
+            ts->printf( cvtest::TS::LOG, "bad accuracy of %s (valid=%d; calc=%d)\n", ROI_PREFIXES[i].c_str(), compare[i][1], compare[i][0] );
+            ok = false;
+        }
+    }
+    return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
+}
+
 //----------------------------------- StereoBM test -----------------------------------------------------

 class CV_StereoBMTest : public CV_StereoMatchingTest
@@ -685,6 +751,7 @@ protected:
    struct RunParams
    {
        int ndisp;
+        int mindisp;
        int winSize;
    };
    vector<RunParams> caseRunParams;
@@ -694,12 +761,13 @@ protected:
        int code = CV_StereoMatchingTest::readRunParams( fs );
        FileNode fn = fs.getFirstTopLevelNode();
        assert(fn.isSeq());
-        for( int i = 0; i < (int)fn.size(); i+=4 )
+        for( int i = 0; i < (int)fn.size(); i+=5 )
        {
            string caseName = fn[i], datasetName = fn[i+1];
            RunParams params;
-            string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
-            string winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
+            String ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
+            String mindisp = fn[i+3]; params.mindisp = atoi(mindisp.c_str());
+            String winSize = fn[i+4]; params.winSize = atoi(winSize.c_str());
            caseNames.push_back( caseName );
            caseDatasets.push_back( datasetName );
            caseRunParams.push_back( params );
@@ -708,7 +776,7 @@ protected:
    }

    virtual int runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
-                   Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
+                   Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
    {
        RunParams params = caseRunParams[caseIdx];
        assert( params.ndisp%16 == 0 );
@@ -717,7 +785,21 @@ protected:
        Mat rightImg; cvtColor( _rightImg, rightImg, CV_BGR2GRAY );

        StereoBM bm( StereoBM::BASIC_PRESET, params.ndisp, params.winSize );
+        bm.state->minDisparity = params.mindisp;
+
+        Rect cROI(0, 0, _leftImg.cols, _leftImg.rows);
+        calcROI = getValidDisparityROI(cROI, cROI, params.mindisp, params.ndisp, params.winSize);
+
        bm( leftImg, rightImg, leftDisp, CV_32F );
+
+        if (params.mindisp != 0)
+            for (int y = 0; y < leftDisp.rows; y++)
+                for (int x = 0; x < leftDisp.cols; x++)
+                {
+                    if (leftDisp.at<float>(y, x) < params.mindisp)
+                        leftDisp.at<float>(y, x) = -0.0625; // treat disparity < mindisp as no disparity
+                }
+
        return params.winSize/2;
    }
 };
@@ -754,7 +836,13 @@ protected:
            RunParams params;
            string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
            string winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
-            string fullDP = fn[i+4]; params.fullDP = atoi(fullDP.c_str()) == 0 ? false : true;
+            string fullDP = fn[i+4];
+            int n = atoi(fullDP.c_str());
+            params.fullDP = n == 0 ? false : true;
+
+            if (n > 1)
+                continue;   // OpenCV 3+ compatibility - skip tests for mode > 1
+
            caseNames.push_back( caseName );
            caseDatasets.push_back( datasetName );
            caseRunParams.push_back( params );
@@ -763,12 +851,16 @@ protected:
    }

    virtual int runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
-                   Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
+                   Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
    {
        RunParams params = caseRunParams[caseIdx];
        assert( params.ndisp%16 == 0 );
        StereoSGBM sgbm( 0, params.ndisp, params.winSize, 10*params.winSize*params.winSize, 40*params.winSize*params.winSize,
                         1, 63, 10, 100, 32, params.fullDP );
+
+        Rect cROI(0, 0, leftImg.cols, leftImg.rows);
+        calcROI = getValidDisparityROI(cROI, cROI, 0, params.ndisp, params.winSize);
+
        sgbm( leftImg, rightImg, leftDisp );
        assert( leftDisp.type() == CV_16SC1 );
        leftDisp/=16;
@@ -31,7 +31,7 @@ Aligns a buffer size to the specified number of bytes.

    :param n: Alignment size that must be a power of two.

-The function returns the minimum number that is greater or equal to ``sz`` and is divisible by ``n`` :
+The function returns the minimum number that is greater than or equal to ``sz`` and is divisible by ``n`` :

 .. math::

@@ -363,7 +363,7 @@ Always returns 0 if called outside of parallel region.

 .. ocv:function:: int getThreadNum()

-The exact meaning of return value depends on the threading framework used by OpenCV library:
+The exact meaning of the return value depends on the threading framework used by OpenCV library:

    * **TBB** – Unsupported with current 4.1 TBB release. May be will be supported in future.
    * **OpenMP** – The thread number, within the current team, of the calling thread.
@@ -450,7 +450,7 @@ This operation is used in the simplest or most complex image processing function
 setNumThreads
 -----------------
 OpenCV will try to set the number of threads for the next parallel region.
-If ``threads == 0``, OpenCV will disable threading optimizations and run all it's
+If ``threads == 0``, OpenCV will disable threading optimizations and run all its
 functions sequentially. Passing ``threads < 0`` will reset threads number to system default.
 This function must be called outside of parallel region.

@@ -458,14 +458,14 @@ This function must be called outside of parallel region.

    :param nthreads: Number of threads used by OpenCV.

-OpenCV will try to run it's functions with specified threads number, but
+OpenCV will try to run its functions with specified threads number, but
 some behaviour differs from framework:

    * **TBB** – User-defined parallel constructions will run with the same threads number,
-      if another does not specified. If late on user creates own scheduler, OpenCV will be use it.
+      if another is not specified. If late on user creates his own scheduler, OpenCV will be use it.
    * **OpenMP** – No special defined behaviour.
    * **Concurrency** – If ``threads == 1``, OpenCV will disable threading optimizations
-      and run it's functions sequentially.
+      and run its functions sequentially.
    * **GCD** – Supports only values <= 0.
    * **C=** – No special defined behaviour.

@@ -3248,6 +3248,9 @@ public:
    //! returns read-only pointer to the real buffer, stack-allocated or head-allocated
    operator const _Tp* () const;

+    //! returns number of allocated elements
+    size_t getSize() const;
+
 protected:
    //! pointer to the real buffer, can point to buf if the buffer is small enough
    _Tp* ptr;
@@ -2581,6 +2581,9 @@ template<typename _Tp, size_t fixed_size> inline AutoBuffer<_Tp, fixed_size>::op
 template<typename _Tp, size_t fixed_size> inline AutoBuffer<_Tp, fixed_size>::operator const _Tp* () const
 { return ptr; }

+template<typename _Tp, size_t fixed_size> inline size_t AutoBuffer<_Tp, fixed_size>::getSize() const
+{ return size; }
+

 /////////////////////////////////// Ptr ////////////////////////////////////////

@@ -50,7 +50,7 @@
 #define CV_VERSION_EPOCH    2
 #define CV_VERSION_MAJOR    4
 #define CV_VERSION_MINOR    13
-#define CV_VERSION_REVISION 3
+#define CV_VERSION_REVISION 7

 #define CVAUX_STR_EXP(__A)  #__A
 #define CVAUX_STR(__A)      CVAUX_STR_EXP(__A)
@@ -2994,6 +2994,7 @@ PCA& PCA::computeVar(InputArray _data, InputArray __mean, int flags, double reta
    {
        CV_Assert( _mean.size() == mean_sz );
        _mean.convertTo(mean, ctype);
+        covar_flags |= CV_COVAR_USE_AVG;
    }

    calcCovarMatrix( data, covar, mean, covar_flags, ctype );
@@ -279,21 +279,31 @@ Mat::Mat(const Mat& m, const Range& _rowRange, const Range& _colRange) : size(&r
    }

    *this = m;
-    if( _rowRange != Range::all() && _rowRange != Range(0,rows) )
+    try
    {
-        CV_Assert( 0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows );
-        rows = _rowRange.size();
-        data += step*_rowRange.start;
-        flags |= SUBMATRIX_FLAG;
-    }
+        if( _rowRange != Range::all() && _rowRange != Range(0,rows) )
+        {
+            CV_Assert( 0 <= _rowRange.start && _rowRange.start <= _rowRange.end
+                       && _rowRange.end <= m.rows );
+            rows = _rowRange.size();
+            data += step*_rowRange.start;
+            flags |= SUBMATRIX_FLAG;
+        }

-    if( _colRange != Range::all() && _colRange != Range(0,cols) )
+        if( _colRange != Range::all() && _colRange != Range(0,cols) )
+        {
+            CV_Assert( 0 <= _colRange.start && _colRange.start <= _colRange.end
+                       && _colRange.end <= m.cols );
+            cols = _colRange.size();
+            data += _colRange.start*elemSize();
+            flags &= cols < m.cols ? ~CONTINUOUS_FLAG : -1;
+            flags |= SUBMATRIX_FLAG;
+        }
+    }
+    catch(...)
    {
-        CV_Assert( 0 <= _colRange.start && _colRange.start <= _colRange.end && _colRange.end <= m.cols );
-        cols = _colRange.size();
-        data += _colRange.start*elemSize();
-        flags &= cols < m.cols ? ~CONTINUOUS_FLAG : -1;
-        flags |= SUBMATRIX_FLAG;
+        release();
+        throw;
    }

    if( rows == 1 )
@@ -164,7 +164,7 @@ void Core_EigenTest_32::run(int) { check_full(CV_32FC1); }
 void Core_EigenTest_64::run(int) { check_full(CV_64FC1); }

 Core_EigenTest::Core_EigenTest()
-: eps_val_32(1e-3f), eps_vec_32(1e-2f),
+: eps_val_32(1e-3f), eps_vec_32(2e-2f),
  eps_val_64(1e-4f), eps_vec_64(1e-3f), ntests(100) {}
 Core_EigenTest::~Core_EigenTest() {}

@@ -272,9 +272,8 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
 #endif
 }

-void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat&) const
+void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask) const
 {
-    //TODO: support mask
    keypoints.clear();
    Mat grayscaleImage;
    if (image.channels() == 3)
@@ -355,6 +354,11 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
        keypoints.push_back(kpt);
    }

+    if (!mask.empty())
+    {
+        KeyPointsFilter::runByPixelsMask(keypoints, mask);
+    }
+
 #ifdef DEBUG_BLOB_DETECTOR
    namedWindow("keypoints", CV_WINDOW_NORMAL);
    Mat outImg = image.clone();
@@ -132,7 +132,12 @@ public:
        /* Construct the randomized trees. */
        for (int i = 0; i < trees_; i++) {
            /* Randomize the order of vectors to allow for unbiased sampling. */
+#ifndef OPENCV_FLANN_USE_STD_RAND
+            cv::randShuffle(vind_);
+#else
            std::random_shuffle(vind_.begin(), vind_.end());
+#endif
+
            tree_roots_[i] = divideTree(&vind_[0], int(size_) );
        }
    }
@@ -136,7 +136,12 @@ public:
              indices.resize( feature_size_ * CHAR_BIT );
              for (size_t j = 0; j < feature_size_ * CHAR_BIT; ++j)
                  indices[j] = j;
+
+#ifndef OPENCV_FLANN_USE_STD_RAND
+              cv::randShuffle(indices);
+#else
              std::random_shuffle(indices.begin(), indices.end());
+#endif
            }

            lsh::LshTable<ElementType>& table = tables_[i];
@@ -40,13 +40,31 @@
 namespace cvflann
 {

+inline int rand()
+{
+#ifndef OPENCV_FLANN_USE_STD_RAND
+#   if INT_MAX == RAND_MAX
+    int v = cv::theRNG().next() & INT_MAX;
+#   else
+    int v = cv::theRNG().uniform(0, RAND_MAX + 1);
+#   endif
+#else
+    int v = std::rand();
+#endif // OPENCV_FLANN_USE_STD_RAND
+    return v;
+}
+
 /**
 * Seeds the random number generator
 *  @param seed Random seed
 */
 inline void seed_random(unsigned int seed)
 {
-    srand(seed);
+#ifndef OPENCV_FLANN_USE_STD_RAND
+    cv::theRNG() = cv::RNG(seed);
+#else
+    std::srand(seed);
+#endif
 }

 /*
@@ -60,7 +78,7 @@ inline void seed_random(unsigned int seed)
 */
 inline double rand_double(double high = 1.0, double low = 0)
 {
-    return low + ((high-low) * (std::rand() / (RAND_MAX + 1.0)));
+    return low + ((high-low) * (rand() / (RAND_MAX + 1.0)));
 }

 /**
@@ -71,7 +89,7 @@ inline double rand_double(double high = 1.0, double low = 0)
 */
 inline int rand_int(int high = RAND_MAX, int low = 0)
 {
-    return low + (int) ( double(high-low) * (std::rand() / (RAND_MAX + 1.0)));
+    return low + (int) ( double(high-low) * (rand() / (RAND_MAX + 1.0)));
 }

 /**
@@ -107,7 +125,11 @@ public:
        for (int i = 0; i < size_; ++i) vals_[i] = i;

        // shuffle the elements in the array
+#ifndef OPENCV_FLANN_USE_STD_RAND
+        cv::randShuffle(vals_);
+#else
        std::random_shuffle(vals_.begin(), vals_.end());
+#endif

        counter_ = 0;
    }
@@ -1824,6 +1824,9 @@ public:
    void sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
        GpuMat& status, GpuMat* err = 0);

+    void sparse_multi(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
+        GpuMat& status, Stream& stream, GpuMat* err = 0);
+
    void dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err = 0);

    void releaseMemory();
@@ -303,6 +303,88 @@ PERF_TEST_P(ImagePair_Gray_NPts_WinSz_Levels_Iters, Video_PyrLKOpticalFlowSparse
    }
 }

+//////////////////////////////////////////////////////
+// PyrLKOpticalFlowSparseMulti
+
+#if defined(HAVE_TBB) && defined(HAVE_CUDA)
+
+DEF_PARAM_TEST(ImagePair_Gray_NPts_WinSz_Levels_Iters, pair_string, bool, int, int, int, int);
+
+PERF_TEST_P(ImagePair_Gray_NPts_WinSz_Levels_Iters, Video_PyrLKOpticalFlowSparseMulti,
+            Combine(Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")),
+                    Bool(),
+                    Values(8000),
+                    Values(21),
+                    Values(1, 3),
+                    Values(1, 30)))
+{
+    declare.time(20.0);
+
+    const pair_string imagePair = GET_PARAM(0);
+    const bool useGray = GET_PARAM(1);
+    const int points = GET_PARAM(2);
+    const int winSize = GET_PARAM(3);
+    const int levels = GET_PARAM(4);
+    const int iters = GET_PARAM(5);
+
+    const cv::Mat frame0 = readImage(imagePair.first, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame0.empty());
+
+    const cv::Mat frame1 = readImage(imagePair.second, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame1.empty());
+
+    cv::Mat gray_frame;
+    if (useGray)
+        gray_frame = frame0;
+    else
+        cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
+
+    cv::Mat pts;
+    cv::goodFeaturesToTrack(gray_frame, pts, points, 0.01, 0.0);
+
+    if (PERF_RUN_GPU())
+    {
+        const cv::gpu::GpuMat d_pts(pts.reshape(2, 1));
+
+        cv::gpu::PyrLKOpticalFlow d_pyrLK;
+        d_pyrLK.winSize = cv::Size(winSize, winSize);
+        d_pyrLK.maxLevel = levels - 1;
+        d_pyrLK.iters = iters;
+
+        const cv::gpu::GpuMat d_frame0(frame0);
+        const cv::gpu::GpuMat d_frame1(frame1);
+        cv::gpu::GpuMat nextPts;
+        cv::gpu::GpuMat status;
+
+        cv::gpu::Stream stream;
+        TEST_CYCLE()
+        {
+            d_pyrLK.sparse_multi(d_frame0, d_frame1, d_pts, nextPts, status, stream);
+            stream.waitForCompletion();
+        }
+
+        GPU_SANITY_CHECK(nextPts);
+        GPU_SANITY_CHECK(status);
+    }
+    else
+    {
+        cv::Mat nextPts;
+        cv::Mat status;
+
+        TEST_CYCLE()
+        {
+            cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(),
+                                     cv::Size(winSize, winSize), levels - 1,
+                                     cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, iters, 0.01));
+        }
+
+        CPU_SANITY_CHECK(nextPts);
+        CPU_SANITY_CHECK(status);
+    }
+}
+
+#endif // HAVE_TBB
+
 //////////////////////////////////////////////////////
 // PyrLKOpticalFlowDense

@@ -49,6 +49,10 @@
 #include "opencv2/gpu/device/vec_math.hpp"
 #include "opencv2/gpu/device/reduce.hpp"

+#include "opencv2/core/core.hpp"
+
+#include "cvconfig.h"
+
 using namespace cv::gpu;
 using namespace cv::gpu::device;

@@ -60,12 +64,54 @@ namespace pyrlk
    __constant__ int c_halfWin_y;
    __constant__ int c_iters;

-    texture<float, cudaTextureType2D, cudaReadModeElementType> tex_If(false, cudaFilterModeLinear, cudaAddressModeClamp);
-    texture<float4, cudaTextureType2D, cudaReadModeElementType> tex_If4(false, cudaFilterModeLinear, cudaAddressModeClamp);
-    texture<uchar, cudaTextureType2D, cudaReadModeElementType> tex_Ib(false, cudaFilterModePoint, cudaAddressModeClamp);
+#define CUDA_CONSTANTS(index) \
+    __constant__ int c_winSize_x##index; \
+    __constant__ int c_winSize_y##index; \
+    __constant__ int c_halfWin_x##index; \
+    __constant__ int c_halfWin_y##index; \
+    __constant__ int c_iters##index;

