release: OpenCV 3.4.18

Fix sampling for version multiplying factor

* reduce experimentalFrequencyElem and listFrequencyElem

* fix large resize

* fix tile in postIntermediate

* add getMinSideLen(), add corrected_index

* add test decode_regression_21929 author Kumataro, add test decode_regression_version_25

.github/workflows/PR-3.4.yaml

@@ -0,0 +1,16 @@
+name: PR:3.4
+
+on:
+  pull_request:
+    branches:
+      - 3.4
+
+jobs:
+  ARM64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-ARM64.yaml@main
+
+  U20:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-U20.yaml@main
+
+  W10:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-W10.yaml@main

3rdparty/carotene/hal/tegra_hal.hpp

@@ -1844,14 +1844,18 @@ TegraCvtColor_Invoker(bgrx2hsvf, bgrx2hsv, src_data + static_cast<size_t>(range.
 #define cv_hal_cvtBGRtoGray TEGRA_CVTBGRTOGRAY
 #undef cv_hal_cvtGraytoBGR
 #define cv_hal_cvtGraytoBGR TEGRA_CVTGRAYTOBGR
+#if 0  // bit-exact tests are failed
 #undef cv_hal_cvtBGRtoYUV
 #define cv_hal_cvtBGRtoYUV TEGRA_CVTBGRTOYUV
+#endif
 #undef cv_hal_cvtBGRtoHSV
 #define cv_hal_cvtBGRtoHSV TEGRA_CVTBGRTOHSV
+#if 0  // bit-exact tests are failed
 #undef cv_hal_cvtTwoPlaneYUVtoBGR
 #define cv_hal_cvtTwoPlaneYUVtoBGR TEGRA_CVT2PYUVTOBGR
 #undef cv_hal_cvtTwoPlaneYUVtoBGREx
 #define cv_hal_cvtTwoPlaneYUVtoBGREx TEGRA_CVT2PYUVTOBGR_EX
+#endif
 
 #endif // OPENCV_IMGPROC_HAL_INTERFACE_H
 

3rdparty/ffmpeg/ffmpeg.cmake

@@ -1,8 +1,8 @@
-# Binaries branch name: ffmpeg/3.4_20211005
-# Binaries were created for OpenCV: 95c1d2a8872b222f32bd88db9f1efcbd9f70a9cf
-ocv_update(FFMPEG_BINARIES_COMMIT "0bf6c0753d435d2c82c03c48db0c6e18ac79976c")
-ocv_update(FFMPEG_FILE_HASH_BIN32 "55c25bbc13e4a12d4339b70d3b76987f")
-ocv_update(FFMPEG_FILE_HASH_BIN64 "67caee9231c6843483b4de9815d6526e")
+# Binaries branch name: ffmpeg/3.4_20211220
+# Binaries were created for OpenCV: a22dd28e0272ec0f1cfee8811d3f5f0392827c65
+ocv_update(FFMPEG_BINARIES_COMMIT "5a7644ec3940c6eed41c6ebb5a0602a5615fdb3f")
+ocv_update(FFMPEG_FILE_HASH_BIN32 "8ad9de6f1f2ca77786748d1f3a4e83ea")
+ocv_update(FFMPEG_FILE_HASH_BIN64 "2c670f068252e7cd28d3883993dc1d6e")
 ocv_update(FFMPEG_FILE_HASH_CMAKE "3b90f67f4b429e77d3da36698cef700c")
 
 function(download_win_ffmpeg script_var)

3rdparty/libjpeg-turbo/CMakeLists.txt

@@ -4,9 +4,9 @@ ocv_warnings_disable(CMAKE_C_FLAGS -Wunused-parameter -Wsign-compare -Wshorten-6
 
 set(VERSION_MAJOR 2)
 set(VERSION_MINOR 1)
-set(VERSION_REVISION 0)
+set(VERSION_REVISION 2)
 set(VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_REVISION})
-set(LIBJPEG_TURBO_VERSION_NUMBER 2001000)
+set(LIBJPEG_TURBO_VERSION_NUMBER 2001002)
 
 string(TIMESTAMP BUILD "opencv-${OPENCV_VERSION}-libjpeg-turbo")
 if(CMAKE_BUILD_TYPE STREQUAL "Debug")

3rdparty/libjpeg-turbo/jconfigint.h.in

@@ -40,3 +40,13 @@
 #define HAVE_BITSCANFORWARD
 #endif
 #endif
+
+#if defined(__has_attribute)
+#if __has_attribute(fallthrough)
+#define FALLTHROUGH  __attribute__((fallthrough));
+#else
+#define FALLTHROUGH
+#endif
+#else
+#define FALLTHROUGH
+#endif

3rdparty/libjpeg-turbo/src/jchuff.c

@@ -44,8 +44,9 @@
  * flags (this defines __thumb__).
  */
 
-#if defined(__arm__) || defined(__aarch64__) || defined(_M_ARM) || \
-    defined(_M_ARM64)
+/* NOTE: Both GCC and Clang define __GNUC__ */
+#if (defined(__GNUC__) && (defined(__arm__) || defined(__aarch64__))) || \
+    defined(_M_ARM) || defined(_M_ARM64)
 #if !defined(__thumb__) || defined(__thumb2__)
 #define USE_CLZ_INTRINSIC
 #endif

3rdparty/libjpeg-turbo/src/jcmaster.c

@@ -493,7 +493,7 @@ prepare_for_pass(j_compress_ptr cinfo)
     master->pass_type = output_pass;
     master->pass_number++;
 #endif
-    /*FALLTHROUGH*/
+    FALLTHROUGH                 /*FALLTHROUGH*/
   case output_pass:
     /* Do a data-output pass. */
     /* We need not repeat per-scan setup if prior optimization pass did it. */

3rdparty/libjpeg-turbo/src/jcphuff.c

@@ -7,6 +7,7 @@
  * Copyright (C) 2011, 2015, 2018, 2021, D. R. Commander.
  * Copyright (C) 2016, 2018, Matthieu Darbois.
  * Copyright (C) 2020, Arm Limited.
+ * Copyright (C) 2021, Alex Richardson.
  * For conditions of distribution and use, see the accompanying README.ijg
  * file.
  *
@@ -52,8 +53,9 @@
  * flags (this defines __thumb__).
  */
 
-#if defined(__arm__) || defined(__aarch64__) || defined(_M_ARM) || \
-    defined(_M_ARM64)
+/* NOTE: Both GCC and Clang define __GNUC__ */
+#if (defined(__GNUC__) && (defined(__arm__) || defined(__aarch64__))) || \
+    defined(_M_ARM) || defined(_M_ARM64)
 #if !defined(__thumb__) || defined(__thumb2__)
 #define USE_CLZ_INTRINSIC
 #endif
@@ -679,7 +681,7 @@ encode_mcu_AC_first(j_compress_ptr cinfo, JBLOCKROW *MCU_data)
       emit_restart(entropy, entropy->next_restart_num);
 
 #ifdef WITH_SIMD
-  cvalue = values = (JCOEF *)PAD((size_t)values_unaligned, 16);
+  cvalue = values = (JCOEF *)PAD((JUINTPTR)values_unaligned, 16);
 #else
   /* Not using SIMD, so alignment is not needed */
   cvalue = values = values_unaligned;
@@ -944,7 +946,7 @@ encode_mcu_AC_refine(j_compress_ptr cinfo, JBLOCKROW *MCU_data)
       emit_restart(entropy, entropy->next_restart_num);
 
 #ifdef WITH_SIMD
-  cabsvalue = absvalues = (JCOEF *)PAD((size_t)absvalues_unaligned, 16);
+  cabsvalue = absvalues = (JCOEF *)PAD((JUINTPTR)absvalues_unaligned, 16);
 #else
   /* Not using SIMD, so alignment is not needed */
   cabsvalue = absvalues = absvalues_unaligned;

3rdparty/libjpeg-turbo/src/jdapimin.c

@@ -23,6 +23,7 @@
 #include "jinclude.h"
 #include "jpeglib.h"
 #include "jdmaster.h"
+#include "jconfigint.h"
 
 
 /*
@@ -308,7 +309,7 @@ jpeg_consume_input(j_decompress_ptr cinfo)
     /* Initialize application's data source module */
     (*cinfo->src->init_source) (cinfo);
     cinfo->global_state = DSTATE_INHEADER;
-    /*FALLTHROUGH*/
+    FALLTHROUGH                 /*FALLTHROUGH*/
   case DSTATE_INHEADER:
     retcode = (*cinfo->inputctl->consume_input) (cinfo);
     if (retcode == JPEG_REACHED_SOS) { /* Found SOS, prepare to decompress */

3rdparty/libjpeg-turbo/src/jdhuff.c

@@ -584,7 +584,7 @@ decode_mcu_slow(j_decompress_ptr cinfo, JBLOCKROW *MCU_data)
        * behavior is, to the best of our understanding, innocuous, and it is
        * unclear how to work around it without potentially affecting
        * performance.  Thus, we (hopefully temporarily) suppress UBSan integer
-       * overflow errors for this function.
+       * overflow errors for this function and decode_mcu_fast().
        */
       s += state.last_dc_val[ci];
       state.last_dc_val[ci] = s;
@@ -651,6 +651,12 @@ decode_mcu_slow(j_decompress_ptr cinfo, JBLOCKROW *MCU_data)
 }
 
 
+#if defined(__has_feature)
+#if __has_feature(undefined_behavior_sanitizer)
+__attribute__((no_sanitize("signed-integer-overflow"),
+               no_sanitize("unsigned-integer-overflow")))
+#endif
+#endif
 LOCAL(boolean)
 decode_mcu_fast(j_decompress_ptr cinfo, JBLOCKROW *MCU_data)
 {
@@ -681,6 +687,9 @@ decode_mcu_fast(j_decompress_ptr cinfo, JBLOCKROW *MCU_data)
 
     if (entropy->dc_needed[blkn]) {
       int ci = cinfo->MCU_membership[blkn];
+      /* Refer to the comment in decode_mcu_slow() regarding the supression of
+       * a UBSan integer overflow error in this line of code.
+       */
       s += state.last_dc_val[ci];
       state.last_dc_val[ci] = s;
       if (block)

