OpenCV version++

2.4.13.5

.gitignore

@@ -1,10 +1,10 @@
+# ignore dot files/directories
+.*
+!.gitignore
+
 *.autosave
 *.pyc
 *.user
 *~
-.*.swp
-.DS_Store
-.sw[a-z]
 tags
 tegra/
-.cache

3rdparty/libjasper/CMakeLists.txt

@@ -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)

3rdparty/libpng/CMakeLists.txt

@@ -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()

CMakeLists.txt

@@ -683,6 +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})

cmake/OpenCVCompilerOptions.cmake

@@ -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)

cmake/OpenCVUtils.cmake

@@ -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()
 

doc/tutorials/calib3d/camera_calibration/camera_calibration.rst

@@ -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>

doc/tutorials/core/file_input_output_with_xml_yml/file_input_output_with_xml_yml.rst

@@ -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>

doc/tutorials/core/how_to_scan_images/how_to_scan_images.rst

@@ -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>

doc/tutorials/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.rst

@@ -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>

doc/tutorials/core/mat-mask-operations/mat-mask-operations.rst

@@ -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
 

doc/tutorials/core/mat_the_basic_image_container/mat_the_basic_image_container.rst

@@ -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>

doc/tutorials/gpu/gpu-basics-similarity/gpu-basics-similarity.rst

@@ -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>

doc/tutorials/highgui/video-input-psnr-ssim/video-input-psnr-ssim.rst

@@ -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>

doc/tutorials/highgui/video-write/video-write.rst

@@ -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>

doc/tutorials/imgproc/gausian_median_blur_bilateral_filter/gausian_median_blur_bilateral_filter.rst

@@ -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

doc/tutorials/introduction/display_image/display_image.rst

@@ -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>

doc/tutorials/introduction/how_to_write_a_tutorial/how_to_write_a_tutorial.rst

@@ -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.

doc/tutorials/introduction/windows_install/windows_install.rst

@@ -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.

doc/tutorials/ios/image_manipulation/image_manipulation.rst

@@ -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>

doc/tutorials/ml/non_linear_svms/non_linear_svms.rst

@@ -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>

modules/calib3d/src/stereosgbm.cpp

@@ -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;
 

modules/calib3d/test/test_fisheye.cpp

@@ -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)));
 }

modules/calib3d/test/test_stereomatching.cpp

@@ -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;

modules/core/include/opencv2/core/version.hpp

@@ -50,7 +50,7 @@
 #define CV_VERSION_EPOCH    2
 #define CV_VERSION_MAJOR    4
 #define CV_VERSION_MINOR    13
-#define CV_VERSION_REVISION 4
+#define CV_VERSION_REVISION 5
 
 #define CVAUX_STR_EXP(__A)  #__A
 #define CVAUX_STR(__A)      CVAUX_STR_EXP(__A)

modules/highgui/src/grfmt_bmp.cpp

@@ -115,7 +115,7 @@ bool  BmpDecoder::readHeader()
 
                 if( m_bpp <= 8 )
                 {
-                    CV_Assert(clrused <= 256);
+                    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 );

platforms/ios/build_framework.py

@@ -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\" " +

platforms/ios/cmake/Modules/Platform/iOS.cmake

@@ -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}")

platforms/ios/cmake/Toolchains/Toolchain-iPhoneOS_Xcode.cmake

@@ -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")
 

platforms/ios/cmake/Toolchains/Toolchain-iPhoneSimulator_Xcode.cmake

@@ -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")
 

samples/python2/feature_homography.py

@@ -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
 -----

samples/python2/plane_ar.py

@@ -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
 -----

samples/python2/plane_tracker.py

@@ -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
 -----