-    texture<float, cudaTextureType2D, cudaReadModeElementType> tex_Jf(false, cudaFilterModeLinear, cudaAddressModeClamp);
-    texture<float4, cudaTextureType2D, cudaReadModeElementType> tex_Jf4(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    CUDA_CONSTANTS(0)
+    CUDA_CONSTANTS(1)
+    CUDA_CONSTANTS(2)
+    CUDA_CONSTANTS(3)
+    CUDA_CONSTANTS(4)
+
+    template <int index> struct c_multi_winSize_x;
+    template <int index> struct c_multi_winSize_y;
+    template <int index> struct c_multi_halfWin_x;
+    template <int index> struct c_multi_halfWin_y;
+    template <int index> struct c_multi_iters;
+
+#define CUDA_CONSTANTS_ACCESSOR(index) \
+    template <> struct c_multi_winSize_x<index> \
+    { static __device__ __forceinline__ int get(void){ return c_winSize_x##index;} }; \
+    template <> struct c_multi_winSize_y<index> \
+    { static __device__ __forceinline__ int get(void){ return c_winSize_y##index;} }; \
+    template <> struct c_multi_halfWin_x<index> \
+    { static __device__ __forceinline__ int get(void){ return c_halfWin_x##index;} }; \
+    template <> struct c_multi_halfWin_y<index> \
+    { static __device__ __forceinline__ int get(void){ return c_halfWin_y##index;} }; \
+    template <> struct c_multi_iters<index> \
+    { static __device__ __forceinline__ int get(void){ return c_iters##index;} };
+
+    CUDA_CONSTANTS_ACCESSOR(0)
+    CUDA_CONSTANTS_ACCESSOR(1)
+    CUDA_CONSTANTS_ACCESSOR(2)
+    CUDA_CONSTANTS_ACCESSOR(3)
+    CUDA_CONSTANTS_ACCESSOR(4)
+
+    texture<float, cudaTextureType2D, cudaReadModeElementType>
+            tex_If(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    texture<float4, cudaTextureType2D, cudaReadModeElementType>
+            tex_If4(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    texture<uchar, cudaTextureType2D, cudaReadModeElementType>
+            tex_Ib(false, cudaFilterModePoint, cudaAddressModeClamp);
+
+    texture<float, cudaTextureType2D, cudaReadModeElementType>
+            tex_Jf(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    texture<float4, cudaTextureType2D, cudaReadModeElementType>
+            tex_Jf4(false, cudaFilterModeLinear, cudaAddressModeClamp);

    template <int cn> struct Tex_I;
    template <> struct Tex_I<1>
@@ -99,6 +145,57 @@ namespace pyrlk
        }
    };

+    //--------------------------------------------------------------------------
+
+#define CUDA_DECL_TEX_MULTI(texname, type, filtermode) \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi0(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi1(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi2(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi3(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi4(false, filtermode, cudaAddressModeClamp); \
+
+    CUDA_DECL_TEX_MULTI(tex_If1, float, cudaFilterModeLinear)
+    CUDA_DECL_TEX_MULTI(tex_If4, float4, cudaFilterModeLinear)
+    CUDA_DECL_TEX_MULTI(tex_Ib1, uchar, cudaFilterModePoint)
+    CUDA_DECL_TEX_MULTI(tex_Jf1, float, cudaFilterModeLinear)
+    CUDA_DECL_TEX_MULTI(tex_Jf4, float4, cudaFilterModeLinear)
+
+    template <int cn, int index> struct Tex_I_multi;
+    template <int cn, int index> struct Tex_J_multi;
+    template <int cn, int index> struct Tex_B_multi;
+
+#define CUDA_DECL_TEX_MULTI_ACCESS(accessorname, texname, cn, returntype) \
+    template <> struct accessorname##_multi<cn, 0> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi0, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 1> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi1, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 2> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi2, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 3> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi3, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 4> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi4, x, y); } };
+
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_I, tex_If, 1, float)
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_I, tex_If, 4, float4)
+
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_B, tex_Ib, 1, uchar)
+
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_J, tex_Jf, 1, float)
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_J, tex_Jf, 4, float4)
+
+    //--------------------------------------------------------------------------
+
    __device__ __forceinline__ void accum(float& dst, float val)
    {
        dst += val;
@@ -309,6 +406,200 @@ namespace pyrlk
        }
    }

+#if defined(HAVE_TBB)
+    template <int cn, int index, int PATCH_X, int PATCH_Y, bool calcErr>
+    __global__ void sparseKernel_multi(const float2* prevPts, float2* nextPts, uchar* status, float* err, const int level, const int rows, const int cols)
+    {
+    #if __CUDA_ARCH__ <= 110
+        const int BLOCK_SIZE = 128;
+    #else
+        const int BLOCK_SIZE = 256;
+    #endif
+
+        __shared__ float smem1[BLOCK_SIZE];
+        __shared__ float smem2[BLOCK_SIZE];
+        __shared__ float smem3[BLOCK_SIZE];
+
+        const unsigned int tid = threadIdx.y * blockDim.x + threadIdx.x;
+
+        float2 prevPt = prevPts[blockIdx.x];
+        prevPt.x *= (1.0f / (1 << level));
+        prevPt.y *= (1.0f / (1 << level));
+
+        if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows)
+        {
+            if (tid == 0 && level == 0)
+                status[blockIdx.x] = 0;
+
+            return;
+        }
+
+        prevPt.x -= c_multi_halfWin_x<index>::get();
+        prevPt.y -= c_multi_halfWin_y<index>::get();
+
+        // extract the patch from the first image, compute covariation matrix of derivatives
+
+        float A11 = 0;
+        float A12 = 0;
+        float A22 = 0;
+
+        typedef typename TypeVec<float, cn>::vec_type work_type;
+
+        work_type I_patch   [PATCH_Y][PATCH_X];
+        work_type dIdx_patch[PATCH_Y][PATCH_X];
+        work_type dIdy_patch[PATCH_Y][PATCH_X];
+
+        for (int yBase = threadIdx.y, i = 0; yBase < c_multi_winSize_y<index>::get(); yBase += blockDim.y, ++i)
+        {
+            for (int xBase = threadIdx.x, j = 0; xBase < c_multi_winSize_x<index>::get(); xBase += blockDim.x, ++j)
+            {
+                float x = prevPt.x + xBase + 0.5f;
+                float y = prevPt.y + yBase + 0.5f;
+
+                I_patch[i][j] = Tex_I_multi<cn,index>::read(x, y);
+
+                // Sharr Deriv
+
+                work_type dIdx = 3.0f * Tex_I_multi<cn,index>::read(x+1, y-1) + 10.0f * Tex_I_multi<cn,index>::read(x+1, y) + 3.0f * Tex_I_multi<cn,index>::read(x+1, y+1) -
+                                 (3.0f * Tex_I_multi<cn,index>::read(x-1, y-1) + 10.0f * Tex_I_multi<cn,index>::read(x-1, y) + 3.0f * Tex_I_multi<cn,index>::read(x-1, y+1));
+
+                work_type dIdy = 3.0f * Tex_I_multi<cn,index>::read(x-1, y+1) + 10.0f * Tex_I_multi<cn,index>::read(x, y+1) + 3.0f * Tex_I_multi<cn,index>::read(x+1, y+1) -
+                                (3.0f * Tex_I_multi<cn,index>::read(x-1, y-1) + 10.0f * Tex_I_multi<cn,index>::read(x, y-1) + 3.0f * Tex_I_multi<cn,index>::read(x+1, y-1));
+
+                dIdx_patch[i][j] = dIdx;
+                dIdy_patch[i][j] = dIdy;
+
+                accum(A11, dIdx * dIdx);
+                accum(A12, dIdx * dIdy);
+                accum(A22, dIdy * dIdy);
+            }
+        }
+
+        reduce<BLOCK_SIZE>(smem_tuple(smem1, smem2, smem3), thrust::tie(A11, A12, A22), tid, thrust::make_tuple(plus<float>(), plus<float>(), plus<float>()));
+
+    #if __CUDA_ARCH__ >= 300
+        if (tid == 0)
+        {
+            smem1[0] = A11;
+            smem2[0] = A12;
+            smem3[0] = A22;
+        }
+    #endif
+
+        __syncthreads();
+
+        A11 = smem1[0];
+        A12 = smem2[0];
+        A22 = smem3[0];
+
+        float D = A11 * A22 - A12 * A12;
+
+        if (abs_(D) < numeric_limits<float>::epsilon())
+        {
+            if (tid == 0 && level == 0)
+                status[blockIdx.x] = 0;
+
+            return;
+        }
+
+        D = 1.f / D;
+
+        A11 *= D;
+        A12 *= D;
+        A22 *= D;
+
+        float2 nextPt = nextPts[blockIdx.x];
+        nextPt.x *= 2.f;
+        nextPt.y *= 2.f;
+
+        nextPt.x -= c_multi_halfWin_x<index>::get();
+        nextPt.y -= c_multi_halfWin_y<index>::get();
+
+        for (int k = 0; k < c_multi_iters<index>::get(); ++k)
+        {
+            if (nextPt.x < -c_multi_halfWin_x<index>::get() || nextPt.x >= cols || nextPt.y < -c_multi_halfWin_y<index>::get() || nextPt.y >= rows)
+            {
+                if (tid == 0 && level == 0)
+                    status[blockIdx.x] = 0;
+
+                return;
+            }
+
+            float b1 = 0;
+            float b2 = 0;
+
+            for (int y = threadIdx.y, i = 0; y < c_multi_winSize_y<index>::get(); y += blockDim.y, ++i)
+            {
+                for (int x = threadIdx.x, j = 0; x < c_multi_winSize_x<index>::get(); x += blockDim.x, ++j)
+                {
+                    work_type I_val = I_patch[i][j];
+                    work_type J_val = Tex_J_multi<cn,index>::read(nextPt.x + x + 0.5f, nextPt.y + y + 0.5f);
+
+                    work_type diff = (J_val - I_val) * 32.0f;
+
+                    accum(b1, diff * dIdx_patch[i][j]);
+                    accum(b2, diff * dIdy_patch[i][j]);
+                }
+            }
+
+            reduce<BLOCK_SIZE>(smem_tuple(smem1, smem2), thrust::tie(b1, b2), tid, thrust::make_tuple(plus<float>(), plus<float>()));
+
+        #if __CUDA_ARCH__ >= 300
+            if (tid == 0)
+            {
+                smem1[0] = b1;
+                smem2[0] = b2;
+            }
+        #endif
+
+            __syncthreads();
+
+            b1 = smem1[0];
+            b2 = smem2[0];
+
+            float2 delta;
+            delta.x = A12 * b2 - A22 * b1;
+            delta.y = A12 * b1 - A11 * b2;
+
+            nextPt.x += delta.x;
+            nextPt.y += delta.y;
+
+            if (::fabs(delta.x) < 0.01f && ::fabs(delta.y) < 0.01f)
+                break;
+        }
+
+        float errval = 0;
+        if (calcErr)
+        {
+            for (int y = threadIdx.y, i = 0; y < c_multi_winSize_y<index>::get(); y += blockDim.y, ++i)
+            {
+                for (int x = threadIdx.x, j = 0; x < c_multi_winSize_x<index>::get(); x += blockDim.x, ++j)
+                {
+                    work_type I_val = I_patch[i][j];
+                    work_type J_val = Tex_J_multi<cn,index>::read(nextPt.x + x + 0.5f, nextPt.y + y + 0.5f);
+
+                    work_type diff = J_val - I_val;
+
+                    accum(errval, abs_(diff));
+                }
+            }
+
+            reduce<BLOCK_SIZE>(smem1, errval, tid, plus<float>());
+        }
+
+        if (tid == 0)
+        {
+            nextPt.x += c_multi_halfWin_x<index>::get();
+            nextPt.y += c_multi_halfWin_y<index>::get();
+
+            nextPts[blockIdx.x] = nextPt;
+
+            if (calcErr)
+                err[blockIdx.x] = static_cast<float>(errval) / (cn * c_multi_winSize_x<index>::get() * c_multi_winSize_y<index>::get());
+        }
+    }
+#endif // defined(HAVE_TBB)
+
    template <int cn, int PATCH_X, int PATCH_Y>
    void sparse_caller(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
                       int level, dim3 block, cudaStream_t stream)
@@ -326,6 +617,26 @@ namespace pyrlk
            cudaSafeCall( cudaDeviceSynchronize() );
    }

+#if defined(HAVE_TBB)
+    template <int cn, int index, int PATCH_X, int PATCH_Y>
+    void sparse_caller_multi(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                       int level, dim3 block, cudaStream_t stream)
+    {
+        dim3 grid(ptcount);
+
+        if (level == 0 && err)
+            sparseKernel_multi<cn, index, PATCH_X, PATCH_Y, true><<<grid, block>>>(prevPts, nextPts, status, err, level, rows, cols);
+        else
+            sparseKernel_multi<cn, index, PATCH_X, PATCH_Y, false><<<grid, block>>>(prevPts, nextPts, status, err, level, rows, cols);
+
+        cudaSafeCall( cudaGetLastError() );
+
+        if (stream == 0)
+            cudaSafeCall( cudaDeviceSynchronize() );
+    }
+
+#endif // defined(HAVE_TBB)
+
    template <bool calcErr>
    __global__ void denseKernel(PtrStepf u, PtrStepf v, const PtrStepf prevU, const PtrStepf prevV, PtrStepf err, const int rows, const int cols)
    {
@@ -484,6 +795,30 @@ namespace pyrlk
        cudaSafeCall( cudaMemcpyToSymbol(c_iters, &iters, sizeof(int)) );
    }

+#if defined(HAVE_TBB)
+    void loadConstants_multi(int2 winSize, int iters, int index, cudaStream_t stream = 0)
+    {
+        int2 halfWin;
+#define COPY_TO_SYMBOL_CALL(index) \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_winSize_x##index, &winSize.x, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_winSize_y##index, &winSize.y, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_halfWin_x##index, &halfWin.x, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_halfWin_y##index, &halfWin.y, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_iters##index, &iters, sizeof(int), 0, cudaMemcpyHostToDevice, stream) );
+
+        switch(index)
+        {
+            case 0: COPY_TO_SYMBOL_CALL(0) break;
+            case 1: COPY_TO_SYMBOL_CALL(1) break;
+            case 2: COPY_TO_SYMBOL_CALL(2) break;
+            case 3: COPY_TO_SYMBOL_CALL(3) break;
+            case 4: COPY_TO_SYMBOL_CALL(4) break;
+            default: CV_Error(CV_StsBadArg, "invalid execution line index"); break;
+        }
+    }
+#endif // defined(HAVE_TBB)
+
    void sparse1(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
                 int level, dim3 block, dim3 patch, cudaStream_t stream)
    {
@@ -528,6 +863,161 @@ namespace pyrlk
            level, block, stream);
    }