3rdparty/libjpeg-turbo/src/jdmainct.c

@@ -18,6 +18,7 @@
 
 #include "jinclude.h"
 #include "jdmainct.h"
+#include "jconfigint.h"
 
 
 /*
@@ -360,7 +361,7 @@ process_data_context_main(j_decompress_ptr cinfo, JSAMPARRAY output_buf,
     main_ptr->context_state = CTX_PREPARE_FOR_IMCU;
     if (*out_row_ctr >= out_rows_avail)
       return;                   /* Postprocessor exactly filled output buf */
-    /*FALLTHROUGH*/
+    FALLTHROUGH                 /*FALLTHROUGH*/
   case CTX_PREPARE_FOR_IMCU:
     /* Prepare to process first M-1 row groups of this iMCU row */
     main_ptr->rowgroup_ctr = 0;
@@ -371,7 +372,7 @@ process_data_context_main(j_decompress_ptr cinfo, JSAMPARRAY output_buf,
     if (main_ptr->iMCU_row_ctr == cinfo->total_iMCU_rows)
       set_bottom_pointers(cinfo);
     main_ptr->context_state = CTX_PROCESS_IMCU;
-    /*FALLTHROUGH*/
+    FALLTHROUGH                 /*FALLTHROUGH*/
   case CTX_PROCESS_IMCU:
     /* Call postprocessor using previously set pointers */
     (*cinfo->post->post_process_data) (cinfo,

3rdparty/libjpeg-turbo/src/jmemmgr.c

@@ -4,7 +4,7 @@
  * This file was part of the Independent JPEG Group's software:
  * Copyright (C) 1991-1997, Thomas G. Lane.
  * libjpeg-turbo Modifications:
- * Copyright (C) 2016, D. R. Commander.
+ * Copyright (C) 2016, 2021, D. R. Commander.
  * For conditions of distribution and use, see the accompanying README.ijg
  * file.
  *
@@ -1032,7 +1032,7 @@ free_pool(j_common_ptr cinfo, int pool_id)
     large_pool_ptr next_lhdr_ptr = lhdr_ptr->next;
     space_freed = lhdr_ptr->bytes_used +
                   lhdr_ptr->bytes_left +
-                  sizeof(large_pool_hdr);
+                  sizeof(large_pool_hdr) + ALIGN_SIZE - 1;
     jpeg_free_large(cinfo, (void *)lhdr_ptr, space_freed);
     mem->total_space_allocated -= space_freed;
     lhdr_ptr = next_lhdr_ptr;
@@ -1045,7 +1045,7 @@ free_pool(j_common_ptr cinfo, int pool_id)
   while (shdr_ptr != NULL) {
     small_pool_ptr next_shdr_ptr = shdr_ptr->next;
     space_freed = shdr_ptr->bytes_used + shdr_ptr->bytes_left +
-                  sizeof(small_pool_hdr);
+                  sizeof(small_pool_hdr) + ALIGN_SIZE - 1;
     jpeg_free_small(cinfo, (void *)shdr_ptr, space_freed);
     mem->total_space_allocated -= space_freed;
     shdr_ptr = next_shdr_ptr;

3rdparty/libjpeg-turbo/src/jpegint.h

@@ -5,8 +5,9 @@
  * Copyright (C) 1991-1997, Thomas G. Lane.
  * Modified 1997-2009 by Guido Vollbeding.
  * libjpeg-turbo Modifications:
- * Copyright (C) 2015-2016, 2019, D. R. Commander.
+ * Copyright (C) 2015-2016, 2019, 2021, D. R. Commander.
  * Copyright (C) 2015, Google, Inc.
+ * Copyright (C) 2021, Alex Richardson.
  * For conditions of distribution and use, see the accompanying README.ijg
  * file.
  *
@@ -47,6 +48,18 @@ typedef enum {            /* Operating modes for buffer controllers */
 /* JLONG must hold at least signed 32-bit values. */
 typedef long JLONG;
 
+/* JUINTPTR must hold pointer values. */
+#ifdef __UINTPTR_TYPE__
+/*
+ * __UINTPTR_TYPE__ is GNU-specific and available in GCC 4.6+ and Clang 3.0+.
+ * Fortunately, that is sufficient to support the few architectures for which
+ * sizeof(void *) != sizeof(size_t).  The only other options would require C99
+ * or Clang-specific builtins.
+ */
+typedef __UINTPTR_TYPE__ JUINTPTR;
+#else
+typedef size_t JUINTPTR;
+#endif
 
 /*
  * Left shift macro that handles a negative operand without causing any

3rdparty/libpng/CMakeLists.txt

@@ -77,7 +77,9 @@ endif(MSVC)
 add_library(${PNG_LIBRARY} STATIC ${OPENCV_3RDPARTY_EXCLUDE_FROM_ALL} ${lib_srcs} ${lib_hdrs})
 target_link_libraries(${PNG_LIBRARY} ${ZLIB_LIBRARIES})
 
-ocv_warnings_disable(CMAKE_C_FLAGS -Wundef -Wcast-align -Wimplicit-fallthrough -Wunused-parameter -Wsign-compare)
+ocv_warnings_disable(CMAKE_C_FLAGS -Wundef -Wcast-align -Wimplicit-fallthrough -Wunused-parameter -Wsign-compare
+    -Wmaybe-uninitialized
+)
 
 set_target_properties(${PNG_LIBRARY}
   PROPERTIES OUTPUT_NAME ${PNG_LIBRARY}

3rdparty/libtiff/CMakeLists.txt

@@ -452,8 +452,9 @@ ocv_warnings_disable(CMAKE_C_FLAGS -Wno-unused-but-set-variable -Wmissing-protot
                                    -Wcast-align -Wshadow -Wno-maybe-uninitialized -Wno-pointer-to-int-cast -Wno-int-to-pointer-cast
                                    -Wmisleading-indentation
                                    -Wimplicit-fallthrough
+                                   -Wunused-parameter  # clang
+                                   -Warray-parameter
 )
-ocv_warnings_disable(CMAKE_C_FLAGS -Wunused-parameter) # clang
 ocv_warnings_disable(CMAKE_CXX_FLAGS -Wmissing-declarations -Wunused-parameter -Wmissing-prototypes
     -Wundef  # tiffiop.h: #if __clang_major__ >= 4
 )

3rdparty/openvx/README.md

@@ -77,7 +77,7 @@ E.g. external ref-counting is implemented for 1.0 version and native OpenVX one
 
 Also there are some **C++ 11** features are used (e.g. rvalue ref-s) when their availability is detected at ***compile time***.
 
-C++ exceptions are used for errors indication instead of return codes. There are two types of exceptions are defined:  `RuntimeError` is thrown when OpenVX C call returned unsuccessful result and `WrapperError` is thrown when a problem is occured in the wrappers code. Both exception calsses are derived from `std::exception` (actually from its inheritants).
+C++ exceptions are used for errors indication instead of return codes. There are two types of exceptions are defined:  `RuntimeError` is thrown when OpenVX C call returned unsuccessful result and `WrapperError` is thrown when a problem is occurred in the wrappers code. Both exception calsses are derived from `std::exception` (actually from its inheritants).
 
 The so called **OpenVX objects** (e.g. `vx_image`) are represented as C++ classes in wrappers.
 All these classes use automatic ref-counting that allows development of exception-safe code.

3rdparty/readme.txt

@@ -37,7 +37,7 @@ libtiff               Tag Image File Format (TIFF) Software
                       WITH_TIFF CMake option must be ON to add libtiff & zlib support to imgcodecs.
 ------------------------------------------------------------------------------------
 zlib                  General purpose LZ77 compression library
-                      Copyright (C) 1995-2012 Jean-loup Gailly and Mark Adler.
+                      Copyright (C) 1995-2022 Jean-loup Gailly and Mark Adler.
                       See zlib home page http://www.zlib.net
                       for details and links to the source code
 ------------------------------------------------------------------------------------

3rdparty/zlib/CMakeLists.txt

@@ -83,6 +83,7 @@ ocv_warnings_disable(CMAKE_C_FLAGS -Wshorten-64-to-32 -Wattributes -Wstrict-prot
     -Wundef  # _LFS64_LARGEFILE is not defined
     /wd4267  # MSVS 2015 (x64) + zlib 1.2.11
     -Wimplicit-fallthrough
+    /wd4244  # MSVS + zlib 1.2.12: warning C4244: '=': conversion from 'ush' to 'uchf', possible loss of data
 )
 
 set_target_properties(${ZLIB_LIBRARY} PROPERTIES

3rdparty/zlib/ChangeLog

@@ -1,6 +1,69 @@
 
                 ChangeLog file for zlib
 
+Changes in 1.2.12 (27 Mar 2022)
+- Cygwin does not have _wopen(), so do not create gzopen_w() there
+- Permit a deflateParams() parameter change as soon as possible
+- Limit hash table inserts after switch from stored deflate
+- Fix bug when window full in deflate_stored()
+- Fix CLEAR_HASH macro to be usable as a single statement
+- Avoid a conversion error in gzseek when off_t type too small
+- Have Makefile return non-zero error code on test failure
+- Avoid some conversion warnings in gzread.c and gzwrite.c
+- Update use of errno for newer Windows CE versions
+- Small speedup to inflate [psumbera]
+- Return an error if the gzputs string length can't fit in an int
+- Add address checking in clang to -w option of configure
+- Don't compute check value for raw inflate if asked to validate
+- Handle case where inflateSync used when header never processed
+- Avoid the use of ptrdiff_t
+- Avoid an undefined behavior of memcpy() in gzappend()
+- Avoid undefined behaviors of memcpy() in gz*printf()
+- Avoid an undefined behavior of memcpy() in _tr_stored_block()
+- Make the names in functions declarations identical to definitions
+- Remove old assembler code in which bugs have manifested
+- Fix deflateEnd() to not report an error at start of raw deflate
+- Add legal disclaimer to README
+- Emphasize the need to continue decompressing gzip members
+- Correct the initialization requirements for deflateInit2()
+- Fix a bug that can crash deflate on some input when using Z_FIXED
+- Assure that the number of bits for deflatePrime() is valid
+- Use a structure to make globals in enough.c evident
+- Use a macro for the printf format of big_t in enough.c
+- Clean up code style in enough.c, update version
+- Use inline function instead of macro for index in enough.c
+- Clarify that prefix codes are counted in enough.c
+- Show all the codes for the maximum tables size in enough.c
+- Add gznorm.c example, which normalizes gzip files
+- Fix the zran.c example to work on a multiple-member gzip file
+- Add tables for crc32_combine(), to speed it up by a factor of 200
+- Add crc32_combine_gen() and crc32_combine_op() for fast combines
+- Speed up software CRC-32 computation by a factor of 1.5 to 3
+- Use atomic test and set, if available, for dynamic CRC tables
+- Don't bother computing check value after successful inflateSync()
+- Correct comment in crc32.c
+- Add use of the ARMv8 crc32 instructions when requested
+- Use ARM crc32 instructions if the ARM architecture has them
+- Explicitly note that the 32-bit check values are 32 bits
+- Avoid adding empty gzip member after gzflush with Z_FINISH
+- Fix memory leak on error in gzlog.c
+- Fix error in comment on the polynomial representation of a byte
+- Clarify gz* function interfaces, referring to parameter names
+- Change macro name in inflate.c to avoid collision in VxWorks
+- Correct typo in blast.c
+- Improve portability of contrib/minizip
+- Fix indentation in minizip's zip.c
+- Replace black/white with allow/block. (theresa-m)
+- minizip warning fix if MAXU32 already defined. (gvollant)
+- Fix unztell64() in minizip to work past 4GB. (Daniël Hörchner)
+- Clean up minizip to reduce warnings for testing
+- Add fallthrough comments for gcc
+- Eliminate use of ULL constants
+- Separate out address sanitizing from warnings in configure
+- Remove destructive aspects of make distclean
+- Check for cc masquerading as gcc or clang in configure
+- Fix crc32.c to compile local functions only if used
+
 Changes in 1.2.11 (15 Jan 2017)
 - Fix deflate stored bug when pulling last block from window
 - Permit immediate deflateParams changes before any deflate input
@@ -511,7 +574,7 @@ Changes in 1.2.3.5 (8 Jan 2010)
 - Don't use _vsnprintf on later versions of MSVC [Lowman]
 - Add CMake build script and input file [Lowman]
 - Update contrib/minizip to 1.1 [Svensson, Vollant]
-- Moved nintendods directory from contrib to .
+- Moved nintendods directory from contrib to root
 - Replace gzio.c with a new set of routines with the same functionality
 - Add gzbuffer(), gzoffset(), gzclose_r(), gzclose_w() as part of above
 - Update contrib/minizip to 1.1b
@@ -685,7 +748,7 @@ Changes in 1.2.2.4 (11 July 2005)
 - Be more strict on incomplete code sets in inflate_table() and increase
   ENOUGH and MAXD -- this repairs a possible security vulnerability for
   invalid inflate input.  Thanks to Tavis Ormandy and Markus Oberhumer for
-  discovering the vulnerability and providing test cases.
+  discovering the vulnerability and providing test cases
 - Add ia64 support to configure for HP-UX [Smith]
 - Add error return to gzread() for format or i/o error [Levin]
 - Use malloc.h for OS/2 [Necasek]
@@ -721,7 +784,7 @@ Changes in 1.2.2.2 (30 December 2004)
 - Add Z_FIXED strategy option to deflateInit2() to force fixed trees
 - Add updated make_vms.com [Coghlan], update README
 - Create a new "examples" directory, move gzappend.c there, add zpipe.c,
-  fitblk.c, gzlog.[ch], gzjoin.c, and zlib_how.html.
+  fitblk.c, gzlog.[ch], gzjoin.c, and zlib_how.html
 - Add FAQ entry and comments in deflate.c on uninitialized memory access
 - Add Solaris 9 make options in configure [Gilbert]
 - Allow strerror() usage in gzio.c for STDC
@@ -792,7 +855,7 @@ Changes in 1.2.1.1 (9 January 2004)
 - Fix a big fat bug in inftrees.c that prevented decoding valid
   dynamic blocks with only literals and no distance codes --
   Thanks to "Hot Emu" for the bug report and sample file
-- Add a note to puff.c on no distance codes case.
+- Add a note to puff.c on no distance codes case
 
 Changes in 1.2.1 (17 November 2003)
 - Remove a tab in contrib/gzappend/gzappend.c
@@ -1036,14 +1099,14 @@ Changes in 1.2.0 (9 March 2003)
 - Add contrib/puff/ simple inflate for deflate format description
 
 Changes in 1.1.4 (11 March 2002)
-- ZFREE was repeated on same allocation on some error conditions.
+- ZFREE was repeated on same allocation on some error conditions
   This creates a security problem described in
   http://www.zlib.org/advisory-2002-03-11.txt
 - Returned incorrect error (Z_MEM_ERROR) on some invalid data
 - Avoid accesses before window for invalid distances with inflate window
-  less than 32K.
+  less than 32K
 - force windowBits > 8 to avoid a bug in the encoder for a window size
-  of 256 bytes. (A complete fix will be available in 1.1.5).
+  of 256 bytes. (A complete fix will be available in 1.1.5)
 
 Changes in 1.1.3 (9 July 1998)
 - fix "an inflate input buffer bug that shows up on rare but persistent
@@ -1117,7 +1180,7 @@ Changes in 1.1.1 (27 Feb 98)
 - remove block truncation heuristic which had very marginal effect for zlib
   (smaller lit_bufsize than in gzip 1.2.4) and degraded a little the
   compression ratio on some files. This also allows inlining _tr_tally for
-  matches in deflate_slow.
+  matches in deflate_slow
 - added msdos/Makefile.w32 for WIN32 Microsoft Visual C++ (Bob Frazier)
 
 Changes in 1.1.0 (24 Feb 98)
@@ -1162,7 +1225,7 @@ Changes in 1.0.8 (27 Jan 1998)
 - include sys/types.h to get off_t on some systems (Marc Lehmann & QingLong)
 - use constant arrays for the static trees in trees.c instead of computing
   them at run time (thanks to Ken Raeburn for this suggestion). To create
-  trees.h, compile with GEN_TREES_H and run "make test".
+  trees.h, compile with GEN_TREES_H and run "make test"
 - check return code of example in "make test" and display result
 - pass minigzip command line options to file_compress
 - simplifying code of inflateSync to avoid gcc 2.8 bug
@@ -1201,12 +1264,12 @@ Changes in 1.0.6 (19 Jan 1998)
 - add functions gzprintf, gzputc, gzgetc, gztell, gzeof, gzseek, gzrewind and
   gzsetparams (thanks to Roland Giersig and Kevin Ruland for some of this code)
 - Fix a deflate bug occurring only with compression level 0 (thanks to
-  Andy Buckler for finding this one).
-- In minigzip, pass transparently also the first byte for .Z files.
+  Andy Buckler for finding this one)
+- In minigzip, pass transparently also the first byte for .Z files
 - return Z_BUF_ERROR instead of Z_OK if output buffer full in uncompress()
 - check Z_FINISH in inflate (thanks to Marc Schluper)
 - Implement deflateCopy (thanks to Adam Costello)
-- make static libraries by default in configure, add --shared option.
+- make static libraries by default in configure, add --shared option
 - move MSDOS or Windows specific files to directory msdos
 - suppress the notion of partial flush to simplify the interface
   (but the symbol Z_PARTIAL_FLUSH is kept for compatibility with 1.0.4)
@@ -1218,7 +1281,7 @@ Changes in 1.0.6 (19 Jan 1998)
 - added Makefile.nt (thanks to Stephen Williams)
 - added the unsupported "contrib" directory:
    contrib/asm386/ by Gilles Vollant <info@winimage.com>
-        386 asm code replacing longest_match().
+        386 asm code replacing longest_match()
    contrib/iostream/ by Kevin Ruland <kevin@rodin.wustl.edu>
         A C++ I/O streams interface to the zlib gz* functions
    contrib/iostream2/  by Tyge Løvset <Tyge.Lovset@cmr.no>
@@ -1226,7 +1289,7 @@ Changes in 1.0.6 (19 Jan 1998)
    contrib/untgz/  by "Pedro A. Aranda Guti\irrez" <paag@tid.es>
         A very simple tar.gz file extractor using zlib
    contrib/visual-basic.txt by Carlos Rios <c_rios@sonda.cl>
-        How to use compress(), uncompress() and the gz* functions from VB.
+        How to use compress(), uncompress() and the gz* functions from VB
 - pass params -f (filtered data), -h (huffman only), -1 to -9 (compression
   level) in minigzip (thanks to Tom Lane)
 