+#if defined(HAVE_TBB)
+    void sparse1_multi(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream, int index)
+    {
+        typedef void (*func_t)(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                               int level, dim3 block, cudaStream_t stream);
+
+        static const func_t funcs[5][5][5] =
+        {
+            { // index 0
+                {sparse_caller_multi<1, 0, 1, 1>, sparse_caller_multi<1, 0, 2, 1>, sparse_caller_multi<1, 0, 3, 1>, sparse_caller_multi<1, 0, 4, 1>, sparse_caller_multi<1, 0, 5, 1>},
+                {sparse_caller_multi<1, 0, 1, 2>, sparse_caller_multi<1, 0, 2, 2>, sparse_caller_multi<1, 0, 3, 2>, sparse_caller_multi<1, 0, 4, 2>, sparse_caller_multi<1, 0, 5, 2>},
+                {sparse_caller_multi<1, 0, 1, 3>, sparse_caller_multi<1, 0, 2, 3>, sparse_caller_multi<1, 0, 3, 3>, sparse_caller_multi<1, 0, 4, 3>, sparse_caller_multi<1, 0, 5, 3>},
+                {sparse_caller_multi<1, 0, 1, 4>, sparse_caller_multi<1, 0, 2, 4>, sparse_caller_multi<1, 0, 3, 4>, sparse_caller_multi<1, 0, 4, 4>, sparse_caller_multi<1, 0, 5, 4>},
+                {sparse_caller_multi<1, 0, 1, 5>, sparse_caller_multi<1, 0, 2, 5>, sparse_caller_multi<1, 0, 3, 5>, sparse_caller_multi<1, 0, 4, 5>, sparse_caller_multi<1, 0, 5, 5>}
+            },
+            { // index 1
+                {sparse_caller_multi<1, 1, 1, 1>, sparse_caller_multi<1, 1, 2, 1>, sparse_caller_multi<1, 1, 3, 1>, sparse_caller_multi<1, 1, 4, 1>, sparse_caller_multi<1, 1, 5, 1>},
+                {sparse_caller_multi<1, 1, 1, 2>, sparse_caller_multi<1, 1, 2, 2>, sparse_caller_multi<1, 1, 3, 2>, sparse_caller_multi<1, 1, 4, 2>, sparse_caller_multi<1, 1, 5, 2>},
+                {sparse_caller_multi<1, 1, 1, 3>, sparse_caller_multi<1, 1, 2, 3>, sparse_caller_multi<1, 1, 3, 3>, sparse_caller_multi<1, 1, 4, 3>, sparse_caller_multi<1, 1, 5, 3>},
+                {sparse_caller_multi<1, 1, 1, 4>, sparse_caller_multi<1, 1, 2, 4>, sparse_caller_multi<1, 1, 3, 4>, sparse_caller_multi<1, 1, 4, 4>, sparse_caller_multi<1, 1, 5, 4>},
+                {sparse_caller_multi<1, 1, 1, 5>, sparse_caller_multi<1, 1, 2, 5>, sparse_caller_multi<1, 1, 3, 5>, sparse_caller_multi<1, 1, 4, 5>, sparse_caller_multi<1, 1, 5, 5>}
+            },
+            { // index 2
+                {sparse_caller_multi<1, 2, 1, 1>, sparse_caller_multi<1, 2, 2, 1>, sparse_caller_multi<1, 2, 3, 1>, sparse_caller_multi<1, 2, 4, 1>, sparse_caller_multi<1, 2, 5, 1>},
+                {sparse_caller_multi<1, 2, 1, 2>, sparse_caller_multi<1, 2, 2, 2>, sparse_caller_multi<1, 2, 3, 2>, sparse_caller_multi<1, 2, 4, 2>, sparse_caller_multi<1, 2, 5, 2>},
+                {sparse_caller_multi<1, 2, 1, 3>, sparse_caller_multi<1, 2, 2, 3>, sparse_caller_multi<1, 2, 3, 3>, sparse_caller_multi<1, 2, 4, 3>, sparse_caller_multi<1, 2, 5, 3>},
+                {sparse_caller_multi<1, 2, 1, 4>, sparse_caller_multi<1, 2, 2, 4>, sparse_caller_multi<1, 2, 3, 4>, sparse_caller_multi<1, 2, 4, 4>, sparse_caller_multi<1, 2, 5, 4>},
+                {sparse_caller_multi<1, 2, 1, 5>, sparse_caller_multi<1, 2, 2, 5>, sparse_caller_multi<1, 2, 3, 5>, sparse_caller_multi<1, 2, 4, 5>, sparse_caller_multi<1, 2, 5, 5>}
+            },
+            { // index 3
+                {sparse_caller_multi<1, 3, 1, 1>, sparse_caller_multi<1, 3, 2, 1>, sparse_caller_multi<1, 3, 3, 1>, sparse_caller_multi<1, 3, 4, 1>, sparse_caller_multi<1, 3, 5, 1>},
+                {sparse_caller_multi<1, 3, 1, 2>, sparse_caller_multi<1, 3, 2, 2>, sparse_caller_multi<1, 3, 3, 2>, sparse_caller_multi<1, 3, 4, 2>, sparse_caller_multi<1, 3, 5, 2>},
+                {sparse_caller_multi<1, 3, 1, 3>, sparse_caller_multi<1, 3, 2, 3>, sparse_caller_multi<1, 3, 3, 3>, sparse_caller_multi<1, 3, 4, 3>, sparse_caller_multi<1, 3, 5, 3>},
+                {sparse_caller_multi<1, 3, 1, 4>, sparse_caller_multi<1, 3, 2, 4>, sparse_caller_multi<1, 3, 3, 4>, sparse_caller_multi<1, 3, 4, 4>, sparse_caller_multi<1, 3, 5, 4>},
+                {sparse_caller_multi<1, 3, 1, 5>, sparse_caller_multi<1, 3, 2, 5>, sparse_caller_multi<1, 3, 3, 5>, sparse_caller_multi<1, 3, 4, 5>, sparse_caller_multi<1, 3, 5, 5>}
+            },
+            { // index 4
+                {sparse_caller_multi<1, 4, 1, 1>, sparse_caller_multi<1, 4, 2, 1>, sparse_caller_multi<1, 4, 3, 1>, sparse_caller_multi<1, 4, 4, 1>, sparse_caller_multi<1, 4, 5, 1>},
+                {sparse_caller_multi<1, 4, 1, 2>, sparse_caller_multi<1, 4, 2, 2>, sparse_caller_multi<1, 4, 3, 2>, sparse_caller_multi<1, 4, 4, 2>, sparse_caller_multi<1, 4, 5, 2>},
+                {sparse_caller_multi<1, 4, 1, 3>, sparse_caller_multi<1, 4, 2, 3>, sparse_caller_multi<1, 4, 3, 3>, sparse_caller_multi<1, 4, 4, 3>, sparse_caller_multi<1, 4, 5, 3>},
+                {sparse_caller_multi<1, 4, 1, 4>, sparse_caller_multi<1, 4, 2, 4>, sparse_caller_multi<1, 4, 3, 4>, sparse_caller_multi<1, 4, 4, 4>, sparse_caller_multi<1, 4, 5, 4>},
+                {sparse_caller_multi<1, 4, 1, 5>, sparse_caller_multi<1, 4, 2, 5>, sparse_caller_multi<1, 4, 3, 5>, sparse_caller_multi<1, 4, 4, 5>, sparse_caller_multi<1, 4, 5, 5>}
+            }
+        };
+
+        switch(index)
+        {
+            case 0:
+                bindTexture(&tex_If1_multi0, I);
+                bindTexture(&tex_Jf1_multi0, J);
+                break;
+            case 1:
+                bindTexture(&tex_If1_multi1, I);
+                bindTexture(&tex_Jf1_multi1, J);
+                break;
+            case 2:
+                bindTexture(&tex_If1_multi2, I);
+                bindTexture(&tex_Jf1_multi2, J);
+                break;
+            case 3:
+                bindTexture(&tex_If1_multi3, I);
+                bindTexture(&tex_Jf1_multi3, J);
+                break;
+            case 4:
+                bindTexture(&tex_If1_multi4, I);
+                bindTexture(&tex_Jf1_multi4, J);
+                break;
+            default:
+                CV_Error(CV_StsBadArg, "invalid execution line index");
+                break;
+        }
+
+        funcs[index][patch.y - 1][patch.x - 1](I.rows, I.cols, prevPts, nextPts, status, err, ptcount,
+            level, block, stream);
+    }
+
+    void sparse4_multi(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream, int index)
+    {
+        typedef void (*func_t)(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                               int level, dim3 block, cudaStream_t stream);
+
+        static const func_t funcs[5][5][5] =
+        {
+            { // index 0
+                {sparse_caller_multi<4, 0, 1, 1>, sparse_caller_multi<4, 0, 2, 1>, sparse_caller_multi<4, 0, 3, 1>, sparse_caller_multi<4, 0, 4, 1>, sparse_caller_multi<4, 0, 5, 1>},
+                {sparse_caller_multi<4, 0, 1, 2>, sparse_caller_multi<4, 0, 2, 2>, sparse_caller_multi<4, 0, 3, 2>, sparse_caller_multi<4, 0, 4, 2>, sparse_caller_multi<4, 0, 5, 2>},
+                {sparse_caller_multi<4, 0, 1, 3>, sparse_caller_multi<4, 0, 2, 3>, sparse_caller_multi<4, 0, 3, 3>, sparse_caller_multi<4, 0, 4, 3>, sparse_caller_multi<4, 0, 5, 3>},
+                {sparse_caller_multi<4, 0, 1, 4>, sparse_caller_multi<4, 0, 2, 4>, sparse_caller_multi<4, 0, 3, 4>, sparse_caller_multi<4, 0, 4, 4>, sparse_caller_multi<4, 0, 5, 4>},
+                {sparse_caller_multi<4, 0, 1, 5>, sparse_caller_multi<4, 0, 2, 5>, sparse_caller_multi<4, 0, 3, 5>, sparse_caller_multi<4, 0, 4, 5>, sparse_caller_multi<4, 0, 5, 5>}
+            },
+            { // index 1
+                {sparse_caller_multi<4, 1, 1, 1>, sparse_caller_multi<4, 1, 2, 1>, sparse_caller_multi<4, 1, 3, 1>, sparse_caller_multi<4, 1, 4, 1>, sparse_caller_multi<4, 1, 5, 1>},
+                {sparse_caller_multi<4, 1, 1, 2>, sparse_caller_multi<4, 1, 2, 2>, sparse_caller_multi<4, 1, 3, 2>, sparse_caller_multi<4, 1, 4, 2>, sparse_caller_multi<4, 1, 5, 2>},
+                {sparse_caller_multi<4, 1, 1, 3>, sparse_caller_multi<4, 1, 2, 3>, sparse_caller_multi<4, 1, 3, 3>, sparse_caller_multi<4, 1, 4, 3>, sparse_caller_multi<4, 1, 5, 3>},
+                {sparse_caller_multi<4, 1, 1, 4>, sparse_caller_multi<4, 1, 2, 4>, sparse_caller_multi<4, 1, 3, 4>, sparse_caller_multi<4, 1, 4, 4>, sparse_caller_multi<4, 1, 5, 4>},
+                {sparse_caller_multi<4, 1, 1, 5>, sparse_caller_multi<4, 1, 2, 5>, sparse_caller_multi<4, 1, 3, 5>, sparse_caller_multi<4, 1, 4, 5>, sparse_caller_multi<4, 1, 5, 5>}
+            },
+            { // index 2
+                {sparse_caller_multi<4, 2, 1, 1>, sparse_caller_multi<4, 2, 2, 1>, sparse_caller_multi<4, 2, 3, 1>, sparse_caller_multi<4, 2, 4, 1>, sparse_caller_multi<4, 2, 5, 1>},
+                {sparse_caller_multi<4, 2, 1, 2>, sparse_caller_multi<4, 2, 2, 2>, sparse_caller_multi<4, 2, 3, 2>, sparse_caller_multi<4, 2, 4, 2>, sparse_caller_multi<4, 2, 5, 2>},
+                {sparse_caller_multi<4, 2, 1, 3>, sparse_caller_multi<4, 2, 2, 3>, sparse_caller_multi<4, 2, 3, 3>, sparse_caller_multi<4, 2, 4, 3>, sparse_caller_multi<4, 2, 5, 3>},
+                {sparse_caller_multi<4, 2, 1, 4>, sparse_caller_multi<4, 2, 2, 4>, sparse_caller_multi<4, 2, 3, 4>, sparse_caller_multi<4, 2, 4, 4>, sparse_caller_multi<4, 2, 5, 4>},
+                {sparse_caller_multi<4, 2, 1, 5>, sparse_caller_multi<4, 2, 2, 5>, sparse_caller_multi<4, 2, 3, 5>, sparse_caller_multi<4, 2, 4, 5>, sparse_caller_multi<4, 2, 5, 5>}
+            },
+            { // index 3
+                {sparse_caller_multi<4, 3, 1, 1>, sparse_caller_multi<4, 3, 2, 1>, sparse_caller_multi<4, 3, 3, 1>, sparse_caller_multi<4, 3, 4, 1>, sparse_caller_multi<4, 3, 5, 1>},
+                {sparse_caller_multi<4, 3, 1, 2>, sparse_caller_multi<4, 3, 2, 2>, sparse_caller_multi<4, 3, 3, 2>, sparse_caller_multi<4, 3, 4, 2>, sparse_caller_multi<4, 3, 5, 2>},
+                {sparse_caller_multi<4, 3, 1, 3>, sparse_caller_multi<4, 3, 2, 3>, sparse_caller_multi<4, 3, 3, 3>, sparse_caller_multi<4, 3, 4, 3>, sparse_caller_multi<4, 3, 5, 3>},
+                {sparse_caller_multi<4, 3, 1, 4>, sparse_caller_multi<4, 3, 2, 4>, sparse_caller_multi<4, 3, 3, 4>, sparse_caller_multi<4, 3, 4, 4>, sparse_caller_multi<4, 3, 5, 4>},
+                {sparse_caller_multi<4, 3, 1, 5>, sparse_caller_multi<4, 3, 2, 5>, sparse_caller_multi<4, 3, 3, 5>, sparse_caller_multi<4, 3, 4, 5>, sparse_caller_multi<4, 3, 5, 5>}
+            },
+            { // index 4
+                {sparse_caller_multi<4, 4, 1, 1>, sparse_caller_multi<4, 4, 2, 1>, sparse_caller_multi<4, 4, 3, 1>, sparse_caller_multi<4, 4, 4, 1>, sparse_caller_multi<4, 4, 5, 1>},
+                {sparse_caller_multi<4, 4, 1, 2>, sparse_caller_multi<4, 4, 2, 2>, sparse_caller_multi<4, 4, 3, 2>, sparse_caller_multi<4, 4, 4, 2>, sparse_caller_multi<4, 4, 5, 2>},
+                {sparse_caller_multi<4, 4, 1, 3>, sparse_caller_multi<4, 4, 2, 3>, sparse_caller_multi<4, 4, 3, 3>, sparse_caller_multi<4, 4, 4, 3>, sparse_caller_multi<4, 4, 5, 3>},
+                {sparse_caller_multi<4, 4, 1, 4>, sparse_caller_multi<4, 4, 2, 4>, sparse_caller_multi<4, 4, 3, 4>, sparse_caller_multi<4, 4, 4, 4>, sparse_caller_multi<4, 4, 5, 4>},
+                {sparse_caller_multi<4, 4, 1, 5>, sparse_caller_multi<4, 4, 2, 5>, sparse_caller_multi<4, 4, 3, 5>, sparse_caller_multi<4, 4, 4, 5>, sparse_caller_multi<4, 4, 5, 5>}
+            }
+        };
+
+        switch(index)
+        {
+            case 0:
+                bindTexture(&tex_If4_multi0, I);
+                bindTexture(&tex_Jf4_multi0, J);
+                break;
+            case 1:
+                bindTexture(&tex_If4_multi1, I);
+                bindTexture(&tex_Jf4_multi1, J);
+                break;
+            case 2:
+                bindTexture(&tex_If4_multi2, I);
+                bindTexture(&tex_Jf4_multi2, J);
+                break;
+            case 3:
+                bindTexture(&tex_If4_multi3, I);
+                bindTexture(&tex_Jf4_multi3, J);
+                break;
+            case 4:
+                bindTexture(&tex_If4_multi4, I);
+                bindTexture(&tex_Jf4_multi4, J);
+                break;
+            default:
+                CV_Error(CV_StsBadArg, "invalid execution line index");
+                break;
+        }
+
+        funcs[index][patch.y - 1][patch.x - 1](I.rows, I.cols, prevPts, nextPts, status, err, ptcount,
+            level, block, stream);
+    }
+
+#endif // defined(HAVE_TBB)
+
    void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV, PtrStepSzf err, int2 winSize, cudaStream_t stream)
    {
        dim3 block(16, 16);
@@ -42,12 +42,18 @@

 #include "precomp.hpp"

+#ifdef HAVE_TBB
+#include <tbb/compat/condition_variable>
+#include <tbb/mutex.h>
+#endif
+
 using namespace std;
 using namespace cv;
 using namespace cv::gpu;

 #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)

+
 cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow() { throw_nogpu(); }
 void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_nogpu(); }
 void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_nogpu(); }
@@ -64,6 +70,23 @@ namespace pyrlk
    void sparse4(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
                 int level, dim3 block, dim3 patch, cudaStream_t stream = 0);

+
+#if !defined(HAVE_TBB)
+#define throw_notbb() CV_Error(CV_StsNotImplemented, "The library is compiled without TBB support")
+    void loadConstants_multi(int2, int, int, cudaStream_t) { throw_notbb(); }
+    void sparse1_multi(PtrStepSzf, PtrStepSzf, const float2*, float2*, uchar*, float*, int,
+                 int, dim3, dim3, cudaStream_t, int) { throw_notbb(); }
+    void sparse4_multi(PtrStepSz<float4>, PtrStepSz<float4>, const float2*, float2*, uchar*, float*, int,
+                 int, dim3, dim3, cudaStream_t, int) { throw_notbb(); }
+#else
+    void loadConstants_multi(int2 winSize, int iters, int index = 0, cudaStream_t stream = 0);
+
+    void sparse1_multi(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream = 0, int index = 0);
+    void sparse4_multi(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream = 0, int index = 0);
+#endif
+
    void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV,
               PtrStepSzf err, int2 winSize, cudaStream_t stream = 0);
 }
@@ -98,7 +121,9 @@ namespace
    }
 }

-void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err)
+void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg,
+                        const GpuMat& nextImg, const GpuMat& prevPts,
+                        GpuMat& nextPts, GpuMat& status, GpuMat* err)
 {
    if (prevPts.empty())
    {
@@ -181,6 +206,137 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next
    }
 }