@@ -1235,8 +1298,8 @@ Changes in 1.0.6 (19 Jan 1998)
 - add undocumented function inflateSyncPoint() (hack for Paul Mackerras)
 - add undocumented function zError to convert error code to string
   (for Tim Smithers)
-- Allow compilation of gzio with -DNO_DEFLATE to avoid the compression code.
-- Use default memcpy for Symantec MSDOS compiler.
+- Allow compilation of gzio with -DNO_DEFLATE to avoid the compression code
+- Use default memcpy for Symantec MSDOS compiler
 - Add EXPORT keyword for check_func (needed for Windows DLL)
 - add current directory to LD_LIBRARY_PATH for "make test"
 - create also a link for libz.so.1
@@ -1249,7 +1312,7 @@ Changes in 1.0.6 (19 Jan 1998)
 - allow compilation with ANSI keywords only enabled for TurboC in large model
 - avoid "versionString"[0] (Borland bug)
 - add NEED_DUMMY_RETURN for Borland
-- use variable z_verbose for tracing in debug mode (L. Peter Deutsch).
+- use variable z_verbose for tracing in debug mode (L. Peter Deutsch)
 - allow compilation with CC
 - defined STDC for OS/2 (David Charlap)
 - limit external names to 8 chars for MVS (Thomas Lund)
@@ -1259,7 +1322,7 @@ Changes in 1.0.6 (19 Jan 1998)
 - use _fdopen instead of fdopen for MSC >= 6.0 (Thomas Fanslau)
 - added makelcc.bat for lcc-win32 (Tom St Denis)
 - in Makefile.dj2, use copy and del instead of install and rm (Frank Donahoe)
-- Avoid expanded $Id$. Use "rcs -kb" or "cvs admin -kb" to avoid Id expansion.
+- Avoid expanded $Id$. Use "rcs -kb" or "cvs admin -kb" to avoid Id expansion
 - check for unistd.h in configure (for off_t)
 - remove useless check parameter in inflate_blocks_free
 - avoid useless assignment of s->check to itself in inflate_blocks_new
@@ -1280,7 +1343,7 @@ Changes in 1.0.5 (3 Jan 98)
 Changes in 1.0.4 (24 Jul 96)
 - In very rare conditions, deflate(s, Z_FINISH) could fail to produce an EOF
   bit, so the decompressor could decompress all the correct data but went
-  on to attempt decompressing extra garbage data. This affected minigzip too.
+  on to attempt decompressing extra garbage data. This affected minigzip too
 - zlibVersion and gzerror return const char* (needed for DLL)
 - port to RISCOS (no fdopen, no multiple dots, no unlink, no fileno)
 - use z_error only for DEBUG (avoid problem with DLLs)
@@ -1310,7 +1373,7 @@ Changes in 1.0.1 (20 May 96) [1.0 skipped to avoid confusion]
 - fix array overlay in deflate.c which sometimes caused bad compressed data
 - fix inflate bug with empty stored block
 - fix MSDOS medium model which was broken in 0.99
-- fix deflateParams() which could generate bad compressed data.
+- fix deflateParams() which could generate bad compressed data
 - Bytef is define'd instead of typedef'ed (work around Borland bug)
 - added an INDEX file
 - new makefiles for DJGPP (Makefile.dj2), 32-bit Borland (Makefile.b32),
@@ -1331,7 +1394,7 @@ Changes in 0.99 (27 Jan 96)
 - allow preset dictionary shared between compressor and decompressor
 - allow compression level 0 (no compression)
 - add deflateParams in zlib.h: allow dynamic change of compression level
-  and compression strategy.
+  and compression strategy
 - test large buffers and deflateParams in example.c
 - add optional "configure" to build zlib as a shared library
 - suppress Makefile.qnx, use configure instead
@@ -1373,30 +1436,30 @@ Changes in 0.99 (27 Jan 96)
 - use STDC instead of __GO32__ to avoid redeclaring exit, calloc, etc...
 - use Z_BINARY instead of BINARY
 - document that gzclose after gzdopen will close the file
-- allow "a" as mode in gzopen.
+- allow "a" as mode in gzopen
 - fix error checking in gzread
 - allow skipping .gz extra-field on pipes
 - added reference to Perl interface in README
 - put the crc table in FAR data (I dislike more and more the medium model :)
 - added get_crc_table
-- added a dimension to all arrays (Borland C can't count).
+- added a dimension to all arrays (Borland C can't count)
 - workaround Borland C bug in declaration of inflate_codes_new & inflate_fast
 - guard against multiple inclusion of *.h (for precompiled header on Mac)
-- Watcom C pretends to be Microsoft C small model even in 32 bit mode.
+- Watcom C pretends to be Microsoft C small model even in 32 bit mode
 - don't use unsized arrays to avoid silly warnings by Visual C++:
      warning C4746: 'inflate_mask' : unsized array treated as  '__far'
-     (what's wrong with far data in far model?).
+     (what's wrong with far data in far model?)
 - define enum out of inflate_blocks_state to allow compilation with C++
 
 Changes in 0.95 (16 Aug 95)
 - fix MSDOS small and medium model (now easier to adapt to any compiler)
 - inlined send_bits
 - fix the final (:-) bug for deflate with flush (output was correct but
-  not completely flushed in rare occasions).
+  not completely flushed in rare occasions)
 - default window size is same for compression and decompression
-  (it's now sufficient to set MAX_WBITS in zconf.h).
+  (it's now sufficient to set MAX_WBITS in zconf.h)
 - voidp -> voidpf and voidnp -> voidp (for consistency with other
-  typedefs and because voidnp was not near in large model).
+  typedefs and because voidnp was not near in large model)
 
 Changes in 0.94 (13 Aug 95)
 - support MSDOS medium model
@@ -1405,12 +1468,12 @@ Changes in 0.94 (13 Aug 95)
 - added support for VMS
 - allow a compression level in gzopen()
 - gzflush now calls fflush
-- For deflate with flush, flush even if no more input is provided.
+- For deflate with flush, flush even if no more input is provided
 - rename libgz.a as libz.a
 - avoid complex expression in infcodes.c triggering Turbo C bug
 - work around a problem with gcc on Alpha (in INSERT_STRING)
 - don't use inline functions (problem with some gcc versions)
-- allow renaming of Byte, uInt, etc... with #define.
+- allow renaming of Byte, uInt, etc... with #define
 - avoid warning about (unused) pointer before start of array in deflate.c
 - avoid various warnings in gzio.c, example.c, infblock.c, adler32.c, zutil.c
 - avoid reserved word 'new' in trees.c
@@ -1429,7 +1492,7 @@ Changes in 0.92 (3 May 95)
 - no memcpy on Pyramid
 - suppressed inftest.c
 - optimized fill_window, put longest_match inline for gcc
-- optimized inflate on stored blocks.
+- optimized inflate on stored blocks
 - untabify all sources to simplify patches
 
 Changes in 0.91 (2 May 95)
@@ -1447,7 +1510,7 @@ Changes in 0.9 (1 May 95)
 - let again gzread copy uncompressed data unchanged (was working in 0.71)
 - deflate(Z_FULL_FLUSH), inflateReset and inflateSync are now fully implemented
 - added a test of inflateSync in example.c
-- moved MAX_WBITS to zconf.h because users might want to change that.
+- moved MAX_WBITS to zconf.h because users might want to change that
 - document explicitly that zalloc(64K) on MSDOS must return a normalized
   pointer (zero offset)
 - added Makefiles for Microsoft C, Turbo C, Borland C++
@@ -1456,7 +1519,7 @@ Changes in 0.9 (1 May 95)
 Changes in 0.8 (29 April 95)
 - added fast inflate (inffast.c)
 - deflate(Z_FINISH) now returns Z_STREAM_END when done. Warning: this
-  is incompatible with previous versions of zlib which returned Z_OK.
+  is incompatible with previous versions of zlib which returned Z_OK
 - work around a TurboC compiler bug (bad code for b << 0, see infutil.h)
   (actually that was not a compiler bug, see 0.81 above)
 - gzread no longer reads one extra byte in certain cases
@@ -1466,50 +1529,50 @@ Changes in 0.8 (29 April 95)
 
 Changes in 0.71 (14 April 95)
 - Fixed more MSDOS compilation problems :( There is still a bug with
-  TurboC large model.
+  TurboC large model
 
 Changes in 0.7 (14 April 95)
-- Added full inflate support.
+- Added full inflate support
 - Simplified the crc32() interface. The pre- and post-conditioning
   (one's complement) is now done inside crc32(). WARNING: this is
-  incompatible with previous versions; see zlib.h for the new usage.
+  incompatible with previous versions; see zlib.h for the new usage
 
 Changes in 0.61 (12 April 95)
-- workaround for a bug in TurboC. example and minigzip now work on MSDOS.
+- workaround for a bug in TurboC. example and minigzip now work on MSDOS
 
 Changes in 0.6 (11 April 95)
 - added minigzip.c
 - added gzdopen to reopen a file descriptor as gzFile
-- added transparent reading of non-gziped files in gzread.
+- added transparent reading of non-gziped files in gzread
 - fixed bug in gzread (don't read crc as data)
-- fixed bug in destroy (gzio.c) (don't return Z_STREAM_END for gzclose).
+- fixed bug in destroy (gzio.c) (don't return Z_STREAM_END for gzclose)
 - don't allocate big arrays in the stack (for MSDOS)
 - fix some MSDOS compilation problems
 
 Changes in 0.5:
 - do real compression in deflate.c. Z_PARTIAL_FLUSH is supported but
-  not yet Z_FULL_FLUSH.
+  not yet Z_FULL_FLUSH
 - support decompression but only in a single step (forced Z_FINISH)
-- added opaque object for zalloc and zfree.
+- added opaque object for zalloc and zfree
 - added deflateReset and inflateReset
-- added a variable zlib_version for consistency checking.
-- renamed the 'filter' parameter of deflateInit2 as 'strategy'.
-  Added Z_FILTERED and Z_HUFFMAN_ONLY constants.
+- added a variable zlib_version for consistency checking
+- renamed the 'filter' parameter of deflateInit2 as 'strategy'
+  Added Z_FILTERED and Z_HUFFMAN_ONLY constants
 
 Changes in 0.4:
-- avoid "zip" everywhere, use zlib instead of ziplib.
+- avoid "zip" everywhere, use zlib instead of ziplib
 - suppress Z_BLOCK_FLUSH, interpret Z_PARTIAL_FLUSH as block flush
-  if compression method == 8.
+  if compression method == 8
 - added adler32 and crc32
 - renamed deflateOptions as deflateInit2, call one or the other but not both
-- added the method parameter for deflateInit2.
+- added the method parameter for deflateInit2
 - added inflateInit2
 - simplied considerably deflateInit and inflateInit by not supporting
   user-provided history buffer. This is supported only in deflateInit2
-  and inflateInit2.
+  and inflateInit2
 
 Changes in 0.3:
 - prefix all macro names with Z_
-- use Z_FINISH instead of deflateEnd to finish compression.
+- use Z_FINISH instead of deflateEnd to finish compression
 - added Z_HUFFMAN_ONLY
 - added gzerror()

3rdparty/zlib/README

@@ -1,6 +1,6 @@
 ZLIB DATA COMPRESSION LIBRARY
 
-zlib 1.2.11 is a general purpose data compression library.  All the code is
+zlib 1.2.12 is a general purpose data compression library.  All the code is
 thread safe.  The data format used by the zlib library is described by RFCs
 (Request for Comments) 1950 to 1952 in the files
 http://tools.ietf.org/html/rfc1950 (zlib format), rfc1951 (deflate format) and
@@ -31,7 +31,7 @@ Mark Nelson <markn@ieee.org> wrote an article about zlib for the Jan.  1997
 issue of Dr.  Dobb's Journal; a copy of the article is available at
 http://marknelson.us/1997/01/01/zlib-engine/ .
 