+#ifdef HAVE_TBB
+//--------------------------------------------------------------------------
+// Multi-threading support
+
+static bool index_vector_use[5] = {true, true, true, true, true}; // all free
+static tbb::mutex s_PyrLKOpticalFlow_Mutex;
+static condition_variable s_PyrLKOpticalFlow_ConditionVariable;
+
+void cv::gpu::PyrLKOpticalFlow::sparse_multi(const GpuMat& prevImg,
+        const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
+        GpuMat& status, Stream& stream, GpuMat* err)
+{
+    if (prevPts.empty())
+    {
+        nextPts.release();
+        status.release();
+        if (err) err->release();
+        return;
+    }
+
+    dim3 block, patch;
+    calcPatchSize(winSize, block, patch);
+
+    CV_Assert(prevImg.channels() == 1 || prevImg.channels() == 3 || prevImg.channels() == 4);
+    CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
+    CV_Assert(maxLevel >= 0);
+    CV_Assert(winSize.width > 2 && winSize.height > 2);
+    CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6);
+    CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2);
+
+    if (useInitialFlow)
+        CV_Assert(nextPts.size() == prevPts.size() && nextPts.type() == CV_32FC2);
+    else
+        ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts);
+
+    GpuMat temp1 = (useInitialFlow ? nextPts : prevPts).reshape(1);
+    GpuMat temp2 = nextPts.reshape(1);
+    multiply(temp1, Scalar::all(1.0 / (1 << maxLevel) / 2.0), temp2);
+
+    ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status);
+    status.setTo(Scalar::all(1));
+
+    if (err)
+        ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err);
+
+    // build the image pyramids.
+
+    prevPyr_.resize(maxLevel + 1);
+    nextPyr_.resize(maxLevel + 1);
+
+    int cn = prevImg.channels();
+
+    if (cn == 1 || cn == 4)
+    {
+        prevImg.convertTo(prevPyr_[0], CV_32F);
+        nextImg.convertTo(nextPyr_[0], CV_32F);
+    }
+    else
+    {
+        buf_.resize(1);
+
+        cvtColor(prevImg, buf_[0], COLOR_BGR2BGRA);
+        buf_[0].convertTo(prevPyr_[0], CV_32F);
+
+        cvtColor(nextImg, buf_[0], COLOR_BGR2BGRA);
+        buf_[0].convertTo(nextPyr_[0], CV_32F);
+    }
+
+    for (int level = 1; level <= maxLevel; ++level)
+    {
+        pyrDown(prevPyr_[level - 1], prevPyr_[level]);
+        pyrDown(nextPyr_[level - 1], nextPyr_[level]);
+    }
+
+    //--------------------------------------------------------------------------
+    // Multithreading support
+    int index = -1;
+
+    do
+    {
+        unique_lock<tbb::mutex> ul(s_PyrLKOpticalFlow_Mutex);
+        for (unsigned int uiI = 0; uiI < 5; ++uiI)
+        {
+            if (index_vector_use[uiI])
+            {
+                index = uiI;
+                index_vector_use[uiI] = false;
+                break;
+            }
+        }
+        if (index < 0)
+            s_PyrLKOpticalFlow_ConditionVariable.wait(ul);
+
+        ul.unlock();
+    }while (index < 0);
+
+    //--------------------------------------------------------------------------
+
+    pyrlk::loadConstants_multi(make_int2(winSize.width, winSize.height), iters, index);
+
+    for (int level = maxLevel; level >= 0; level--)
+    {
+        if (cn == 1)
+        {
+            pyrlk::sparse1_multi(prevPyr_[level], nextPyr_[level],
+                prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(),
+                level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
+                level, block, patch, StreamAccessor::getStream(stream), index);
+        }
+        else
+        {
+            pyrlk::sparse4_multi(prevPyr_[level], nextPyr_[level],
+                prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(),
+                level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
+                level, block, patch, StreamAccessor::getStream(stream), index);
+        }
+    }
+
+    unique_lock<tbb::mutex> ul(s_PyrLKOpticalFlow_Mutex);
+    index_vector_use[index] = true;
+    s_PyrLKOpticalFlow_ConditionVariable.notify_one();
+}
+#else
+void cv::gpu::PyrLKOpticalFlow::sparse_multi(const GpuMat& /*prevImg*/,
+        const GpuMat& /*nextImg*/, const GpuMat& /*prevPts*/, GpuMat& /*nextPts*/,
+        GpuMat& /*status*/, Stream& /*stream*/, GpuMat* /*err*/)
+{
+    throw_notbb();
+}
+#endif
+
 void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err)
 {
    CV_Assert(prevImg.type() == CV_8UC1);
@@ -44,6 +44,10 @@

 #ifdef HAVE_CUDA

+#ifdef HAVE_TBB
+#include <tbb/tbb.h>
+#endif
+
 using namespace cvtest;

 //////////////////////////////////////////////////////
@@ -322,6 +326,134 @@ GPU_TEST_P(PyrLKOpticalFlow, Sparse)
    ASSERT_LE(bad_ratio, 0.01);
 }

+#ifdef HAVE_TBB
+
+struct Sparse_Multi_Functor
+{
+    explicit Sparse_Multi_Functor(const cv::Mat& in_frame0, const cv::Mat& in_frame1,
+                                  const cv::Mat& in_pts_mat,
+                                  cv::gpu::GpuMat* in_d_pts,
+                                  cv::gpu::GpuMat* in_d_nextPts,
+                                  cv::gpu::GpuMat* in_d_status,
+                                  cv::gpu::Stream* in_streams):
+                                          m_frame0(in_frame0), m_frame1(in_frame1),
+                                          m_pts_mat(in_pts_mat),
+                                          m_d_pts(in_d_pts), m_d_nextPts(in_d_nextPts),
+                                          m_d_status(in_d_status), m_streams(in_streams){}
+
+    void operator()( const tbb::blocked_range<size_t>& r ) const
+    {
+        for( size_t i = r.begin(); i != r.end(); ++i )
+        {
+            m_d_pts[i].upload(m_pts_mat);
+            cv::gpu::PyrLKOpticalFlow pyrLK;
+            pyrLK.sparse_multi(loadMat(m_frame0), loadMat(m_frame1), m_d_pts[i],
+                               m_d_nextPts[i], m_d_status[i], m_streams[i]);
+            m_streams[i].waitForCompletion();
+        }
+    }
+
+    const cv::Mat& m_frame0;
+    const cv::Mat& m_frame1;
+    const cv::Mat& m_pts_mat;
+    cv::gpu::GpuMat* m_d_pts;
+    cv::gpu::GpuMat* m_d_nextPts;
+    cv::gpu::GpuMat* m_d_status;
+    cv::gpu::Stream* m_streams;
+};
+
+
+GPU_TEST_P(PyrLKOpticalFlow, Sparse_Multi)
+{
+    cv::Mat frame0 = readImage("opticalflow/frame0.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame0.empty());
+
+    cv::Mat frame1 = readImage("opticalflow/frame1.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame1.empty());
+
+    cv::Mat gray_frame;
+    if (useGray)
+        gray_frame = frame0;
+    else
+        cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
+
+    std::vector<cv::Point2f> pts;
+    cv::goodFeaturesToTrack(gray_frame, pts, 1000, 0.01, 0.0);
+
+    //--------------------------------------------------------------------------
+    // GPU
+    const unsigned int NB_EXEC_LINES = 27;
+
+    cv::gpu::GpuMat d_pts[NB_EXEC_LINES];
+    cv::gpu::GpuMat d_nextPts[NB_EXEC_LINES];
+    cv::gpu::GpuMat d_status[NB_EXEC_LINES];
+    cv::gpu::Stream streams[NB_EXEC_LINES];
+
+    cv::Mat pts_mat(1, (int) pts.size(), CV_32FC2, (void*) &pts[0]);
+
+    tbb::parallel_for(tbb::blocked_range<size_t>(0, NB_EXEC_LINES),
+                      Sparse_Multi_Functor(frame0, frame1, pts_mat,
+                                           d_pts, d_nextPts, d_status, streams));
+
+    std::vector<cv::Point2f> nextPts[NB_EXEC_LINES];
+    std::vector<unsigned char> status[NB_EXEC_LINES];
+
+    for (unsigned int i = 0; i < NB_EXEC_LINES; ++i)
+    {
+        nextPts[i].resize(d_nextPts[i].cols);
+        cv::Mat nextPts_mat(1, d_nextPts[i].cols, CV_32FC2, (void*) &(nextPts[i][0]));
+        d_nextPts[i].download(nextPts_mat);
+
+        status[i].resize(d_status[i].cols);
+        cv::Mat status_mat(1, d_status[i].cols, CV_8UC1, (void*) &(status[i][0]));
+        d_status[i].download(status_mat);
+    }
+
+    //--------------------------------------------------------------------------
+    // CPU
+    std::vector<cv::Point2f> nextPts_gold;
+    std::vector<unsigned char> status_gold;
+    cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, cv::noArray());
+
+    //--------------------------------------------------------------------------
+    // CHECKS
+    for (unsigned int uiI = 0; uiI < NB_EXEC_LINES; ++uiI)
+    {
+        ASSERT_EQ(nextPts_gold.size(), nextPts[uiI].size());
+        ASSERT_EQ(status_gold.size(), status[uiI].size());
+    }
+
+    size_t mistmatch = 0;
+    for (unsigned int uiI = 0; uiI < NB_EXEC_LINES; ++uiI)
+    {
+        for (size_t i = 0; i < nextPts[uiI].size(); ++i)
+        {
+            cv::Point2i a = nextPts[uiI][i];
+            cv::Point2i b = nextPts_gold[i];
+
+            if (status[uiI][i] != status_gold[i])
+            {
+                ++mistmatch;
+                continue;
+            }
+
+            if (status[uiI][i])
+            {
+                bool eq = std::abs(a.x - b.x) <= 1 && std::abs(a.y - b.y) <= 1;
+
+                if (!eq)
+                    ++mistmatch;
+            }
+        }
+    }
+
+    double bad_ratio = static_cast<double>(mistmatch) / (nextPts[0].size() * NB_EXEC_LINES);
+
+    ASSERT_LE(bad_ratio, 0.01);
+}
+
+#endif // HAVE_TBB
+
 INSTANTIATE_TEST_CASE_P(GPU_Video, PyrLKOpticalFlow, testing::Combine(
    ALL_DEVICES,
    testing::Values(UseGray(true), UseGray(false))));
@@ -241,7 +241,7 @@ endif(HAVE_INTELPERC)
 if(IOS)
  add_definitions(-DHAVE_IOS=1)
  list(APPEND highgui_srcs src/ios_conversions.mm src/cap_ios_abstract_camera.mm src/cap_ios_photo_camera.mm src/cap_ios_video_camera.mm)
-  list(APPEND HIGHGUI_LIBRARIES "-framework Accelerate" "-framework AVFoundation" "-framework CoreGraphics" "-framework CoreMedia" "-framework CoreVideo" "-framework QuartzCore" "-framework AssetsLibrary")
+  list(APPEND HIGHGUI_LIBRARIES "-framework Accelerate" "-framework AVFoundation" "-framework CoreGraphics" "-framework CoreMedia" "-framework CoreVideo" "-framework QuartzCore" "-framework UIKit")
 endif()

 if(WIN32)
@@ -293,9 +293,6 @@ if(MSVC)
  set_target_properties(${the_module} PROPERTIES LINK_FLAGS "/NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:atlsd.lib /NODEFAULTLIB:libcmt.lib /DEBUG")
 endif()

-#stop automatic dependencies propagation for this module
-set_target_properties(${the_module} PROPERTIES LINK_INTERFACE_LIBRARIES "")
-
 ocv_add_precompiled_headers(${the_module})
 ocv_warnings_disable(CMAKE_CXX_FLAGS -Wno-deprecated-declarations -Wno-clobbered)

@@ -42,6 +42,7 @@

 #include "precomp.hpp"
 #include "bitstrm.hpp"
+#include "utils.hpp"

 namespace cv
 {
@@ -103,7 +104,6 @@ void  RBaseStream::readBlock()
    fseek( m_file, m_block_pos, SEEK_SET );
    size_t readed = fread( m_start, 1, m_block_size, m_file );
    m_end = m_start + readed;
-    m_current = m_start;

    if( readed == 0 || m_current >= m_end )
        throw RBS_THROW_EOS;
@@ -164,7 +164,7 @@ void  RBaseStream::release()

 void  RBaseStream::setPos( int pos )
 {
-    assert( isOpened() && pos >= 0 );
+    CV_Assert(isOpened() && pos >= 0);

    if( !m_file )
    {
@@ -181,14 +181,19 @@ void  RBaseStream::setPos( int pos )

 int  RBaseStream::getPos()
 {
-    assert( isOpened() );
-    return m_block_pos + (int)(m_current - m_start);
+    CV_Assert(isOpened());
+    int pos = validateToInt((m_current - m_start) + m_block_pos);
+    CV_Assert(pos >= m_block_pos); // overflow check
+    CV_Assert(pos >= 0); // overflow check
+    return pos;
 }

 void  RBaseStream::skip( int bytes )
 {
-    assert( bytes >= 0 );
+    CV_Assert(bytes >= 0);
+    uchar* old = m_current;
    m_current += bytes;
+    CV_Assert(m_current >= old);  // overflow check
 }

 /////////////////////////  RLByteStream ////////////////////////////
@@ -208,6 +213,8 @@ int  RLByteStream::getByte()
        current = m_current;
    }

+    CV_Assert(current < m_end);
+
    val = *((uchar*)current);
    m_current = current + 1;
    return val;
@@ -218,7 +225,7 @@ int RLByteStream::getBytes( void* buffer, int count )
 {
    uchar*  data = (uchar*)buffer;
    int readed = 0;
-    assert( count >= 0 );
+    CV_Assert(count >= 0);

    while( count > 0 )
    {
@@ -369,7 +376,7 @@ void  WBaseStream::writeBlock()
 {
    int size = (int)(m_current - m_start);

-    assert( isOpened() );
+    CV_Assert(isOpened());
    if( size == 0 )
        return;

@@ -440,7 +447,7 @@ void  WBaseStream::release()

 int  WBaseStream::getPos()
 {
-    assert( isOpened() );
+    CV_Assert(isOpened());
    return m_block_pos + (int)(m_current - m_start);
 }

@@ -463,7 +470,7 @@ void WLByteStream::putBytes( const void* buffer, int count )
 {
    uchar* data = (uchar*)buffer;

-    assert( data && m_current && count >= 0 );
+    CV_Assert(data && m_current && count >= 0);

    while( count )
    {
@@ -48,13 +48,20 @@
 namespace cv
 {

-enum
-{
-    RBS_THROW_EOS=-123,  // <end of stream> exception code
-    RBS_THROW_FORB=-124,  // <forrbidden huffman code> exception code
-    RBS_HUFF_FORB=2047,  // forrbidden huffman code "value"
-    RBS_BAD_HEADER=-125 // invalid header
+#define DECLARE_RBS_EXCEPTION(name) \
+class RBS_ ## name ## _Exception : public cv::Exception \
+{ \
+public: \
+    RBS_ ## name ## _Exception(int code_, const String& err_, const String& func_, const String& file_, int line_) : \
+        cv::Exception(code_, err_, func_, file_, line_) \
+    {} \
 };
+DECLARE_RBS_EXCEPTION(THROW_EOS)
+#define RBS_THROW_EOS RBS_THROW_EOS_Exception(CV_StsError, "Unexpected end of input stream", CV_Func, __FILE__, __LINE__)
+DECLARE_RBS_EXCEPTION(THROW_FORB)
+#define RBS_THROW_FORB RBS_THROW_FORB_Exception(CV_StsError, "Forrbidden huffman code", CV_Func, __FILE__, __LINE__)
+DECLARE_RBS_EXCEPTION(BAD_HEADER)
+#define RBS_BAD_HEADER RBS_BAD_HEADER_Exception(CV_StsError, "Invalid header", CV_Func, __FILE__, __LINE__)

 typedef unsigned long ulong;

@@ -192,7 +192,11 @@ CvDC1394::~CvDC1394()
    dc = 0;
 }

-static CvDC1394 dc1394;
+static CvDC1394& getDC1394()
+{
+    static CvDC1394 dc1394;
+    return dc1394;
+}

 class CvCaptureCAM_DC1394_v2_CPP : public CvCapture
 {
@@ -451,7 +455,7 @@ bool CvCaptureCAM_DC1394_v2_CPP::startCapture()
    code = dc1394_capture_setup(dcCam, nDMABufs, DC1394_CAPTURE_FLAGS_DEFAULT);
    if (code >= 0)
    {
-        FD_SET(dc1394_capture_get_fileno(dcCam), &dc1394.camFds);
+        FD_SET(dc1394_capture_get_fileno(dcCam), &getDC1394().camFds);
        dc1394_video_set_transmission(dcCam, DC1394_ON);
        if (cameraId == VIDERE)
        {
@@ -477,15 +481,15 @@ bool CvCaptureCAM_DC1394_v2_CPP::open(int index)

    close();

-    if (!dc1394.dc)
+    if (!getDC1394().dc)
        goto _exit_;

-    err = dc1394_camera_enumerate(dc1394.dc, &cameraList);
+    err = dc1394_camera_enumerate(getDC1394().dc, &cameraList);
    if (err < 0 || !cameraList || (unsigned)index >= (unsigned)cameraList->num)
        goto _exit_;

    guid = cameraList->ids[index].guid;
-    dcCam = dc1394_camera_new(dc1394.dc, guid);
+    dcCam = dc1394_camera_new(getDC1394().dc, guid);
    if (!dcCam)
        goto _exit_;

@@ -510,8 +514,8 @@ void CvCaptureCAM_DC1394_v2_CPP::close()
        // check for fileno valid before using
        int fileno=dc1394_capture_get_fileno(dcCam);

-        if (fileno>=0 && FD_ISSET(fileno, &dc1394.camFds))
-            FD_CLR(fileno, &dc1394.camFds);
+        if (fileno>=0 && FD_ISSET(fileno, &getDC1394().camFds))
+            FD_CLR(fileno, &getDC1394().camFds);
        dc1394_video_set_transmission(dcCam, DC1394_OFF);
        dc1394_capture_stop(dcCam);
        dc1394_camera_free(dcCam);
@@ -173,6 +173,10 @@ extern "C" {
 #define AV_PIX_FMT_GRAY16BE PIX_FMT_GRAY16BE
 #endif

+#ifndef PKT_FLAG_KEY
+#define PKT_FLAG_KEY AV_PKT_FLAG_KEY
+#endif
+
 #if LIBAVUTIL_BUILD >= (LIBAVUTIL_VERSION_MICRO >= 100 \
    ? CALC_FFMPEG_VERSION(52, 38, 100) : CALC_FFMPEG_VERSION(52, 13, 0))
 #define USE_AV_FRAME_GET_BUFFER 1
@@ -1481,13 +1485,20 @@ static AVStream *icv_add_video_stream_FFMPEG(AVFormatContext *oc,
    // some formats want stream headers to be seperate
    if(oc->oformat->flags & AVFMT_GLOBALHEADER)
    {
+#if LIBAVCODEC_BUILD > CALC_FFMPEG_VERSION(56, 35, 0)
+        c->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+#else
        c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+#endif
    }
 #endif

 #if LIBAVCODEC_BUILD >= CALC_FFMPEG_VERSION(52, 42, 0)
    st->avg_frame_rate = (AVRational){frame_rate, frame_rate_base};
 #endif
+#if LIBAVFORMAT_BUILD >= CALC_FFMPEG_VERSION(55, 20, 0)
+    st->time_base = c->time_base;
+#endif

    return st;
 }
@@ -1509,23 +1520,24 @@ static int icv_av_write_frame_FFMPEG( AVFormatContext * oc, AVStream * video_st,
 #endif
    int ret = OPENCV_NO_FRAMES_WRITTEN_CODE;

-    if (oc->oformat->flags & AVFMT_RAWPICTURE) {
+#if LIBAVFORMAT_BUILD < CALC_FFMPEG_VERSION(57, 0, 0)
+    if (oc->oformat->flags & AVFMT_RAWPICTURE)
+    {
        /* raw video case. The API will change slightly in the near
           futur for that */
        AVPacket pkt;
        av_init_packet(&pkt);

-#ifndef PKT_FLAG_KEY
-#define PKT_FLAG_KEY AV_PKT_FLAG_KEY
-#endif
-
        pkt.flags |= PKT_FLAG_KEY;
        pkt.stream_index= video_st->index;
        pkt.data= (uint8_t *)picture;
        pkt.size= sizeof(AVPicture);

        ret = av_write_frame(oc, &pkt);
-    } else {
+    }
+    else
+#endif
+    {
        /* encode the image */
        AVPacket pkt;
        av_init_packet(&pkt);
@@ -1683,7 +1695,9 @@ void CvVideoWriter_FFMPEG::close()
    /* write the trailer, if any */
    if(ok && oc)
    {
-        if( (oc->oformat->flags & AVFMT_RAWPICTURE) == 0 )
+#if LIBAVFORMAT_BUILD < CALC_FFMPEG_VERSION(57, 0, 0)
+        if (!(oc->oformat->flags & AVFMT_RAWPICTURE))
+#endif
        {
            for(;;)
            {
@@ -1917,7 +1931,10 @@ bool CvVideoWriter_FFMPEG::open( const char * filename, int fourcc,

    outbuf = NULL;

-    if (!(oc->oformat->flags & AVFMT_RAWPICTURE)) {
+#if LIBAVFORMAT_BUILD < CALC_FFMPEG_VERSION(57, 0, 0)
+    if (!(oc->oformat->flags & AVFMT_RAWPICTURE))
+#endif
+    {
        /* allocate output buffer */
        /* assume we will never get codec output with more than 4 bytes per pixel... */
        outbuf_size = width*height*4;
@@ -2211,7 +2228,11 @@ AVStream* OutputMediaStream_FFMPEG::addVideoStream(AVFormatContext *oc, CV_CODEC
        // some formats want stream headers to be seperate
        if (oc->oformat->flags & AVFMT_GLOBALHEADER)
        {
-            c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+            #if LIBAVCODEC_BUILD > CALC_FFMPEG_VERSION(56, 35, 0)
+                c->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+            #else
+                c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+            #endif
        }
    #endif

@@ -31,7 +31,7 @@

 #import "opencv2/highgui/cap_ios.h"
 #include "precomp.hpp"
-#import <AssetsLibrary/AssetsLibrary.h>
+#import <UIKit/UIKit.h>


 static CGFloat DegreesToRadians(CGFloat degrees) {return degrees * M_PI / 180;};
@@ -595,11 +595,7 @@ static CGFloat DegreesToRadians(CGFloat degrees) {return degrees * M_PI / 180;};
        return;
    }

-    ALAssetsLibrary *library = [[ALAssetsLibrary alloc] init];
-    if ([library videoAtPathIsCompatibleWithSavedPhotosAlbum:[self videoFileURL]]) {
-        [library writeVideoAtPathToSavedPhotosAlbum:[self videoFileURL]
-                                    completionBlock:^(NSURL *assetURL, NSError *error){ (void)assetURL; (void)error; }];
-    }
+    UISaveVideoAtPathToSavedPhotosAlbum([self videoFileString], nil, nil, NULL);
 }


@@ -634,11 +634,11 @@ static int icvOpenCamera_QT (CvCapture_QT_Cam * capture, const int index)
    OPENCV_ASSERT (capture,            "icvOpenCamera_QT", "'capture' is a NULL-pointer");
    OPENCV_ASSERT (index >=0, "icvOpenCamera_QT", "camera index is negative");

-    ComponentDescription	component_description;
-    Component				component = 0;
+    ComponentDescription    component_description;
+    Component               component = 0;
    int                     number_of_inputs = 0;
    Rect                    myRect;
-    ComponentResult			result = noErr;
+    ComponentResult         result = noErr;


    // travers all components and count video digitizer channels
@@ -92,6 +92,7 @@ bool  BmpDecoder::readHeader()
        m_offset = m_strm.getDWord();

        int  size = m_strm.getDWord();
+        CV_Assert(size > 0); // overflow, 2Gb limit

        if( size >= 36 )
        {
@@ -115,8 +116,9 @@ bool  BmpDecoder::readHeader()

                if( m_bpp <= 8 )
                {
-                    memset( m_palette, 0, sizeof(m_palette));
-                    m_strm.getBytes( m_palette, (clrused == 0? 1<<m_bpp : clrused)*4 );
+                    CV_Assert(clrused >= 0 && clrused <= 256);
+                    memset(m_palette, 0, sizeof(m_palette));
+                    m_strm.getBytes(m_palette, (clrused == 0? 1<<m_bpp : clrused)*4 );
                    iscolor = IsColorPalette( m_palette, m_bpp );
                }
                else if( m_bpp == 16 && m_rle_code == BMP_BITFIELDS )
@@ -165,6 +167,7 @@ bool  BmpDecoder::readHeader()
    }
    catch(...)
    {
+        throw;
    }

    m_type = iscolor ? CV_8UC3 : CV_8UC1;
@@ -184,7 +187,7 @@ bool  BmpDecoder::readHeader()
 bool  BmpDecoder::readData( Mat& img )
 {
    uchar* data = img.data;
-    int step = (int)img.step;
+    int step = validateToInt(img.step);
    bool color = img.channels() > 1;
    uchar  gray_palette[256];
    bool   result = false;
@@ -197,7 +200,7 @@ bool  BmpDecoder::readData( Mat& img )

    if( m_origin == IPL_ORIGIN_BL )
    {
-        data += (m_height - 1)*step;
+        data += (m_height - 1)*(size_t)step;
        step = -step;
    }

@@ -282,7 +285,9 @@ bool  BmpDecoder::readData( Mat& img )
                    else if( code > 2 ) // absolute mode
                    {
                        if( data + code*nch > line_end ) goto decode_rle4_bad;
-                        m_strm.getBytes( src, (((code + 1)>>1) + 1) & -2 );
+                        int sz = (((code + 1)>>1) + 1) & (~1);
+                        CV_Assert((size_t)sz < _src.getSize());
+                        m_strm.getBytes(src, sz);
                        if( color )
                            data = FillColorRow4( data, src, code, m_palette );
                        else
@@ -363,6 +368,9 @@ decode_rle4_bad: ;
                                                gray_palette[code] );

                        line_end_flag = y - prev_y;
+
+                        if( y >= m_height )
+                            break;
                    }
                    else if( code > 2 ) // absolute mode
                    {
@@ -371,7 +379,9 @@ decode_rle4_bad: ;

                        if( data + code3 > line_end )
                            goto decode_rle8_bad;
-                        m_strm.getBytes( src, (code + 1) & -2 );
+                        int sz = (code + 1) & (~1);
+                        CV_Assert((size_t)sz < _src.getSize());
+                        m_strm.getBytes(src, sz);
                        if( color )
                            data = FillColorRow8( data, src, code, m_palette );
                        else
@@ -464,17 +474,20 @@ decode_rle8_bad: ;

                if( !color )
                    icvCvt_BGRA2Gray_8u_C4C1R( src, 0, data, 0, cvSize(m_width,1) );
-                else
-                    icvCvt_BGRA2BGR_8u_C4C3R( src, 0, data, 0, cvSize(m_width,1) );
+                else if( img.channels() == 3 )
+                    icvCvt_BGRA2BGR_8u_C4C3R(src, 0, data, 0, cvSize(m_width, 1));
+                else if( img.channels() == 4 )
+                    memcpy(data, src, m_width * 4);
            }
            result = true;
            break;
        default:
-            assert(0);
+            CV_Error(CV_StsError, "Invalid/unsupported mode");
        }
    }
    catch(...)
    {
+        throw;
    }

    return result;
@@ -517,7 +530,7 @@ bool  BmpEncoder::write( const Mat& img, const vector<int>& )
    int  bitmapHeaderSize = 40;
    int  paletteSize = channels > 1 ? 0 : 1024;
    int  headerSize = 14 /* fileheader */ + bitmapHeaderSize + paletteSize;
-    int  fileSize = fileStep*height + headerSize;
+    size_t fileSize = (size_t)fileStep*height + headerSize;
    PaletteEntry palette[256];

    if( m_buf )
@@ -527,7 +540,7 @@ bool  BmpEncoder::write( const Mat& img, const vector<int>& )
    strm.putBytes( fmtSignBmp, (int)strlen(fmtSignBmp) );

    // write file header
-    strm.putDWord( fileSize ); // file size
+    strm.putDWord( validateToInt(fileSize) ); // file size
    strm.putDWord( 0 );
    strm.putDWord( headerSize );

@@ -188,7 +188,7 @@ bool  ExrDecoder::readData( Mat& img )
    bool color = img.channels() > 1;

    uchar* data = img.data;
-    int step = img.step;
+    size_t step = img.step;
    bool justcopy = m_native_depth;
    bool chromatorgb = false;
    bool rgbtogray = false;
@@ -196,8 +196,8 @@ bool  ExrDecoder::readData( Mat& img )
    FrameBuffer frame;
    int xsample[3] = {1, 1, 1};
    char *buffer;
-    int xstep;
-    int ystep;
+    size_t xstep = 0;
+    size_t ystep = 0;

    xstep = m_native_depth ? 4 : 1;

@@ -589,7 +589,7 @@ bool  ExrEncoder::write( const Mat& img, const vector<int>& )
    bool isfloat = depth == CV_32F || depth == CV_64F;
    depth = CV_ELEM_SIZE1(depth)*8;
    uchar* data = img.data;
-    int step = img.step;
+    size_t step = img.step;

    Header header( width, height );
    Imf::PixelType type;
@@ -619,7 +619,7 @@ bool  ExrEncoder::write( const Mat& img, const vector<int>& )
    FrameBuffer frame;

    char *buffer;
-    int bufferstep;
+    size_t bufferstep;
    int size;
    if( type == FLOAT && depth == 32 )
    {
@@ -392,7 +392,7 @@ int my_jpeg_load_dht (struct jpeg_decompress_struct *info, unsigned char *dht,
 bool  JpegDecoder::readData( Mat& img )
 {
    bool result = false;
-    int step = (int)img.step;
+    size_t step = img.step;
    bool color = img.channels() > 1;

    if( m_state && m_width && m_height )
@@ -77,7 +77,8 @@ static JasperInitializer initialize_jasper;

 Jpeg2KDecoder::Jpeg2KDecoder()
 {
-    m_signature = '\0' + string() + '\0' + string() + '\0' + string("\x0cjP  \r\n\x87\n");
+    static const unsigned char signature_[12] = { 0, 0, 0, 0x0c, 'j', 'P', ' ', ' ', 13, 10, 0x87, 10};
+    m_signature = string((const char*)signature_, (const char*)signature_ + sizeof(signature_));
    m_stream = 0;
    m_image = 0;
 }
@@ -121,6 +122,8 @@ bool  Jpeg2KDecoder::readHeader()
        jas_image_t* image = jas_image_decode( stream, -1, 0 );
        m_image = image;
        if( image ) {
+            CV_Assert(0 == (jas_image_tlx(image)) && "not supported");
+            CV_Assert(0 == (jas_image_tly(image)) && "not supported");
            m_width = jas_image_width( image );
            m_height = jas_image_height( image );

@@ -130,14 +133,31 @@ bool  Jpeg2KDecoder::readHeader()
            for( int i = 0; i < numcmpts; i++ )
            {
                int depth_i = jas_image_cmptprec( image, i );
+                CV_Assert(depth == 0 || depth == depth_i); // component data type mismatch
                depth = MAX(depth, depth_i);
                if( jas_image_cmpttype( image, i ) > 2 )
                    continue;
+                int sgnd = jas_image_cmptsgnd(image, i);
+                int xstart = jas_image_cmpttlx(image, i);
+                int xend = jas_image_cmptbrx(image, i);
+                int xstep = jas_image_cmpthstep(image, i);
+                int ystart = jas_image_cmpttly(image, i);
+                int yend = jas_image_cmptbry(image, i);
+                int ystep = jas_image_cmptvstep(image, i);
+                CV_Assert(sgnd == 0 && "not supported");
+                CV_Assert(xstart == 0 && "not supported");
+                CV_Assert(ystart == 0 && "not supported");
+                CV_Assert(xstep == 1 && "not supported");
+                CV_Assert(ystep == 1 && "not supported");
+                CV_Assert(xend == m_width);
+                CV_Assert(yend == m_height);
                cntcmpts++;
            }

            if( cntcmpts )
            {
+                CV_Assert(depth == 8 || depth == 16);
+                CV_Assert(cntcmpts == 1 || cntcmpts == 3);
                m_type = CV_MAKETYPE(depth <= 8 ? CV_8U : CV_16U, cntcmpts > 1 ? 3 : 1);
                result = true;
            }
@@ -150,13 +170,19 @@ bool  Jpeg2KDecoder::readHeader()
    return result;
 }

+static void Jpeg2KDecoder_close(Jpeg2KDecoder* ptr)
+{
+    ptr->close();
+}
+template<> void Ptr<Jpeg2KDecoder>::delete_obj() { Jpeg2KDecoder_close(obj); }

 bool  Jpeg2KDecoder::readData( Mat& img )
 {
+    Ptr<Jpeg2KDecoder> close_this(this);  // auto cleanup: Jpeg2KDecoder_close
    bool result = false;
    int color = img.channels() > 1;
    uchar* data = img.data;
-    int step = (int)img.step;
+    size_t step = img.step;
    jas_stream_t* stream = (jas_stream_t*)m_stream;
    jas_image_t* image = (jas_image_t*)m_image;

@@ -204,11 +230,16 @@ bool  Jpeg2KDecoder::readData( Mat& img )
                    result = true;
                }
                else
-                    fprintf(stderr, "JPEG 2000 LOADER ERROR: cannot convert colorspace\n");
+                {
+                    jas_cmprof_destroy(clrprof);
+                    CV_Error(CV_StsError, "JPEG 2000 LOADER ERROR: cannot convert colorspace");
+                }
                jas_cmprof_destroy( clrprof );
            }
            else
-                fprintf(stderr, "JPEG 2000 LOADER ERROR: unable to create colorspace\n");
+            {
+                CV_Error(CV_StsError, "JPEG 2000 LOADER ERROR: unable to create colorspace");
+            }
        }
        else
            result = true;
@@ -252,13 +283,13 @@ bool  Jpeg2KDecoder::readData( Mat& img )
                        if( !jas_image_readcmpt( image, cmptlut[i], 0, 0, xend / xstep, yend / ystep, buffer ))
                        {
                            if( img.depth() == CV_8U )
-                                result = readComponent8u( data + i, buffer, step, cmptlut[i], maxval, offset, ncmpts );
+                                result = readComponent8u( data + i, buffer, validateToInt(step), cmptlut[i], maxval, offset, ncmpts );
                            else
-                                result = readComponent16u( ((unsigned short *)data) + i, buffer, step / 2, cmptlut[i], maxval, offset, ncmpts );
+                                result = readComponent16u( ((unsigned short *)data) + i, buffer, validateToInt(step / 2), cmptlut[i], maxval, offset, ncmpts );
                            if( !result )
                            {
-                                i = ncmpts;
-                                result = false;
+                                jas_matrix_destroy( buffer );
+                                CV_Error(CV_StsError, "JPEG2000 LOADER ERROR: failed to read component");
                            }
                        }
                        jas_matrix_destroy( buffer );
@@ -267,10 +298,12 @@ bool  Jpeg2KDecoder::readData( Mat& img )
            }
        }
        else
-            fprintf(stderr, "JPEG2000 LOADER ERROR: colorspace conversion failed\n" );
+        {
+            CV_Error(CV_StsError, "JPEG2000 LOADER ERROR: colorspace conversion failed");
+        }
    }

-    close();
+    CV_Assert(result == true);

 #ifndef WIN32
    if (!clr.empty())
@@ -43,50 +43,58 @@
 #include "precomp.hpp"
 #include "utils.hpp"
 #include "grfmt_pxm.hpp"
+#include <iostream>

 namespace cv
 {

 ///////////////////////// P?M reader //////////////////////////////

-static int ReadNumber( RLByteStream& strm, int maxdigits )
+static int ReadNumber(RLByteStream& strm, int maxdigits = 0)
 {
    int code;
-    int val = 0;
+    int64 val = 0;
    int digits = 0;

    code = strm.getByte();

-    if( !isdigit(code))
+    while (!isdigit(code))
    {
-        do
+        if (code == '#' )
        {
-            if( code == '#' )
+            do
            {
-                do
-                {
-                    code = strm.getByte();
-                }
-                while( code != '\n' && code != '\r' );
+                code = strm.getByte();
            }
-
+            while (code != '\n' && code != '\r');
            code = strm.getByte();
-
-            while( isspace(code))
+        }
+        else if (isspace(code))
+        {
+            while (isspace(code))
                code = strm.getByte();
        }
-        while( !isdigit( code ));
+        else
+        {
+#if 1
+            CV_Error_(CV_StsError, ("PXM: Unexpected code in ReadNumber(): 0x%x (%d)", code, code));
+#else
+            code = strm.getByte();
+#endif
+        }
    }

    do
    {
-        val = val*10 + code - '0';
-        if( ++digits >= maxdigits ) break;
+        val = val*10 + (code - '0');
+        CV_Assert(val <= INT_MAX && "PXM: ReadNumber(): result is too large");
+        digits++;
+        if (maxdigits != 0 && digits >= maxdigits) break;
        code = strm.getByte();
    }
-    while( isdigit(code));
+    while (isdigit(code));

-    return val;
+    return (int)val;
 }


@@ -119,13 +127,13 @@ ImageDecoder PxMDecoder::newDecoder() const
    return new PxMDecoder;
 }