-The changes made in version 1.2.11 are documented in the file ChangeLog.
+The changes made in version 1.2.12 are documented in the file ChangeLog.
 
 Unsupported third party contributions are provided in directory contrib/ .
 
@@ -84,7 +84,7 @@ Acknowledgments:
 
 Copyright notice:
 
- (C) 1995-2017 Jean-loup Gailly and Mark Adler
+ (C) 1995-2022 Jean-loup Gailly and Mark Adler
 
   This software is provided 'as-is', without any express or implied
   warranty.  In no event will the authors be held liable for any damages
@@ -108,7 +108,10 @@ Copyright notice:
 If you use the zlib library in a product, we would appreciate *not* receiving
 lengthy legal documents to sign.  The sources are provided for free but without
 warranty of any kind.  The library has been entirely written by Jean-loup
-Gailly and Mark Adler; it does not include third-party code.
+Gailly and Mark Adler; it does not include third-party code.  We make all
+contributions to and distributions of this project solely in our personal
+capacity, and are not conveying any rights to any intellectual property of
+any third parties.
 
 If you redistribute modified sources, we would appreciate that you include in
 the file ChangeLog history information documenting your changes.  Please read

3rdparty/zlib/deflate.c

@@ -1,5 +1,5 @@
 /* deflate.c -- compress data using the deflation algorithm
- * Copyright (C) 1995-2017 Jean-loup Gailly and Mark Adler
+ * Copyright (C) 1995-2022 Jean-loup Gailly and Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -52,7 +52,7 @@
 #include "deflate.h"
 
 const char deflate_copyright[] =
-   " deflate 1.2.11 Copyright 1995-2017 Jean-loup Gailly and Mark Adler ";
+   " deflate 1.2.12 Copyright 1995-2022 Jean-loup Gailly and Mark Adler ";
 /*
   If you use the zlib library in a product, an acknowledgment is welcome
   in the documentation of your product. If for some reason you cannot
@@ -190,8 +190,11 @@ local const config configuration_table[10] = {
  * prev[] will be initialized on the fly.
  */
 #define CLEAR_HASH(s) \
-    s->head[s->hash_size-1] = NIL; \
-    zmemzero((Bytef *)s->head, (unsigned)(s->hash_size-1)*sizeof(*s->head));
+    do { \
+        s->head[s->hash_size-1] = NIL; \
+        zmemzero((Bytef *)s->head, \
+                 (unsigned)(s->hash_size-1)*sizeof(*s->head)); \
+    } while (0)
 
 /* ===========================================================================
  * Slide the hash table when sliding the window down (could be avoided with 32
@@ -252,11 +255,6 @@ int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
     int wrap = 1;
     static const char my_version[] = ZLIB_VERSION;
 
-    ushf *overlay;
-    /* We overlay pending_buf and d_buf+l_buf. This works since the average
-     * output size for (length,distance) codes is <= 24 bits.
-     */
-
     if (version == Z_NULL || version[0] != my_version[0] ||
         stream_size != sizeof(z_stream)) {
         return Z_VERSION_ERROR;
@@ -326,9 +324,47 @@ int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
 
     s->lit_bufsize = 1 << (memLevel + 6); /* 16K elements by default */
 
-    overlay = (ushf *) ZALLOC(strm, s->lit_bufsize, sizeof(ush)+2);
-    s->pending_buf = (uchf *) overlay;
-    s->pending_buf_size = (ulg)s->lit_bufsize * (sizeof(ush)+2L);
+    /* We overlay pending_buf and sym_buf. This works since the average size
+     * for length/distance pairs over any compressed block is assured to be 31
+     * bits or less.
+     *
+     * Analysis: The longest fixed codes are a length code of 8 bits plus 5
+     * extra bits, for lengths 131 to 257. The longest fixed distance codes are
+     * 5 bits plus 13 extra bits, for distances 16385 to 32768. The longest
+     * possible fixed-codes length/distance pair is then 31 bits total.
+     *
+     * sym_buf starts one-fourth of the way into pending_buf. So there are
+     * three bytes in sym_buf for every four bytes in pending_buf. Each symbol
+     * in sym_buf is three bytes -- two for the distance and one for the
+     * literal/length. As each symbol is consumed, the pointer to the next
+     * sym_buf value to read moves forward three bytes. From that symbol, up to
+     * 31 bits are written to pending_buf. The closest the written pending_buf
+     * bits gets to the next sym_buf symbol to read is just before the last
+     * code is written. At that time, 31*(n-2) bits have been written, just
+     * after 24*(n-2) bits have been consumed from sym_buf. sym_buf starts at
+     * 8*n bits into pending_buf. (Note that the symbol buffer fills when n-1
+     * symbols are written.) The closest the writing gets to what is unread is
+     * then n+14 bits. Here n is lit_bufsize, which is 16384 by default, and
+     * can range from 128 to 32768.
+     *
+     * Therefore, at a minimum, there are 142 bits of space between what is
+     * written and what is read in the overlain buffers, so the symbols cannot
+     * be overwritten by the compressed data. That space is actually 139 bits,
+     * due to the three-bit fixed-code block header.
+     *
+     * That covers the case where either Z_FIXED is specified, forcing fixed
+     * codes, or when the use of fixed codes is chosen, because that choice
+     * results in a smaller compressed block than dynamic codes. That latter
+     * condition then assures that the above analysis also covers all dynamic
+     * blocks. A dynamic-code block will only be chosen to be emitted if it has
+     * fewer bits than a fixed-code block would for the same set of symbols.
+     * Therefore its average symbol length is assured to be less than 31. So
+     * the compressed data for a dynamic block also cannot overwrite the
+     * symbols from which it is being constructed.
+     */
+
+    s->pending_buf = (uchf *) ZALLOC(strm, s->lit_bufsize, 4);
+    s->pending_buf_size = (ulg)s->lit_bufsize * 4;
 
     if (s->window == Z_NULL || s->prev == Z_NULL || s->head == Z_NULL ||
         s->pending_buf == Z_NULL) {
@@ -337,8 +373,12 @@ int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
         deflateEnd (strm);
         return Z_MEM_ERROR;
     }
-    s->d_buf = overlay + s->lit_bufsize/sizeof(ush);
-    s->l_buf = s->pending_buf + (1+sizeof(ush))*s->lit_bufsize;
+    s->sym_buf = s->pending_buf + s->lit_bufsize;
+    s->sym_end = (s->lit_bufsize - 1) * 3;
+    /* We avoid equality with lit_bufsize*3 because of wraparound at 64K
+     * on 16 bit machines and because stored blocks are restricted to
+     * 64K-1 bytes.
+     */
 
     s->level = level;
     s->strategy = strategy;
@@ -488,13 +528,13 @@ int ZEXPORT deflateResetKeep (strm)
 #ifdef GZIP
         s->wrap == 2 ? GZIP_STATE :
 #endif
-        s->wrap ? INIT_STATE : BUSY_STATE;
+        INIT_STATE;
     strm->adler =
 #ifdef GZIP
         s->wrap == 2 ? crc32(0L, Z_NULL, 0) :
 #endif
         adler32(0L, Z_NULL, 0);
-    s->last_flush = Z_NO_FLUSH;
+    s->last_flush = -2;
 
     _tr_init(s);
 
@@ -549,7 +589,8 @@ int ZEXPORT deflatePrime (strm, bits, value)
 
     if (deflateStateCheck(strm)) return Z_STREAM_ERROR;
     s = strm->state;
-    if ((Bytef *)(s->d_buf) < s->pending_out + ((Buf_size + 7) >> 3))
+    if (bits < 0 || bits > 16 ||
+        s->sym_buf < s->pending_out + ((Buf_size + 7) >> 3))
         return Z_BUF_ERROR;
     do {
         put = Buf_size - s->bi_valid;
@@ -587,12 +628,12 @@ int ZEXPORT deflateParams(strm, level, strategy)
     func = configuration_table[s->level].func;
 
     if ((strategy != s->strategy || func != configuration_table[level].func) &&
-        s->high_water) {
+        s->last_flush != -2) {
         /* Flush the last buffer: */
         int err = deflate(strm, Z_BLOCK);
         if (err == Z_STREAM_ERROR)
             return err;
-        if (strm->avail_out == 0)
+        if (strm->avail_in || (s->strstart - s->block_start) + s->lookahead)
             return Z_BUF_ERROR;
     }
     if (s->level != level) {
@@ -811,6 +852,8 @@ int ZEXPORT deflate (strm, flush)
     }
 