-void  PxMDecoder::close()
+void PxMDecoder::close()
 {
    m_strm.close();
 }


-bool  PxMDecoder::readHeader()
+bool PxMDecoder::readHeader()
 {
    bool result = false;

@@ -155,10 +163,10 @@ bool  PxMDecoder::readHeader()
        m_binary = code >= '4';
        m_type = m_bpp > 8 ? CV_8UC3 : CV_8UC1;

-        m_width = ReadNumber( m_strm, INT_MAX );
-        m_height = ReadNumber( m_strm, INT_MAX );
+        m_width = ReadNumber(m_strm);
+        m_height = ReadNumber(m_strm);

-        m_maxval = m_bpp == 1 ? 1 : ReadNumber( m_strm, INT_MAX );
+        m_maxval = m_bpp == 1 ? 1 : ReadNumber(m_strm);
        if( m_maxval > 65535 )
            throw RBS_BAD_HEADER;

@@ -172,8 +180,14 @@ bool  PxMDecoder::readHeader()
            result = true;
        }
    }
-    catch(...)
+    catch (const cv::Exception&)
    {
+        throw;
+    }
+    catch (...)
+    {
+        std::cerr << "PXM::readHeader(): unknown C++ exception" << std::endl << std::flush;
+        throw;
    }

    if( !result )
@@ -193,27 +207,23 @@ bool  PxMDecoder::readData( Mat& img )
    int step = (int)img.step;
    PaletteEntry palette[256];
    bool   result = false;
-    int  bit_depth = CV_ELEM_SIZE1(m_type)*8;
-    int  src_pitch = (m_width*m_bpp*bit_depth/8 + 7)/8;
+    const int bit_depth = CV_ELEM_SIZE1(m_type)*8;
+    const int src_pitch = (m_width*m_bpp*(bit_depth/8) + 7) / 8;
+
    int  nch = CV_MAT_CN(m_type);
    int  width3 = m_width*nch;
-    int  i, x, y;

    if( m_offset < 0 || !m_strm.isOpened())
        return false;

-    AutoBuffer<uchar,1024> _src(src_pitch + 32);
-    uchar* src = _src;
-    AutoBuffer<uchar,1024> _gray_palette;
-    uchar* gray_palette = _gray_palette;
+    uchar gray_palette[256] = {0};

    // create LUT for converting colors
    if( bit_depth == 8 )
    {
-        _gray_palette.allocate(m_maxval + 1);
-        gray_palette = _gray_palette;
+        CV_Assert(m_maxval < 256);

-        for( i = 0; i <= m_maxval; i++ )
+        for (int i = 0; i <= m_maxval; i++)
            gray_palette[i] = (uchar)((i*255/m_maxval)^(m_bpp == 1 ? 255 : 0));

        FillGrayPalette( palette, m_bpp==1 ? 1 : 8 , m_bpp == 1 );
@@ -227,12 +237,16 @@ bool  PxMDecoder::readData( Mat& img )
        {
        ////////////////////////// 1 BPP /////////////////////////
        case 1:
+            CV_Assert(CV_MAT_DEPTH(m_type) == CV_8U);
            if( !m_binary )
            {
-                for( y = 0; y < m_height; y++, data += step )
+                AutoBuffer<uchar> _src(m_width);
+                uchar* src = _src;
+
+                for (int y = 0; y < m_height; y++, data += step)
                {
-                    for( x = 0; x < m_width; x++ )
-                        src[x] = ReadNumber( m_strm, 1 ) != 0;
+                    for (int x = 0; x < m_width; x++)
+                        src[x] = ReadNumber(m_strm, 1) != 0;

                    if( color )
                        FillColorRow8( data, src, m_width, palette );
@@ -242,7 +256,10 @@ bool  PxMDecoder::readData( Mat& img )
            }
            else
            {
-                for( y = 0; y < m_height; y++, data += step )
+                AutoBuffer<uchar> _src(src_pitch);
+                uchar* src = _src;
+
+                for (int y = 0; y < m_height; y++, data += step)
                {
                    m_strm.getBytes( src, src_pitch );

@@ -258,11 +275,15 @@ bool  PxMDecoder::readData( Mat& img )
        ////////////////////////// 8 BPP /////////////////////////
        case 8:
        case 24:
-            for( y = 0; y < m_height; y++, data += step )
+        {
+            AutoBuffer<uchar> _src(std::max<size_t>(width3*2, src_pitch));
+            uchar* src = _src;
+
+            for (int y = 0; y < m_height; y++, data += step)
            {
                if( !m_binary )
                {
-                    for( x = 0; x < width3; x++ )
+                    for (int x = 0; x < width3; x++)
                    {
                        int code = ReadNumber( m_strm, INT_MAX );
                        if( (unsigned)code > (unsigned)m_maxval ) code = m_maxval;
@@ -277,7 +298,7 @@ bool  PxMDecoder::readData( Mat& img )
                    m_strm.getBytes( src, src_pitch );
                    if( bit_depth == 16 && !isBigEndian() )
                    {
-                        for( x = 0; x < width3; x++ )
+                        for (int x = 0; x < width3; x++)
                        {
                            uchar v = src[x * 2];
                            src[x * 2] = src[x * 2 + 1];
@@ -288,7 +309,7 @@ bool  PxMDecoder::readData( Mat& img )

                if( img.depth() == CV_8U && bit_depth == 16 )
                {
-                    for( x = 0; x < width3; x++ )
+                    for (int x = 0; x < width3; x++)
                    {
                        int v = ((ushort *)src)[x];
                        src[x] = (uchar)(v >> 8);
@@ -310,7 +331,7 @@ bool  PxMDecoder::readData( Mat& img )
                        }
                    }
                    else
-                        memcpy( data, src, m_width*(bit_depth/8) );
+                        memcpy(data, src, img.elemSize1()*m_width);
                }
                else
                {
@@ -329,12 +350,19 @@ bool  PxMDecoder::readData( Mat& img )
            }
            result = true;
            break;
+        }
        default:
-            assert(0);
+            CV_Error(CV_StsError, "m_bpp is not supported");
        }
    }
-    catch(...)
+    catch (const cv::Exception&)
    {
+        throw;
+    }
+    catch (...)
+    {
+        std::cerr << "PXM::readData(): unknown exception" << std::endl << std::flush;
+        throw;
    }

    return result;
@@ -410,8 +438,9 @@ bool  PxMEncoder::write( const Mat& img, const vector<int>& params )
    char* buffer = _buffer;

    // write header;
-    sprintf( buffer, "P%c\n%d %d\n%d\n",
+    sprintf( buffer, "P%c\n# Generated by OpenCV %s\n%d %d\n%d\n",
             '2' + (channels > 1 ? 1 : 0) + (isBinary ? 3 : 0),
+             CV_VERSION,
             width, height, (1 << depth) - 1 );

    strm.putBytes( buffer, (int)strlen(buffer) );
@@ -120,7 +120,7 @@ bool  SunRasterDecoder::readHeader()
                    m_type = IsColorPalette( m_palette, m_bpp ) ? CV_8UC3 : CV_8UC1;
                    m_offset = m_strm.getPos();

-                    assert( m_offset == 32 + m_maplength );
+                    CV_Assert(m_offset == 32 + m_maplength);
                    result = true;
                }
            }
@@ -133,7 +133,7 @@ bool  SunRasterDecoder::readHeader()

                m_offset = m_strm.getPos();

-                assert( m_offset == 32 + m_maplength );
+                CV_Assert(m_offset == 32 + m_maplength);
                result = true;
            }
        }
@@ -156,7 +156,7 @@ bool  SunRasterDecoder::readData( Mat& img )
 {
    int color = img.channels() > 1;
    uchar* data = img.data;
-    int step = (int)img.step;
+    size_t step = img.step;
    uchar  gray_palette[256];
    bool   result = false;
    int  src_pitch = ((m_width*m_bpp + 7)/8 + 1) & -2;
@@ -226,7 +226,7 @@ bool  SunRasterDecoder::readData( Mat& img )
                        code = m_strm.getByte();
                        if( len > line_end - tsrc )
                        {
-                            assert(0);
+                            CV_Error(CV_StsInternal, "");
                            goto bad_decoding_1bpp;
                        }

@@ -304,11 +304,11 @@ bad_decoding_1bpp:
                        code = m_strm.getByte();

                        if( color )
-                            data = FillUniColor( data, line_end, step, width3,
+                            data = FillUniColor( data, line_end, validateToInt(step), width3,
                                                 y, m_height, len,
                                                 m_palette[code] );
                        else
-                            data = FillUniGray( data, line_end, step, width3,
+                            data = FillUniGray( data, line_end, validateToInt(step), width3,
                                                y, m_height, len,
                                                gray_palette[code] );
                        if( y >= m_height )
@@ -367,7 +367,7 @@ bad_decoding_end:
            result = true;
            break;
        default:
-            assert(0);
+            CV_Error(CV_StsInternal, "");
        }
    }
    catch( ... )
@@ -48,12 +48,32 @@
 #undef min
 #undef max

+#include <iostream>
+
 /****************************************************************************************\
 *                                      Image Codecs                                      *
 \****************************************************************************************/
 namespace cv
 {

+// TODO Add runtime configuration
+#define CV_IO_MAX_IMAGE_PARAMS (50)
+#define CV_IO_MAX_IMAGE_WIDTH (1<<20)
+#define CV_IO_MAX_IMAGE_HEIGHT (1<<20)
+#define CV_IO_MAX_IMAGE_PIXELS (1<<30) // 1 Gigapixel
+
+static Size validateInputImageSize(const Size& size)
+{
+    CV_Assert(size.width > 0);
+    CV_Assert(size.width <= CV_IO_MAX_IMAGE_WIDTH);
+    CV_Assert(size.height > 0);
+    CV_Assert(size.height <= CV_IO_MAX_IMAGE_HEIGHT);
+    uint64 pixels = (uint64)size.width * (uint64)size.height;
+    CV_Assert(pixels <= CV_IO_MAX_IMAGE_PIXELS);
+    return size;
+}
+
+
 struct ImageCodecInitializer
 {
    ImageCodecInitializer()
@@ -203,12 +223,26 @@ imread_( const string& filename, int flags, int hdrtype, Mat* mat=0 )
    if( decoder.empty() )
        return 0;
    decoder->setSource(filename);
-    if( !decoder->readHeader() )
-        return 0;

-    CvSize size;
-    size.width = decoder->width();
-    size.height = decoder->height();
+    try
+    {
+        // read the header to make sure it succeeds
+        if (!decoder->readHeader())
+            return 0;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read header: " << e.what() << std::endl << std::flush;
+        return 0;
+    }
+    catch (...)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read header: unknown exception" << std::endl << std::flush;
+        return 0;
+    }
+
+
+    Size size = validateInputImageSize(Size(decoder->width(), decoder->height()));

    int type = decoder->type();
    if( flags != -1 )
@@ -242,7 +276,21 @@ imread_( const string& filename, int flags, int hdrtype, Mat* mat=0 )
        temp = cvarrToMat(image);
    }

-    if( !decoder->readData( *data ))
+    bool success = false;
+    try
+    {
+        if (decoder->readData(*data))
+            success = true;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read data: " << e.what() << std::endl << std::flush;
+    }
+    catch (...)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read data: unknown exception" << std::endl << std::flush;
+    }
+    if (!success)
    {
        cvReleaseImage( &image );
        cvReleaseMat( &matrix );
@@ -288,6 +336,7 @@ static bool imwrite_( const string& filename, const Mat& image,
    }

    encoder->setDestination( filename );
+    CV_Assert(params.size() <= CV_IO_MAX_IMAGE_PARAMS*2);
    bool code = encoder->write( *pimage, params );

    //    CV_Assert( code );
@@ -326,16 +375,34 @@ imdecode_( const Mat& buf, int flags, int hdrtype, Mat* mat=0 )
        decoder->setSource(filename);
    }

-    if( !decoder->readHeader() )
+    bool success = false;
+    try
    {
-        if( !filename.empty() )
-            remove(filename.c_str());
+        if (decoder->readHeader())
+            success = true;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read header: " << e.what() << std::endl << std::flush;
+    }
+    catch (...)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read header: unknown exception" << std::endl << std::flush;
+    }
+    if (!success)
+    {
+        if (!filename.empty())
+        {
+            if (0 != remove(filename.c_str()))
+            {
+                std::cerr << "unable to remove temporary file:" << filename << std::endl << std::flush;
+            }
+        }
        return 0;
    }

-    CvSize size;
-    size.width = decoder->width();
-    size.height = decoder->height();
+    // established the required input image size
+    Size size = validateInputImageSize(Size(decoder->width(), decoder->height()));

    int type = decoder->type();
    if( flags != -1 )
@@ -369,11 +436,30 @@ imdecode_( const Mat& buf, int flags, int hdrtype, Mat* mat=0 )
        temp = cvarrToMat(image);
    }

-    bool code = decoder->readData( *data );
-    if( !filename.empty() )
-        remove(filename.c_str());
+    success = false;
+    try
+    {
+        if (decoder->readData(*data))
+            success = true;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read data: " << e.what() << std::endl << std::flush;
+    }
+    catch (...)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read data: unknown exception" << std::endl << std::flush;
+    }

-    if( !code )
+    if (!filename.empty())
+    {
+        if (0 != remove(filename.c_str()))
+        {
+            std::cerr << "unable to remove temporary file:" << filename << std::endl << std::flush;
+        }
+    }
+
+    if (!success)
    {
        cvReleaseImage( &image );
        cvReleaseMat( &matrix );
@@ -490,7 +576,7 @@ cvSaveImage( const char* filename, const CvArr* arr, const int* _params )
    if( _params )
    {
        for( ; _params[i] > 0; i += 2 )
-            ;
+            CV_Assert(i < CV_IO_MAX_IMAGE_PARAMS*2); // Limit number of params for security reasons
    }
    return cv::imwrite_(filename, cv::cvarrToMat(arr),
        i > 0 ? cv::vector<int>(_params, _params+i) : cv::vector<int>(),
@@ -521,7 +607,7 @@ cvEncodeImage( const char* ext, const CvArr* arr, const int* _params )
    if( _params )
    {
        for( ; _params[i] > 0; i += 2 )
-            ;
+            CV_Assert(i < CV_IO_MAX_IMAGE_PARAMS*2); // Limit number of params for security reasons
    }
    cv::Mat img = cv::cvarrToMat(arr);
    if( CV_IS_IMAGE(arr) && ((const IplImage*)arr)->origin == IPL_ORIGIN_BL )
@@ -54,7 +54,7 @@
 #include <string.h>
 #include <limits.h>
 #include <ctype.h>
-#include <assert.h>
+#include <assert.h>  // FIX IT: remove this

 #if defined WIN32 || defined WINCE
    #if !defined _WIN32_WINNT
@@ -42,6 +42,13 @@
 #include "precomp.hpp"
 #include "utils.hpp"

+int validateToInt(size_t sz)
+{
+    int valueInt = (int)sz;
+    CV_Assert((size_t)valueInt == sz);
+    return valueInt;
+}
+
 #define  SCALE  14
 #define  cR  (int)(0.299*(1 << SCALE) + 0.5)
 #define  cG  (int)(0.587*(1 << SCALE) + 0.5)
@@ -537,23 +544,25 @@ uchar* FillColorRow1( uchar* data, uchar* indices, int len, PaletteEntry* palett
 {
    uchar* end = data + len*3;

+    const PaletteEntry p0 = palette[0], p1 = palette[1];
+
    while( (data += 24) < end )
    {
        int idx = *indices++;
-        *((PaletteEntry*)(data - 24)) = palette[(idx & 128) != 0];
-        *((PaletteEntry*)(data - 21)) = palette[(idx & 64) != 0];
-        *((PaletteEntry*)(data - 18)) = palette[(idx & 32) != 0];
-        *((PaletteEntry*)(data - 15)) = palette[(idx & 16) != 0];
-        *((PaletteEntry*)(data - 12)) = palette[(idx & 8) != 0];
-        *((PaletteEntry*)(data - 9)) = palette[(idx & 4) != 0];
-        *((PaletteEntry*)(data - 6)) = palette[(idx & 2) != 0];
-        *((PaletteEntry*)(data - 3)) = palette[(idx & 1) != 0];
+        *((PaletteEntry*)(data - 24)) = (idx & 128) ? p1 : p0;
+        *((PaletteEntry*)(data - 21)) = (idx & 64) ? p1 : p0;
+        *((PaletteEntry*)(data - 18)) = (idx & 32) ? p1 : p0;
+        *((PaletteEntry*)(data - 15)) = (idx & 16) ? p1 : p0;
+        *((PaletteEntry*)(data - 12)) = (idx & 8) ? p1 : p0;
+        *((PaletteEntry*)(data - 9)) = (idx & 4) ? p1 : p0;
+        *((PaletteEntry*)(data - 6)) = (idx & 2) ? p1 : p0;
+        *((PaletteEntry*)(data - 3)) = (idx & 1) ? p1 : p0;
    }

-    int idx = indices[0] << 24;
+    int idx = indices[0];
    for( data -= 24; data < end; data += 3, idx += idx )
    {
-        PaletteEntry clr = palette[idx < 0];
+        const PaletteEntry clr = (idx & 128) ? p1 : p0;
        WRITE_PIX( data, clr );
    }

@@ -565,23 +574,25 @@ uchar* FillGrayRow1( uchar* data, uchar* indices, int len, uchar* palette )
 {
    uchar* end = data + len;