     /* Write the header */
+    if (s->status == INIT_STATE && s->wrap == 0)
+        s->status = BUSY_STATE;
     if (s->status == INIT_STATE) {
         /* zlib header */
         uInt header = (Z_DEFLATED + ((s->w_bits-8)<<4)) << 8;
@@ -1108,7 +1151,6 @@ int ZEXPORT deflateCopy (dest, source)
 #else
     deflate_state *ds;
     deflate_state *ss;
-    ushf *overlay;
 
 
     if (deflateStateCheck(source) || dest == Z_NULL) {
@@ -1128,8 +1170,7 @@ int ZEXPORT deflateCopy (dest, source)
     ds->window = (Bytef *) ZALLOC(dest, ds->w_size, 2*sizeof(Byte));
     ds->prev   = (Posf *)  ZALLOC(dest, ds->w_size, sizeof(Pos));
     ds->head   = (Posf *)  ZALLOC(dest, ds->hash_size, sizeof(Pos));
-    overlay = (ushf *) ZALLOC(dest, ds->lit_bufsize, sizeof(ush)+2);
-    ds->pending_buf = (uchf *) overlay;
+    ds->pending_buf = (uchf *) ZALLOC(dest, ds->lit_bufsize, 4);
 
     if (ds->window == Z_NULL || ds->prev == Z_NULL || ds->head == Z_NULL ||
         ds->pending_buf == Z_NULL) {
@@ -1143,8 +1184,7 @@ int ZEXPORT deflateCopy (dest, source)
     zmemcpy(ds->pending_buf, ss->pending_buf, (uInt)ds->pending_buf_size);
 
     ds->pending_out = ds->pending_buf + (ss->pending_out - ss->pending_buf);
-    ds->d_buf = overlay + ds->lit_bufsize/sizeof(ush);
-    ds->l_buf = ds->pending_buf + (1+sizeof(ush))*ds->lit_bufsize;
+    ds->sym_buf = ds->pending_buf + ds->lit_bufsize;
 
     ds->l_desc.dyn_tree = ds->dyn_ltree;
     ds->d_desc.dyn_tree = ds->dyn_dtree;
@@ -1513,6 +1553,8 @@ local void fill_window(s)
             s->match_start -= wsize;
             s->strstart    -= wsize; /* we now have strstart >= MAX_DIST */
             s->block_start -= (long) wsize;
+            if (s->insert > s->strstart)
+                s->insert = s->strstart;
             slide_hash(s);
             more += wsize;
         }
@@ -1742,6 +1784,7 @@ local block_state deflate_stored(s, flush)
             s->matches = 2;         /* clear hash */
             zmemcpy(s->window, s->strm->next_in - s->w_size, s->w_size);
             s->strstart = s->w_size;
+            s->insert = s->strstart;
         }
         else {
             if (s->window_size - s->strstart <= used) {
@@ -1750,12 +1793,14 @@ local block_state deflate_stored(s, flush)
                 zmemcpy(s->window, s->window + s->w_size, s->strstart);
                 if (s->matches < 2)
                     s->matches++;   /* add a pending slide_hash() */
+                if (s->insert > s->strstart)
+                    s->insert = s->strstart;
             }
             zmemcpy(s->window + s->strstart, s->strm->next_in - used, used);
             s->strstart += used;
+            s->insert += MIN(used, s->w_size - s->insert);
         }
         s->block_start = s->strstart;
-        s->insert += MIN(used, s->w_size - s->insert);
     }
     if (s->high_water < s->strstart)
         s->high_water = s->strstart;
@@ -1770,7 +1815,7 @@ local block_state deflate_stored(s, flush)
         return block_done;
 
     /* Fill the window with any remaining input. */
-    have = s->window_size - s->strstart - 1;
+    have = s->window_size - s->strstart;
     if (s->strm->avail_in > have && s->block_start >= (long)s->w_size) {
         /* Slide the window down. */
         s->block_start -= s->w_size;
@@ -1779,12 +1824,15 @@ local block_state deflate_stored(s, flush)
         if (s->matches < 2)
             s->matches++;           /* add a pending slide_hash() */
         have += s->w_size;          /* more space now */
+        if (s->insert > s->strstart)
+            s->insert = s->strstart;
     }
     if (have > s->strm->avail_in)
         have = s->strm->avail_in;
     if (have) {
         read_buf(s->strm, s->window + s->strstart, have);
         s->strstart += have;
+        s->insert += MIN(have, s->w_size - s->insert);
     }
     if (s->high_water < s->strstart)
         s->high_water = s->strstart;
@@ -1912,7 +1960,7 @@ local block_state deflate_fast(s, flush)
         FLUSH_BLOCK(s, 1);
         return finish_done;
     }
-    if (s->last_lit)
+    if (s->sym_next)
         FLUSH_BLOCK(s, 0);
     return block_done;
 }
@@ -2043,7 +2091,7 @@ local block_state deflate_slow(s, flush)
         FLUSH_BLOCK(s, 1);
         return finish_done;
     }
-    if (s->last_lit)
+    if (s->sym_next)
         FLUSH_BLOCK(s, 0);
     return block_done;
 }
@@ -2118,7 +2166,7 @@ local block_state deflate_rle(s, flush)
         FLUSH_BLOCK(s, 1);
         return finish_done;
     }
-    if (s->last_lit)
+    if (s->sym_next)
         FLUSH_BLOCK(s, 0);
     return block_done;
 }
@@ -2157,7 +2205,7 @@ local block_state deflate_huff(s, flush)
         FLUSH_BLOCK(s, 1);
         return finish_done;
     }
-    if (s->last_lit)
+    if (s->sym_next)
         FLUSH_BLOCK(s, 0);
     return block_done;
 }

3rdparty/zlib/deflate.h

@@ -1,5 +1,5 @@
 /* deflate.h -- internal compression state
- * Copyright (C) 1995-2016 Jean-loup Gailly
+ * Copyright (C) 1995-2018 Jean-loup Gailly
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -217,7 +217,7 @@ typedef struct internal_state {
     /* Depth of each subtree used as tie breaker for trees of equal frequency
      */
 
-    uchf *l_buf;          /* buffer for literals or lengths */
+    uchf *sym_buf;        /* buffer for distances and literals/lengths */
 
     uInt  lit_bufsize;
     /* Size of match buffer for literals/lengths.  There are 4 reasons for
@@ -239,13 +239,8 @@ typedef struct internal_state {
      *   - I can't count above 4
      */
 
-    uInt last_lit;      /* running index in l_buf */
-
-    ushf *d_buf;
-    /* Buffer for distances. To simplify the code, d_buf and l_buf have
-     * the same number of elements. To use different lengths, an extra flag
-     * array would be necessary.
-     */
+    uInt sym_next;      /* running index in sym_buf */
+    uInt sym_end;       /* symbol table full when sym_next reaches this */
 
     ulg opt_len;        /* bit length of current block with optimal trees */
     ulg static_len;     /* bit length of current block with static trees */
@@ -325,20 +320,22 @@ void ZLIB_INTERNAL _tr_stored_block OF((deflate_state *s, charf *buf,
 
 # define _tr_tally_lit(s, c, flush) \
   { uch cc = (c); \
-    s->d_buf[s->last_lit] = 0; \
-    s->l_buf[s->last_lit++] = cc; \
+    s->sym_buf[s->sym_next++] = 0; \
+    s->sym_buf[s->sym_next++] = 0; \
+    s->sym_buf[s->sym_next++] = cc; \
     s->dyn_ltree[cc].Freq++; \
-    flush = (s->last_lit == s->lit_bufsize-1); \
+    flush = (s->sym_next == s->sym_end); \
    }
 # define _tr_tally_dist(s, distance, length, flush) \
   { uch len = (uch)(length); \
     ush dist = (ush)(distance); \
-    s->d_buf[s->last_lit] = dist; \
-    s->l_buf[s->last_lit++] = len; \
+    s->sym_buf[s->sym_next++] = dist; \
+    s->sym_buf[s->sym_next++] = dist >> 8; \
+    s->sym_buf[s->sym_next++] = len; \
     dist--; \
     s->dyn_ltree[_length_code[len]+LITERALS+1].Freq++; \
     s->dyn_dtree[d_code(dist)].Freq++; \
-    flush = (s->last_lit == s->lit_bufsize-1); \
+    flush = (s->sym_next == s->sym_end); \
   }
 #else
 # define _tr_tally_lit(s, c, flush) flush = _tr_tally(s, 0, c)

3rdparty/zlib/gzguts.h

@@ -1,5 +1,5 @@
 /* gzguts.h -- zlib internal header definitions for gz* operations
- * Copyright (C) 2004, 2005, 2010, 2011, 2012, 2013, 2016 Mark Adler
+ * Copyright (C) 2004-2019 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -39,7 +39,7 @@
 #  include <io.h>
 #endif
 
-#if defined(_WIN32) || defined(__CYGWIN__)
+#if defined(_WIN32)
 #  define WIDECHAR
 #endif
 
@@ -190,6 +190,7 @@ typedef struct {
         /* just for writing */
     int level;              /* compression level */
     int strategy;           /* compression strategy */
+    int reset;              /* true if a reset is pending after a Z_FINISH */
         /* seek request */
     z_off64_t skip;         /* amount to skip (already rewound if backwards) */
     int seek;               /* true if seek request pending */

3rdparty/zlib/gzlib.c

@@ -1,11 +1,11 @@
 /* gzlib.c -- zlib functions common to reading and writing gzip files
- * Copyright (C) 2004-2017 Mark Adler
+ * Copyright (C) 2004-2019 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
 #include "gzguts.h"
 
-#if defined(_WIN32) && !defined(__BORLANDC__) && !defined(__MINGW32__)
+#if defined(_WIN32) && !defined(__BORLANDC__)
 #  define LSEEK _lseeki64
 #else
 #if defined(_LARGEFILE64_SOURCE) && _LFS64_LARGEFILE-0
@@ -81,6 +81,8 @@ local void gz_reset(state)
         state->past = 0;            /* have not read past end yet */
         state->how = LOOK;          /* look for gzip header */
     }
+    else                            /* for writing ... */
+        state->reset = 0;           /* no deflateReset pending */
     state->seek = 0;                /* no seek request pending */
     gz_error(state, Z_OK, NULL);    /* clear error */
     state->x.pos = 0;               /* no uncompressed data yet */
@@ -397,7 +399,7 @@ z_off64_t ZEXPORT gzseek64(file, offset, whence)
     /* if within raw area while reading, just go there */
     if (state->mode == GZ_READ && state->how == COPY &&
             state->x.pos + offset >= 0) {
-        ret = LSEEK(state->fd, offset - state->x.have, SEEK_CUR);
+        ret = LSEEK(state->fd, offset - (z_off64_t)state->x.have, SEEK_CUR);
         if (ret == -1)
             return -1;
         state->x.have = 0;

3rdparty/zlib/gzread.c

@@ -1,5 +1,5 @@
 /* gzread.c -- zlib functions for reading gzip files
- * Copyright (C) 2004, 2005, 2010, 2011, 2012, 2013, 2016 Mark Adler
+ * Copyright (C) 2004-2017 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -314,9 +314,9 @@ local z_size_t gz_read(state, buf, len)
     got = 0;
     do {
         /* set n to the maximum amount of len that fits in an unsigned int */
-        n = -1;
+        n = (unsigned)-1;
         if (n > len)
-            n = (int)len;
+            n = (unsigned)len;
 
         /* first just try copying data from the output buffer */
         if (state->x.have) {
@@ -397,7 +397,7 @@ int ZEXPORT gzread(file, buf, len)
     }
 
     /* read len or fewer bytes to buf */
-    len = (int)gz_read(state, buf, len);
+    len = (unsigned)gz_read(state, buf, len);
 
     /* check for an error */
     if (len == 0 && state->err != Z_OK && state->err != Z_BUF_ERROR)
@@ -447,7 +447,6 @@ z_size_t ZEXPORT gzfread(buf, size, nitems, file)
 int ZEXPORT gzgetc(file)
     gzFile file;
 {
-    int ret;
     unsigned char buf[1];
     gz_statep state;
 
@@ -469,8 +468,7 @@ int ZEXPORT gzgetc(file)
     }
 
     /* nothing there -- try gz_read() */
-    ret = (int)gz_read(state, buf, 1);
-    return ret < 1 ? -1 : buf[0];
+    return gz_read(state, buf, 1) < 1 ? -1 : buf[0];
 }
 
 int ZEXPORT gzgetc_(file)

3rdparty/zlib/gzwrite.c

@@ -1,5 +1,5 @@
 /* gzwrite.c -- zlib functions for writing gzip files
- * Copyright (C) 2004-2017 Mark Adler
+ * Copyright (C) 2004-2019 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -97,6 +97,15 @@ local int gz_comp(state, flush)
         return 0;
     }
 
+    /* check for a pending reset */
+    if (state->reset) {
+        /* don't start a new gzip member unless there is data to write */
+        if (strm->avail_in == 0)
+            return 0;
+        deflateReset(strm);
+        state->reset = 0;
+    }
+
     /* run deflate() on provided input until it produces no more output */
     ret = Z_OK;
     do {
@@ -134,7 +143,7 @@ local int gz_comp(state, flush)
 
     /* if that completed a deflate stream, allow another to start */
     if (flush == Z_FINISH)
-        deflateReset(strm);
+        state->reset = 1;
 
     /* all done, no errors */
     return 0;
@@ -209,7 +218,7 @@ local z_size_t gz_write(state, buf, len)
                               state->in);
             copy = state->size - have;
             if (copy > len)
-                copy = (int)len;
+                copy = (unsigned)len;
             memcpy(state->in + have, buf, copy);
             state->strm.avail_in += copy;
             state->x.pos += copy;
@@ -229,7 +238,7 @@ local z_size_t gz_write(state, buf, len)
         do {
             unsigned n = (unsigned)-1;
             if (n > len)
-                n = (int)len;
+                n = (unsigned)len;
             state->strm.avail_in = n;
             state->x.pos += n;
             if (gz_comp(state, Z_NO_FLUSH) == -1)
@@ -349,12 +358,11 @@ int ZEXPORT gzputc(file, c)
 }
 
 /* -- see zlib.h -- */
-int ZEXPORT gzputs(file, str)
+int ZEXPORT gzputs(file, s)
     gzFile file;
-    const char *str;
+    const char *s;
 {
-    int ret;
-    z_size_t len;
+    z_size_t len, put;
     gz_statep state;
 
     /* get internal structure */
@@ -367,9 +375,13 @@ int ZEXPORT gzputs(file, str)
         return -1;
 
     /* write string */
-    len = strlen(str);
-    ret = (int)gz_write(state, str, len);
-    return ret == 0 && len != 0 ? -1 : ret;
+    len = strlen(s);
+    if ((int)len < 0 || (unsigned)len != len) {
+        gz_error(state, Z_STREAM_ERROR, "string length does not fit in int");
+        return -1;
+    }
+    put = gz_write(state, s, len);
+    return put < len ? -1 : (int)len;
 }
 
 #if defined(STDC) || defined(Z_HAVE_STDARG_H)
@@ -441,7 +453,7 @@ int ZEXPORTVA gzvprintf(gzFile file, const char *format, va_list va)
         strm->avail_in = state->size;
         if (gz_comp(state, Z_NO_FLUSH) == -1)
             return state->err;
-        memcpy(state->in, state->in + state->size, left);
+        memmove(state->in, state->in + state->size, left);
         strm->next_in = state->in;
         strm->avail_in = left;
     }
@@ -540,7 +552,7 @@ int ZEXPORTVA gzprintf (file, format, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10,
         strm->avail_in = state->size;
         if (gz_comp(state, Z_NO_FLUSH) == -1)
             return state->err;
-        memcpy(state->in, state->in + state->size, left);
+        memmove(state->in, state->in + state->size, left);
         strm->next_in = state->in;
         strm->avail_in = left;
     }

3rdparty/zlib/infback.c

@@ -1,5 +1,5 @@
 /* infback.c -- inflate using a call-back interface
- * Copyright (C) 1995-2016 Mark Adler
+ * Copyright (C) 1995-2022 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -477,6 +477,7 @@ void FAR *out_desc;
             }
             Tracev((stderr, "inflate:       codes ok\n"));
             state->mode = LEN;
+                /* fallthrough */
 
         case LEN:
             /* use inflate_fast() if we have enough input and output */

3rdparty/zlib/inffast.c

@@ -70,7 +70,7 @@ unsigned start;         /* inflate()'s starting value for strm->avail_out */
     code const FAR *dcode;      /* local strm->distcode */
     unsigned lmask;             /* mask for first level of length codes */
     unsigned dmask;             /* mask for first level of distance codes */
-    code here;                  /* retrieved table entry */
+    code const *here;           /* retrieved table entry */
     unsigned op;                /* code bits, operation, extra bits, or */
                                 /*  window position, window bytes to copy */
     unsigned len;               /* match length, unused bytes */
@@ -107,20 +107,20 @@ unsigned start;         /* inflate()'s starting value for strm->avail_out */
             hold += (unsigned long)(*in++) << bits;
             bits += 8;
         }
-        here = lcode[hold & lmask];
+        here = lcode + (hold & lmask);
       dolen:
-        op = (unsigned)(here.bits);
+        op = (unsigned)(here->bits);
         hold >>= op;
         bits -= op;
-        op = (unsigned)(here.op);
+        op = (unsigned)(here->op);
         if (op == 0) {                          /* literal */
-            Tracevv((stderr, here.val >= 0x20 && here.val < 0x7f ?
+            Tracevv((stderr, here->val >= 0x20 && here->val < 0x7f ?
                     "inflate:         literal '%c'\n" :
-                    "inflate:         literal 0x%02x\n", here.val));
-            *out++ = (unsigned char)(here.val);
+                    "inflate:         literal 0x%02x\n", here->val));
+            *out++ = (unsigned char)(here->val);
         }
         else if (op & 16) {                     /* length base */
-            len = (unsigned)(here.val);
+            len = (unsigned)(here->val);
             op &= 15;                           /* number of extra bits */
             if (op) {
                 if (bits < op) {
@@ -138,14 +138,14 @@ unsigned start;         /* inflate()'s starting value for strm->avail_out */
                 hold += (unsigned long)(*in++) << bits;
                 bits += 8;
             }
-            here = dcode[hold & dmask];
+            here = dcode + (hold & dmask);
           dodist:
-            op = (unsigned)(here.bits);
+            op = (unsigned)(here->bits);
             hold >>= op;
             bits -= op;
-            op = (unsigned)(here.op);
+            op = (unsigned)(here->op);
             if (op & 16) {                      /* distance base */
-                dist = (unsigned)(here.val);
+                dist = (unsigned)(here->val);
                 op &= 15;                       /* number of extra bits */
                 if (bits < op) {
                     hold += (unsigned long)(*in++) << bits;
@@ -264,7 +264,7 @@ unsigned start;         /* inflate()'s starting value for strm->avail_out */
                 }
             }
             else if ((op & 64) == 0) {          /* 2nd level distance code */
-                here = dcode[here.val + (hold & ((1U << op) - 1))];
+                here = dcode + here->val + (hold & ((1U << op) - 1));
                 goto dodist;
             }
             else {
@@ -274,7 +274,7 @@ unsigned start;         /* inflate()'s starting value for strm->avail_out */
             }
         }
         else if ((op & 64) == 0) {              /* 2nd level length code */
-            here = lcode[here.val + (hold & ((1U << op) - 1))];
+            here = lcode + here->val + (hold & ((1U << op) - 1));
             goto dolen;
         }
         else if (op & 32) {                     /* end-of-block */

3rdparty/zlib/inflate.c

@@ -1,5 +1,5 @@
 /* inflate.c -- zlib decompression
- * Copyright (C) 1995-2016 Mark Adler
+ * Copyright (C) 1995-2022 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -130,6 +130,7 @@ z_streamp strm;
     state->mode = HEAD;
     state->last = 0;
     state->havedict = 0;
+    state->flags = -1;
     state->dmax = 32768U;
     state->head = Z_NULL;
     state->hold = 0;
@@ -448,10 +449,10 @@ unsigned copy;
 
 /* check function to use adler32() for zlib or crc32() for gzip */
 #ifdef GUNZIP
-#  define UPDATE(check, buf, len) \
+#  define UPDATE_CHECK(check, buf, len) \
     (state->flags ? crc32(check, buf, len) : adler32(check, buf, len))
 #else
-#  define UPDATE(check, buf, len) adler32(check, buf, len)
+#  define UPDATE_CHECK(check, buf, len) adler32(check, buf, len)
 #endif
 