+    const uchar p0 = palette[0], p1 = palette[1];
+
    while( (data += 8) < end )
    {
        int idx = *indices++;
-        *((uchar*)(data - 8)) = palette[(idx & 128) != 0];
-        *((uchar*)(data - 7)) = palette[(idx & 64) != 0];
-        *((uchar*)(data - 6)) = palette[(idx & 32) != 0];
-        *((uchar*)(data - 5)) = palette[(idx & 16) != 0];
-        *((uchar*)(data - 4)) = palette[(idx & 8) != 0];
-        *((uchar*)(data - 3)) = palette[(idx & 4) != 0];
-        *((uchar*)(data - 2)) = palette[(idx & 2) != 0];
-        *((uchar*)(data - 1)) = palette[(idx & 1) != 0];
+        *((uchar*)(data - 8)) = (idx & 128) ? p1 : p0;
+        *((uchar*)(data - 7)) = (idx & 64) ? p1 : p0;
+        *((uchar*)(data - 6)) = (idx & 32) ? p1 : p0;
+        *((uchar*)(data - 5)) = (idx & 16) ? p1 : p0;
+        *((uchar*)(data - 4)) = (idx & 8) ? p1 : p0;
+        *((uchar*)(data - 3)) = (idx & 4) ? p1 : p0;
+        *((uchar*)(data - 2)) = (idx & 2) ? p1 : p0;
+        *((uchar*)(data - 1)) = (idx & 1) ? p1 : p0;
    }

-    int idx = indices[0] << 24;
+    int idx = indices[0];
    for( data -= 8; data < end; data++, idx += idx )
    {
-        data[0] = palette[idx < 0];
+        data[0] = (idx & 128) ? p1 : p0;
    }

    return data;
@@ -659,7 +670,7 @@ cvConvertImage( const CvArr* srcarr, CvArr* dstarr, int flags )
            icvCvt_BGR2Gray_8u_C3C1R( s, s_step, d, d_step, size, swap_rb );
            break;
        case 33:
-            assert( swap_rb );
+            CV_Assert(swap_rb);
            icvCvt_RGB2BGR_8u_C3R( s, s_step, d, d_step, size );
            break;
        case 41:
@@ -42,6 +42,8 @@
 #ifndef _UTILS_H_
 #define _UTILS_H_

+int validateToInt(size_t step);
+
 struct PaletteEntry
 {
    unsigned char b, g, r, a;
@@ -320,6 +320,7 @@ public:

            for (unsigned int i = 0; i < frameCount && next; ++i)
            {
+                SCOPED_TRACE(cv::format("frame=%d", (int)i));
                Mat actual;
                (*capture) >> actual;

@@ -314,25 +314,26 @@ if(BUILD_FAT_JAVA_LIB)
  endif()
  if(APPLE)
    foreach(_dep ${__deps})
-      target_link_libraries(${the_module} -Wl,-force_load "${_dep}")
+      target_link_libraries(${the_module} LINK_PRIVATE -Wl,-force_load "${_dep}")
    endforeach()
  else()
-    target_link_libraries(${the_module} -Wl,-whole-archive ${__deps} -Wl,-no-whole-archive)
+    target_link_libraries(${the_module} LINK_PRIVATE -Wl,-whole-archive ${__deps} -Wl,-no-whole-archive)
  endif()
-  target_link_libraries(${the_module} ${__extradeps} ${OPENCV_LINKER_LIBS})
+  target_link_libraries(${the_module} LINK_PRIVATE ${__extradeps} ${OPENCV_LINKER_LIBS})
 else()
-  target_link_libraries(${the_module} ${OPENCV_MODULE_${the_module}_DEPS} ${OPENCV_LINKER_LIBS})
+  target_link_libraries(${the_module} LINK_PRIVATE ${OPENCV_MODULE_${the_module}_DEPS} ${OPENCV_LINKER_LIBS})
 endif()

 if(ANDROID)
-  target_link_libraries(${the_module} jnigraphics) # for Mat <=> Bitmap converters
+  target_link_libraries(${the_module} LINK_PUBLIC jnigraphics) # for Mat <=> Bitmap converters
+  target_link_libraries(${the_module} LINK_PUBLIC log dl z)
+  target_link_libraries(${the_module} LINK_PRIVATE ${OPENCV_LINKER_LIBS})

  # force strip library after the build command
  # because samples and tests will make a copy of the library before install
-  get_target_property(__opencv_java_location ${the_module} LOCATION)
  # Turn off stripping in debug build
  if ( NOT (CMAKE_BUILD_TYPE MATCHES "Debug"))
-    add_custom_command(TARGET ${the_module} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${__opencv_java_location}")
+    add_custom_command(TARGET ${the_module} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "$<TARGET_FILE:${the_module}>")
  endif()
 endif()

@@ -342,8 +343,6 @@ set_target_properties(${the_module} PROPERTIES
    ARCHIVE_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
    LIBRARY_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
    RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
-    INSTALL_NAME_DIR ${OPENCV_LIB_INSTALL_PATH}
-    LINK_INTERFACE_LIBRARIES ""
    )

 if(WIN32)
@@ -97,6 +97,8 @@ if(MSVC AND NOT ENABLE_NOISY_WARNINGS)
  string(REPLACE "/W4" "/W3" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 endif()

+ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef) # accurate guard via #pragma doesn't work (C++ preprocessor doesn't handle #pragma)
+
 if(MSVC AND NOT BUILD_SHARED_LIBS)
  set_target_properties(${the_module} PROPERTIES LINK_FLAGS "/NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:atlsd.lib /DEBUG")
 endif()
@@ -543,6 +543,7 @@ void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<
            if (features[i].keypoints.size() > 0 && features[j].keypoints.size() > 0 && mask_(i, j))
                near_pairs.push_back(make_pair(i, j));

+    pairwise_matches.clear(); // clear history values
    pairwise_matches.resize(num_images * num_images);
    MatchPairsBody body(*this, features, pairwise_matches, near_pairs);

@@ -7,7 +7,7 @@ set(the_description "Viz")
 ocv_define_module(viz opencv_core ${VTK_LIBRARIES})

 if(APPLE AND BUILD_opencv_viz)
-  target_link_libraries(opencv_viz "-framework Cocoa")
+  target_link_libraries(opencv_viz LINK_PRIVATE "-framework Cocoa")
 endif()

 if(TARGET opencv_test_viz)
@@ -49,6 +49,7 @@ def build_opencv(srcroot, buildroot, target, arch):
    # for some reason, if you do not specify CMAKE_BUILD_TYPE, it puts libs to "RELEASE" rather than "Release"
    cmakeargs = ("-GXcode " +
                "-DCMAKE_BUILD_TYPE=Release " +
+                ("-DIOS_ARCH=%s " % arch) +
                "-DCMAKE_TOOLCHAIN_FILE=%s/platforms/ios/cmake/Toolchains/Toolchain-%s_Xcode.cmake " +
                "-DBUILD_opencv_world=ON " +
                "-DCMAKE_C_FLAGS=\"-Wno-implicit-function-declaration\" " +
@@ -43,7 +43,10 @@ set (no_warn "-Wno-unused-function -Wno-overloaded-virtual")
 set (CMAKE_C_FLAGS "${no_warn}")
 set (CMAKE_CXX_FLAGS "-stdlib=libc++ -fvisibility=hidden -fvisibility-inlines-hidden ${no_warn}")

-set (CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -fomit-frame-pointer -ffast-math")
+set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -ffast-math")
+if(NOT IOS_ARCH STREQUAL "armv7" AND NOT IOS_ARCH STREQUAL "armv7s")
+  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -fomit-frame-pointer")
+endif()

 if (HAVE_FLAG_SEARCH_PATHS_FIRST)
    set (CMAKE_C_LINK_FLAGS "-Wl,-search_paths_first ${CMAKE_C_LINK_FLAGS}")
@@ -2,7 +2,10 @@ message (STATUS "Setting up iPhoneOS toolchain")
 set (IPHONEOS TRUE)

 # Standard settings
-set (CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_VERSION 6.0)
+set(CMAKE_SYSTEM_PROCESSOR "${IOS_ARCH}")
+
 # Include extra modules for the iOS platform files
 set (CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/platforms/ios/cmake/Modules")

@@ -2,7 +2,10 @@ message (STATUS "Setting up iPhoneSimulator toolchain")
 set (IPHONESIMULATOR TRUE)

 # Standard settings
-set (CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_VERSION 6.0)
+set(CMAKE_SYSTEM_PROCESSOR "${IOS_ARCH}")
+
 # Include extra modules for the iOS platform files
 set (CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/platforms/ios/cmake/Modules")

@@ -90,6 +90,12 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
    list(REMOVE_ITEM all_samples "driver_api_multi.cpp")
    list(REMOVE_ITEM all_samples "driver_api_stereo_multi.cpp")
  endif()
+  if(NOT HAVE_CUDA
+      OR NOT HAVE_TBB
+      OR OpenCV_FOUND  # via find_package() there is no access to cvconfig.h
+  )
+    list(REMOVE_ITEM all_samples "pyrlk_optical_flow_multithreading.cpp")
+  endif()

  foreach(sample_filename ${all_samples})
    get_filename_component(sample ${sample_filename} NAME_WE)
@@ -111,6 +117,9 @@ if (OCV_DEPENDENCIES_FOUND AND INSTALL_C_EXAMPLES AND NOT WIN32)
    list_filterout(install_list ".*driver_api_multi.cpp")
    list_filterout(install_list ".*driver_api_stereo_multi.cpp")
  endif()
+  if(NOT HAVE_CUDA OR NOT HAVE_TBB)
+      list(REMOVE_ITEM install_list "pyrlk_optical_flow_multithreading.cpp")
+  endif()
  install(FILES ${install_list}
          DESTINATION "${OPENCV_SAMPLES_SRC_INSTALL_PATH}/gpu"
          PERMISSIONS OWNER_READ OWNER_WRITE GROUP_READ WORLD_READ COMPONENT samples)
@@ -0,0 +1,272 @@
+#include <iostream>
+#include <vector>
+#include <sstream>
+
+#include "opencv2/core/core.hpp"
+#include "cvconfig.h"
+
+#ifdef HAVE_TBB
+#include <tbb/parallel_for_each.h>
+#include <tbb/task_scheduler_init.h>
+
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/video/video.hpp"
+#include "opencv2/gpu/gpu.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace cv::gpu;
+
+static void download(const GpuMat& d_mat, vector<Point2f>& vec)
+{
+    vec.resize(d_mat.cols);
+    Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]);
+    d_mat.download(mat);
+}
+
+static void download(const GpuMat& d_mat, vector<uchar>& vec)
+{
+    vec.resize(d_mat.cols);
+    Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]);
+    d_mat.download(mat);
+}
+
+static void drawArrows(Mat& frame, const vector<Point2f>& prevPts, const vector<Point2f>& nextPts, const vector<uchar>& status, Scalar line_color = Scalar(0, 0, 255))
+{
+    for (size_t i = 0; i < prevPts.size(); ++i)
+    {
+        if (status[i])
+        {
+            int line_thickness = 1;
+
+            Point p = prevPts[i];
+            Point q = nextPts[i];
+
+            double angle = atan2((double) p.y - q.y, (double) p.x - q.x);
+
+            double hypotenuse = sqrt( (double)(p.y - q.y)*(p.y - q.y) + (double)(p.x - q.x)*(p.x - q.x) );
+
+            if (hypotenuse < 1.0)
+                continue;
+
+            // Here we lengthen the arrow by a factor of three.
+            q.x = (int) (p.x - 3 * hypotenuse * cos(angle));
+            q.y = (int) (p.y - 3 * hypotenuse * sin(angle));
+
+            // Now we draw the main line of the arrow.
+            line(frame, p, q, line_color, line_thickness);
+
+            // Now draw the tips of the arrow. I do some scaling so that the
+            // tips look proportional to the main line of the arrow.
+
+            p.x = (int) (q.x + 9 * cos(angle + CV_PI / 4));
+            p.y = (int) (q.y + 9 * sin(angle + CV_PI / 4));
+            line(frame, p, q, line_color, line_thickness);
+
+            p.x = (int) (q.x + 9 * cos(angle - CV_PI / 4));
+            p.y = (int) (q.y + 9 * sin(angle - CV_PI / 4));
+            line(frame, p, q, line_color, line_thickness);
+        }
+    }
+}
+
+template <typename T> inline T clamp (T x, T a, T b)
+{
+    return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a));
+}
+
+template <typename T> inline T mapValue(T x, T a, T b, T c, T d)
+{
+    x = clamp(x, a, b);
+    return c + (d - c) * (x - a) / (b - a);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+struct S_Thread_data
+{
+    Size winSize;
+    int maxLevel;
+    int iters;
+
+    Stream stream;
+    Mat frame0;
+    Mat frame1;
+    Mat frame1Gray;
+
+    GpuMat d_frame0Gray;
+    GpuMat d_prevPts;
+    bool useGray;
+};
+
+struct pyrLK_task
+{
+    pyrLK_task(size_t n):
+        _n(n),
+        _thread_data(NULL){}
+
+    void operator()()
+    {
+        // Sparse
+
+        PyrLKOpticalFlow d_pyrLK;
+
+        d_pyrLK.winSize.width = _thread_data->winSize.width;
+        d_pyrLK.winSize.height = _thread_data->winSize.height;
+        d_pyrLK.maxLevel = _thread_data->maxLevel;
+        d_pyrLK.iters = _thread_data->iters;
+
+        GpuMat d_frame0(_thread_data->frame0);
+        GpuMat d_frame1(_thread_data->frame1);
+        GpuMat d_frame1Gray(_thread_data->frame1Gray);
+        GpuMat d_nextPts;
+        GpuMat d_status;
+
+        bool useGray = _thread_data->useGray;
+
+        d_pyrLK.sparse_multi(useGray ? _thread_data->d_frame0Gray : d_frame0,
+                    useGray ? d_frame1Gray : d_frame1,
+                            _thread_data->d_prevPts, d_nextPts,
+                    d_status, _thread_data->stream, NULL);
+
+        // Draw arrows
+
+        vector<Point2f> prevPts(_thread_data->d_prevPts.cols);
+        download(_thread_data->d_prevPts, prevPts);
+
+        vector<Point2f> nextPts(d_nextPts.cols);
+        download(d_nextPts, nextPts);
+
+        vector<uchar> status(d_status.cols);
+        download(d_status, status);
+
+        drawArrows(_thread_data->frame0, prevPts, nextPts, status, Scalar(255, 0, 0));
+    }
+
+    size_t _n;
+    struct S_Thread_data* _thread_data;
+};
+
+template <typename T> struct invoker {
+  void operator()(T& it) const {it();}
+};
+
+#define THREADS_NB    12
+
+int main(int argc, const char* argv[])
+{
+    const char* keys =
+        "{ h            | help           | false | print help message }"
+        "{ l            | left           |       | specify left image }"
+        "{ r            | right          |       | specify right image }"
+        "{ gray         | gray           | false | use grayscale sources [PyrLK Sparse] }"
+        "{ win_size     | win_size       | 21    | specify windows size [PyrLK] }"
+        "{ max_level    | max_level      | 3     | specify max level [PyrLK] }"
+        "{ iters        | iters          | 30    | specify iterations count [PyrLK] }"
+        "{ points       | points         | 4000  | specify points count [GoodFeatureToTrack] }"
+        "{ min_dist     | min_dist       | 0     | specify minimal distance between points [GoodFeatureToTrack] }";
+
+    CommandLineParser cmd(argc, argv, keys);
+
+    if (cmd.get<bool>("help"))
+    {
+        cout << "Usage: pyrlk_optical_flow_multithreading [options]" << endl;
+        cout << "Avaible options:" << endl;
+        cmd.printParams();
+        return 0;
+    }
+
+    string fname0 = cmd.get<string>("left");
+    string fname1 = cmd.get<string>("right");
+
+    if (fname0.empty() || fname1.empty())
+    {
+        cerr << "Missing input file names" << endl;
+        return -1;
+    }
+
+    bool useGray = cmd.get<bool>("gray");
+    int winSize = cmd.get<int>("win_size");
+    int maxLevel = cmd.get<int>("max_level");
+    int iters = cmd.get<int>("iters");
+    int points = cmd.get<int>("points");
+    double minDist = cmd.get<double>("min_dist");
+
+    Mat frame0 = imread(fname0);
+    Mat frame1 = imread(fname1);
+
+    if (frame0.empty() || frame1.empty())
+    {
+        cout << "Can't load input images" << endl;
+        return -1;
+    }
+
+    cout << "Image size : " << frame0.cols << " x " << frame0.rows << endl;
+    cout << "Points count : " << points << endl;
+
+    cout << endl;
+
+    Mat frame0Gray;
+    cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY);
+    Mat frame1Gray;
+    cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY);
+
+    // goodFeaturesToTrack
+
+    GoodFeaturesToTrackDetector_GPU detector(points, 0.01, minDist);
+
+    GpuMat d_frame0Gray(frame0Gray);
+    GpuMat d_prevPts;
+
+    detector(d_frame0Gray, d_prevPts);
+
+    // Sparse
+
+    tbb::task_scheduler_init init(THREADS_NB);
+
+    std::vector<pyrLK_task> tasks;
+
+    S_Thread_data s_thread_data[THREADS_NB];
+
+    for (unsigned int uiI = 0; uiI < THREADS_NB; ++uiI)
+    {
+        s_thread_data[uiI].stream = Stream();
+        s_thread_data[uiI].frame0 = frame0.clone();
+        s_thread_data[uiI].frame1 = frame1.clone();
+        s_thread_data[uiI].frame1Gray = frame0Gray.clone();
+
+        s_thread_data[uiI].iters = iters;
+        s_thread_data[uiI].useGray = useGray;
+        s_thread_data[uiI].maxLevel = maxLevel;
+        s_thread_data[uiI].winSize.height = winSize;
+        s_thread_data[uiI].winSize.width = winSize;
+        s_thread_data[uiI].d_frame0Gray = d_frame0Gray.clone();
+        s_thread_data[uiI].d_prevPts = d_prevPts.clone();
+
+        tasks.push_back(pyrLK_task(uiI));
+        tasks.back()._thread_data = &(s_thread_data[uiI]);
+    }
+
+    tbb::parallel_for_each(tasks.begin(),tasks.end(),invoker<pyrLK_task>());
+
+    for (unsigned int uiI = 0; uiI < THREADS_NB; ++uiI)
+    {
+        stringstream ss;
+        ss << "PyrLK MultiThreading [Sparse] " << uiI;
+
+        imshow(ss.str(), s_thread_data[uiI].frame0);
+        ss.str("");
+    }
+
+    waitKey();
+
+    return 0;
+}
+#else
+int main(int , const char* [])
+{
+    std::cout << "This example pyrlk_optical_flow_multithreading must be compiled with TBB Option" << std::endl;
+    return 0;
+}
+#endif // HAVE_TBB
@@ -8,9 +8,9 @@ Example of using features2d framework for interactive video homography matching.
 ORB features and FLANN matcher are used. The actual tracking is implemented by
 PlaneTracker class in plane_tracker.py

-Inspired by http://www.youtube.com/watch?v=-ZNYoL8rzPY
+Inspired by https://www.youtube.com/watch?v=-ZNYoL8rzPY

-video: http://www.youtube.com/watch?v=FirtmYcC0Vc
+video: https://www.youtube.com/watch?v=FirtmYcC0Vc

 Usage
 -----
@@ -8,7 +8,7 @@ This sample shows an example of augmented reality overlay over a planar object
 tracked by PlaneTracker from plane_tracker.py. solvePnP funciton is used to
 estimate the tracked object location in 3d space.

-video: http://www.youtube.com/watch?v=pzVbhxx6aog
+video: https://www.youtube.com/watch?v=pzVbhxx6aog

 Usage
 -----
@@ -8,7 +8,7 @@ Example of using features2d framework for interactive video homography matching.
 ORB features and FLANN matcher are used. This sample provides PlaneTracker class
 and an example of its usage.

-video: http://www.youtube.com/watch?v=pzVbhxx6aog
+video: https://www.youtube.com/watch?v=pzVbhxx6aog

 Usage
 -----
Author	SHA1	Message	Date
Alexander Alekhin	82f8176b06	Merge pull request #14676 from 103yiran:103yiran-clang	2019-05-30 14:19:14 +03:00
103yiran	a03b7575ba	make it compatible with clang	2019-05-30 14:04:40 +08:00
Alexander Alekhin	8bae39ce8a	Merge pull request #13669 from alalek:test_eigen_relax_eps_2.4	2019-01-21 18:32:22 +03:00
Alexander Alekhin	aa89881321	Merge pull request #13665 from alalek:backport_8294_flann_rand	2019-01-21 15:33:37 +03:00
Alexander Alekhin	30b01a2d29	core(test): relax eigen eps value: 0.01 -> 0.02	2019-01-21 15:18:10 +03:00
Alexander Alekhin	dc328451eb	flann: use OpenCV theRNG() std::rand() has no thread-safe guarantee. backport commit: `147f3ebf0a`	2019-01-21 13:45:08 +03:00
Alexander Alekhin	a49600cb24	Merge pull request #13510 from knsong:2.4	2018-12-25 13:08:02 +03:00
Kangning Song	0157ff0bc3	fix initial values bug	2018-12-23 11:29:42 +08:00
Alexander Alekhin	7e71666a0b	Merge pull request #13448 from alalek:issue_13445_2.4	2018-12-16 00:17:39 +03:00
Alexander Alekhin	7b677bb017	videoio(dc1394): use lazy initialization on demand backport `eb1f3733ee` into 2.4	2018-12-15 08:09:22 +00:00
Alexander Alekhin	9b954de175	Merge pull request #13265 from xusiwei:2.4	2018-11-25 12:12:09 +00:00
Siwei Xu	7f3af2b2d9	androidcamera: add a missing header. fix #11699 Missing std header	2018-11-24 01:31:50 +08:00
Alexander Alekhin	fd63c60418	Merge pull request #12181 from alalek:fix_gpu_sparse_multi_definition	2018-08-08 18:38:30 +03:00
Alexander Alekhin	1c34941537	Merge pull request #12179 from alalek:fix_gpu_samples_2.4	2018-08-08 18:37:12 +03:00
Alexander Alekhin	b0f0194595	gpu(sparse_multi): fix definition without TBB	2018-08-08 16:26:55 +03:00
Alexander Alekhin	8484c8af7c	samples(gpu): fix build (invalid access to cvconfig.h from sample) via find_package(OpenCV)	2018-08-08 16:26:18 +03:00
Alexander Alekhin	51cfa51924	OpenCV version++ 2.4.13.7	2018-07-02 15:41:56 +03:00
Alexander Alekhin	f1c5d8364f	Merge pull request #11640 from alalek:backport_11617	2018-05-31 18:28:49 +00:00
Alexander Alekhin	19f4c4403a	videoio(ffmpeg): specify stream->time_base backport `5128c1ff1f`	2018-05-31 18:34:43 +03:00
Alexander Alekhin	e89405d48f	Merge pull request #11534 from juanecito:2.4 Thread-safe version of sparse function in cv::gpu::PyrLKOpticalFlow 2	2018-05-31 15:29:14 +00:00
juanitov	eaf0b04530	Add sample of sparse pyrlk optical flow thread safe	2018-05-31 16:36:45 +03:00
juanitov	cbae431752	Fix HAVE_TBB is not defined in pyrlk.cu in spite of CMake TBB option is ON	2018-05-31 16:34:49 +03:00
Juan María Gómez López	0239c195d8	Merge pull request #11060 from juanecito:2.4 * Thread-safe version of sparse function in cv::gpu::PyrLKOpticalFlow class. The new function name is sparse_multi * Thread-safe sparse function in cv::gpu::PyrLKOpticalFlow. Tests * Thread-safe sparse function in cv::gpu::PyrLKOpticalFlow class. Add intel_TBB conditional compilation	2018-05-16 14:32:42 +03:00
Alexander Alekhin	a32aec5ba6	Merge pull request #11496 from shengyu7697:tab_to_space tab to space	2018-05-10 19:33:54 +03:00
shengyu	dd131219b2	tab to space	2018-05-10 23:14:04 +08:00
Alexander Alekhin	2cf58febf8	Merge pull request #11369 from ilovezfs:ffmpeg-4.0 Fix build with FFmpeg 4.0	2018-04-21 22:14:40 +03:00
ilovezfs	99091a6246	Fix build with FFmpeg 4.0 Backport of https://github.com/opencv/opencv/pull/10011.	2018-04-21 09:09:12 -07:00
Alexander Alekhin	0354d01e79	OpenCV version++ 2.4.13.6	2018-02-21 18:27:31 +00:00
Alexander Alekhin	45d3aac730	Merge pull request #10913 from alalek:fix_imgcodecs_hang_2.4	2018-02-21 16:39:59 +03:00
Alexander Alekhin	318ac6b8c9	imgcodecs: fix RBaseStream hang on truncated inputs `6e8241b78d`	2018-02-21 13:24:08 +03:00
Alexander Alekhin	7d332100a4	Merge pull request #10901 from alalek:backport_imgcodecs_fixes (2.4) backport imgcodecs fixes	2018-02-20 11:42:04 +03:00
Alexander Alekhin	56072c4406	imgcodecs: add more Jasper checks for supported and tested cases `435a3e337b`	2018-02-19 16:43:47 +03:00
Alexander Alekhin	cd64b504b8	imgcodecs: add overflow checks imgcodecs: remove assert() usage Origin commits: - `be5247921d` - `8a76fadaa3`	2018-02-19 16:38:08 +03:00
Alexander Alekhin	443059e371	imgcodecs(pxm): fix memcpy size `7bbe1a53cf`	2018-02-19 16:37:51 +03:00
Alexander Alekhin	8f9c4d23e0	Merge pull request #10695 from mworchel:blobdetector_mask Add mask support to SimpleBlobDetector	2018-01-30 21:00:46 +03:00
mworchel	8b90db3f25	Add mask support to SimpleBlobDetector	2018-01-25 13:34:12 +01:00
Alexander Alekhin	ec16307632	Merge pull request #10509 from kislinsk:support-msvc-14.1-minor-upgrades	2018-01-04 19:02:31 +03:00
Alexander Alekhin	fdefc4b09d	cmake: allow custom OpenCV_ARCH / OpenCV_RUNTIME values backport `8e21f808be`	2018-01-04 14:58:01 +00:00
Stefan Dinkelacker	61d8292652	cmake: add support for MSVC 14.1 minor upgrades	2018-01-04 15:39:19 +01:00
Alexander Alekhin	43f1b72e92	Merge pull request #10443 from alalek:backport_10435 (2.4 backport) Fixed #10433	2017-12-28 18:27:33 +03:00
Arthur Williams	1f4b8c2785	Fixed #10433 backport #10435	2017-12-28 02:32:43 +00:00
Alexander Alekhin	97eae6b546	OpenCV version++ 2.4.13.5	2017-12-19 23:11:33 +00:00
Alexander Alekhin	572d6d795d	Merge pull request #10301 from alalek:cmake_timestamp_update_2.4 (2.4) cmake: update timestamp status	2017-12-13 17:42:53 +03:00
Alexander Alekhin	7459388dd9	cmake: update timestamp status - avoid unnecessary rebuilding of OpenCV libraries - use timestamp of the first launch of CMake - to return to previous behavior use `-UOPENCV_TIMESTAMP` CMake option original commit: `3e45795232`	2017-12-13 17:05:33 +03:00
Alexander Alekhin	249edb2c99	Merge pull request #10204 from alalek:fix_calib3d_fisheye_rectify_test_2.4	2017-12-01 18:31:21 +03:00
Alexander Alekhin	00cc4aa230	calib3d: fix fisheye stereoRectify test - don't write into testdata directory - check matrices instead of result images	2017-11-30 16:41:37 +03:00
Alexander Alekhin	7c0193bb75	Merge pull request #10198 from alalek:fix_build_xcode_9.1_2.4 (2.4) Fix build with Xcode 9.1	2017-11-30 16:27:26 +03:00
Alexander Alekhin	97507e42a1	build: eliminate Xcode 9.1 warnings - 3rdparty/libjasper/jas_getopt.c:129:25: warning: this function declaration is not a prototype [-Wstrict-prototypes] - clang: warning: optimization flag '-fomit-frame-pointer' is not supported for target 'armv7' [-Wignored-optimization-argument] - clang: warning: optimization flag '-fomit-frame-pointer' is not supported for target 'armv7s' [-Wignored-optimization-argument] - backport IOS_ARCH toolchain option and setup CMAKE_SYSTEM_PROCESSOR: - adds '-mfpu=neon' compiler flag for ARM, SSE flags for i386/x86_64 - fixed proper libpng compilation (no ARM asm)	2017-11-30 14:24:05 +03:00
Alexander Alekhin	91fe01beca	Merge pull request #10052 from alalek:fix_macos_pkg_config_2.4 (2.4) cmake: fix pkg-config generation for MacOSX	2017-11-08 19:03:44 +00:00
Alexander Alekhin	591a08721e	cmake: fix pkg-config generation for MacOSX	2017-11-08 19:40:02 +03:00
Alexander Alekhin	a28733148e	Merge pull request #10038 from alalek:update_gitignore_2.4 (2.4) git: .gitignore update	2017-11-07 20:00:56 +00:00
Alexander Alekhin	e10e628036	git: .gitignore update ignore all "dot" files/directories by default. 'ignored' files can be added via 'git add -f' command if necessary.	2017-11-07 17:35:13 +03:00
Alexander Alekhin	738b388a64	Merge pull request #10030 from hosjiu1702:2.4 change from variance to standard deviation	2017-11-07 10:59:09 +00:00
Alexander Alekhin	9802024f71	Merge pull request #9974 from opalmirror:test_stereo_min_disparity_24 test_stereomatching.cpp: validate min disparity affect on valid ROI	2017-11-07 10:05:21 +00:00
hosjiu1702	1659e96766	change from variance to standard deviation	2017-11-06 11:42:24 +07:00
James Perkins	c1dea8465e	test_stereomatching.cpp: validate min disparity affect on valid ROI	2017-10-30 11:27:11 -07:00
Alexander Alekhin	678d383f26	Merge pull request #9844 from opalmirror:fix_stereobm_mindisp_truncation_24 fix StereoBM disparity map right margin truncation when minDisparities > 0	2017-10-30 18:48:48 +03:00
Alexander Alekhin	e15a56d142	Merge pull request #9915 from alalek:backport_9903 (2.4) Backport #9903: Fix out of bounds write	2017-10-26 12:19:38 +03:00
blendin	c46521ad65	Fix out of bounds write	2017-10-23 12:43:22 +03:00
Alexander Alekhin	d0f3468477	Merge pull request #9873 from alalek:fix_documentation_2.4 (2.4) doc: fix youtube videos handling	2017-10-17 21:40:34 +03:00
Alexander Alekhin	3224b0a75a	doc: fix youtube videos handling	2017-10-17 16:52:00 +03:00
James Perkins	7d8110772a	fix StereoBM disparity map right margin truncation when minDisparities > 0	2017-10-12 17:20:28 -07:00
Alexander Alekhin	fb4c2ba64d	OpenCV version++ 2.4.13.4	2017-10-12 14:32:33 +03:00
Alexander Alekhin	e53f1b2532	Merge pull request #9808 from alalek:backport_fixes (2.4) backport fixes	2017-10-10 13:13:23 +03:00
Yaron Inger	621a1d3b09	videoio: remove AssetsLibrary dependency. The entire AssetsLibrary framework is deprecated since iOS 8.0. The code used in the camera example code can use UIKit to save videos to the camera instead, which allows to avoid linking with PhotoKit instead to prevent increasing the iOS deployment target.	2017-10-09 15:14:25 +03:00
berak	14b686cdc7	imgcodecs: fix 4 reading channel bmp images	2017-10-09 15:11:28 +03:00
blendin	0202e52747	Fix out of bounds write	2017-10-09 15:10:03 +03:00
Benoit Blanchon	7997e7aee9	cmake: map RelWithDebInfo and MinSizeRel configuration to Release	2017-10-09 15:08:16 +03:00
Guillaume Jacob	b43e5e2d21	CMakeLists.txt: fix a typo in a message	2017-10-09 15:04:40 +03:00
KUANG Fangjun	c92ecc7f96	Improve the documentation.	2017-10-09 15:03:10 +03:00
Alexander Alekhin	ae52d94ceb	Merge pull request #9776 from IgWod:matrix-memory-leak-fix Fix memory leak in the matrix copying constructor	2017-10-06 21:35:32 +03:00
Igor Wodiany	37d4e24806	Fix a memory leak in the Mat copying constructor Exception may be rasied inside the body of a copying constructor after refcount has been increased, and beacause in the case of the exception destrcutor is never called what causes memory leak. This commit adds a workaround that calls the release() function before the exception is thrown outside the contructor.	2017-10-05 22:24:43 +01:00
Alexander Alekhin	7b861cac9f	Merge pull request #9662 from alalek:backport_9448_9504 (2.4) imgcodecs: backport 9448 9504	2017-09-20 12:45:15 +00:00
Alexander Alekhin	da9395b592	imgcodecs: fix regression 9376	2017-09-19 13:05:34 +03:00
Alexander Alekhin	df1a026329	imgcodesc: fix code problems with integer overflow / address arithmetic / UB	2017-09-19 12:39:32 +03:00
Alexander Alekhin	dd9bf1ba1d	Merge pull request #9435 from alalek:fix_numpy_warning_2.4 (2.4) python: eliminate -Wundef warning about NPY_INTERNAL_BUILD	2017-09-15 18:26:26 +00:00
Alexander Alekhin	30f7576029	Merge pull request #9383 from alalek:imgcodecs_refactoring_2.4	2017-08-22 16:36:18 +00:00
Alexander Alekhin	f548d660ba	Merge pull request #9432 from alalek:cmake_deprecated_policies_2.4 (2.4) cmake deprecated policies (backport 9415)	2017-08-22 14:13:49 +00:00
Alexander Alekhin	8a2bbc57e4	python: eliminate -Wundef warning about NPY_INTERNAL_BUILD numpy 1.13.0+	2017-08-22 11:59:54 +03:00
Alexander Alekhin	e575b5ff9a	cmake: remove INSTALL_NAME_DIR	2017-08-21 19:17:52 +03:00
Alexander Alekhin	355553b0a6	cmake: CMP0026 NEW	2017-08-21 18:48:17 +03:00
Alexander Alekhin	d25b04149a	cmake: CMP0022 NEW	2017-08-21 18:26:57 +03:00
Alexander Alekhin	268d17e086	cmake: drop CMP0017	2017-08-21 18:26:57 +03:00
Alexander Alekhin	d567a79581	cmake: use CMAKE_CXX_COMPILER_VERSION (CMake 2.8.8+) - PVAPI library detection was changed	2017-08-21 18:26:57 +03:00
Alexander Alekhin	3ba7c16670	cmake: bump minimal version	2017-08-21 16:33:05 +03:00
Alexander Alekhin	f7d99f3f6a	Merge pull request #9408 from alalek:backport_9228 (2.4) Update OpenCVCompilerOptions.cmake (backport 9228)	2017-08-18 16:04:16 +00:00
neok-m4700	126de0cd95	Update OpenCVCompilerOptions.cmake misplaced else	2017-08-18 18:48:03 +03:00
Alexander Alekhin	72d29259ca	imgcodecs: refactoring, improve code quality	2017-08-16 18:25:09 +00:00
Alexander Alekhin	c9488c661f	Merge pull request #9380 from StevenPuttemans:fix_doc_9359_2.4 backport of PR 9367	2017-08-16 10:58:14 +00:00
Steven Puttemans	4852f017fa	backport of PR 9367	2017-08-16 10:57:20 +02:00