 /* check macros for header crc */
@@ -671,7 +672,6 @@ int flush;
                 state->mode = FLAGS;
                 break;
             }
-            state->flags = 0;           /* expect zlib header */
             if (state->head != Z_NULL)
                 state->head->done = -1;
             if (!(state->wrap & 1) ||   /* check if zlib header allowed */
@@ -698,6 +698,7 @@ int flush;
                 break;
             }
             state->dmax = 1U << len;
+            state->flags = 0;               /* indicate zlib header */
             Tracev((stderr, "inflate:   zlib header ok\n"));
             strm->adler = state->check = adler32(0L, Z_NULL, 0);
             state->mode = hold & 0x200 ? DICTID : TYPE;
@@ -723,6 +724,7 @@ int flush;
                 CRC2(state->check, hold);
             INITBITS();
             state->mode = TIME;
+                /* fallthrough */
         case TIME:
             NEEDBITS(32);
             if (state->head != Z_NULL)
@@ -731,6 +733,7 @@ int flush;
                 CRC4(state->check, hold);
             INITBITS();
             state->mode = OS;
+                /* fallthrough */
         case OS:
             NEEDBITS(16);
             if (state->head != Z_NULL) {
@@ -741,6 +744,7 @@ int flush;
                 CRC2(state->check, hold);
             INITBITS();
             state->mode = EXLEN;
+                /* fallthrough */
         case EXLEN:
             if (state->flags & 0x0400) {
                 NEEDBITS(16);
@@ -754,6 +758,7 @@ int flush;
             else if (state->head != Z_NULL)
                 state->head->extra = Z_NULL;
             state->mode = EXTRA;
+                /* fallthrough */
         case EXTRA:
             if (state->flags & 0x0400) {
                 copy = state->length;
@@ -776,6 +781,7 @@ int flush;
             }
             state->length = 0;
             state->mode = NAME;
+                /* fallthrough */
         case NAME:
             if (state->flags & 0x0800) {
                 if (have == 0) goto inf_leave;
@@ -797,6 +803,7 @@ int flush;
                 state->head->name = Z_NULL;
             state->length = 0;
             state->mode = COMMENT;
+                /* fallthrough */
         case COMMENT:
             if (state->flags & 0x1000) {
                 if (have == 0) goto inf_leave;
@@ -817,6 +824,7 @@ int flush;
             else if (state->head != Z_NULL)
                 state->head->comment = Z_NULL;
             state->mode = HCRC;
+                /* fallthrough */
         case HCRC:
             if (state->flags & 0x0200) {
                 NEEDBITS(16);
@@ -840,6 +848,7 @@ int flush;
             strm->adler = state->check = ZSWAP32(hold);
             INITBITS();
             state->mode = DICT;
+                /* fallthrough */
         case DICT:
             if (state->havedict == 0) {
                 RESTORE();
@@ -847,8 +856,10 @@ int flush;
             }
             strm->adler = state->check = adler32(0L, Z_NULL, 0);
             state->mode = TYPE;
+                /* fallthrough */
         case TYPE:
             if (flush == Z_BLOCK || flush == Z_TREES) goto inf_leave;
+                /* fallthrough */
         case TYPEDO:
             if (state->last) {
                 BYTEBITS();
@@ -899,8 +910,10 @@ int flush;
             INITBITS();
             state->mode = COPY_;
             if (flush == Z_TREES) goto inf_leave;
+                /* fallthrough */
         case COPY_:
             state->mode = COPY;
+                /* fallthrough */
         case COPY:
             copy = state->length;
             if (copy) {
@@ -936,6 +949,7 @@ int flush;
             Tracev((stderr, "inflate:       table sizes ok\n"));
             state->have = 0;
             state->mode = LENLENS;
+                /* fallthrough */
         case LENLENS:
             while (state->have < state->ncode) {
                 NEEDBITS(3);
@@ -957,6 +971,7 @@ int flush;
             Tracev((stderr, "inflate:       code lengths ok\n"));
             state->have = 0;
             state->mode = CODELENS;
+                /* fallthrough */
         case CODELENS:
             while (state->have < state->nlen + state->ndist) {
                 for (;;) {
@@ -1040,8 +1055,10 @@ int flush;
             Tracev((stderr, "inflate:       codes ok\n"));
             state->mode = LEN_;
             if (flush == Z_TREES) goto inf_leave;
+                /* fallthrough */
         case LEN_:
             state->mode = LEN;
+                /* fallthrough */
         case LEN:
             if (have >= 6 && left >= 258) {
                 RESTORE();
@@ -1091,6 +1108,7 @@ int flush;
             }
             state->extra = (unsigned)(here.op) & 15;
             state->mode = LENEXT;
+                /* fallthrough */
         case LENEXT:
             if (state->extra) {
                 NEEDBITS(state->extra);
@@ -1101,6 +1119,7 @@ int flush;
             Tracevv((stderr, "inflate:         length %u\n", state->length));
             state->was = state->length;
             state->mode = DIST;
+                /* fallthrough */
         case DIST:
             for (;;) {
                 here = state->distcode[BITS(state->distbits)];
@@ -1128,6 +1147,7 @@ int flush;
             state->offset = (unsigned)here.val;
             state->extra = (unsigned)(here.op) & 15;
             state->mode = DISTEXT;
+                /* fallthrough */
         case DISTEXT:
             if (state->extra) {
                 NEEDBITS(state->extra);
@@ -1144,6 +1164,7 @@ int flush;
 #endif
             Tracevv((stderr, "inflate:         distance %u\n", state->offset));
             state->mode = MATCH;
+                /* fallthrough */
         case MATCH:
             if (left == 0) goto inf_leave;
             copy = out - left;
@@ -1203,7 +1224,7 @@ int flush;
                 state->total += out;
                 if ((state->wrap & 4) && out)
                     strm->adler = state->check =
-                        UPDATE(state->check, put - out, out);
+                        UPDATE_CHECK(state->check, put - out, out);
                 out = left;
                 if ((state->wrap & 4) && (
 #ifdef GUNZIP
@@ -1219,10 +1240,11 @@ int flush;
             }
 #ifdef GUNZIP
             state->mode = LENGTH;
+                /* fallthrough */
         case LENGTH:
             if (state->wrap && state->flags) {
                 NEEDBITS(32);
-                if (hold != (state->total & 0xffffffffUL)) {
+                if ((state->wrap & 4) && hold != (state->total & 0xffffffff)) {
                     strm->msg = (char *)"incorrect length check";
                     state->mode = BAD;
                     break;
@@ -1232,6 +1254,7 @@ int flush;
             }
 #endif
             state->mode = DONE;
+                /* fallthrough */
         case DONE:
             ret = Z_STREAM_END;
             goto inf_leave;
@@ -1241,6 +1264,7 @@ int flush;
         case MEM:
             return Z_MEM_ERROR;
         case SYNC:
+                /* fallthrough */
         default:
             return Z_STREAM_ERROR;
         }
@@ -1266,7 +1290,7 @@ int flush;
     state->total += out;
     if ((state->wrap & 4) && out)
         strm->adler = state->check =
-            UPDATE(state->check, strm->next_out - out, out);
+            UPDATE_CHECK(state->check, strm->next_out - out, out);
     strm->data_type = (int)state->bits + (state->last ? 64 : 0) +
                       (state->mode == TYPE ? 128 : 0) +
                       (state->mode == LEN_ || state->mode == COPY_ ? 256 : 0);
@@ -1402,6 +1426,7 @@ int ZEXPORT inflateSync(strm)
 z_streamp strm;
 {
     unsigned len;               /* number of bytes to look at or looked at */
+    int flags;                  /* temporary to save header status */
     unsigned long in, out;      /* temporary to save total_in and total_out */
     unsigned char buf[4];       /* to restore bit buffer to byte string */
     struct inflate_state FAR *state;
@@ -1434,9 +1459,15 @@ z_streamp strm;
 
     /* return no joy or set up to restart inflate() on a new block */
     if (state->have != 4) return Z_DATA_ERROR;
+    if (state->flags == -1)
+        state->wrap = 0;    /* if no header yet, treat as raw */
+    else
+        state->wrap &= ~4;  /* no point in computing a check value now */
+    flags = state->flags;
     in = strm->total_in;  out = strm->total_out;
     inflateReset(strm);
     strm->total_in = in;  strm->total_out = out;
+    state->flags = flags;
     state->mode = TYPE;
     return Z_OK;
 }
@@ -1532,7 +1563,7 @@ int check;
 
     if (inflateStateCheck(strm)) return Z_STREAM_ERROR;
     state = (struct inflate_state FAR *)strm->state;
-    if (check)
+    if (check && state->wrap)
         state->wrap |= 4;
     else
         state->wrap &= ~4;

3rdparty/zlib/inflate.h

@@ -1,5 +1,5 @@
 /* inflate.h -- internal inflate state definition
- * Copyright (C) 1995-2016 Mark Adler
+ * Copyright (C) 1995-2019 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -86,7 +86,8 @@ struct inflate_state {
     int wrap;                   /* bit 0 true for zlib, bit 1 true for gzip,
                                    bit 2 true to validate check value */
     int havedict;               /* true if dictionary provided */
-    int flags;                  /* gzip header method and flags (0 if zlib) */
+    int flags;                  /* gzip header method and flags, 0 if zlib, or
+                                   -1 if raw or no header yet */
     unsigned dmax;              /* zlib header max distance (INFLATE_STRICT) */
     unsigned long check;        /* protected copy of check value */
     unsigned long total;        /* protected copy of output count */

3rdparty/zlib/inftrees.c

@@ -1,5 +1,5 @@
 /* inftrees.c -- generate Huffman trees for efficient decoding
- * Copyright (C) 1995-2017 Mark Adler
+ * Copyright (C) 1995-2022 Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -9,7 +9,7 @@
 #define MAXBITS 15
 
 const char inflate_copyright[] =
-   " inflate 1.2.11 Copyright 1995-2017 Mark Adler ";
+   " inflate 1.2.12 Copyright 1995-2022 Mark Adler ";
 /*
   If you use the zlib library in a product, an acknowledgment is welcome
   in the documentation of your product. If for some reason you cannot
@@ -62,7 +62,7 @@ unsigned short FAR *work;
         35, 43, 51, 59, 67, 83, 99, 115, 131, 163, 195, 227, 258, 0, 0};
     static const unsigned short lext[31] = { /* Length codes 257..285 extra */
         16, 16, 16, 16, 16, 16, 16, 16, 17, 17, 17, 17, 18, 18, 18, 18,
-        19, 19, 19, 19, 20, 20, 20, 20, 21, 21, 21, 21, 16, 77, 202};
+        19, 19, 19, 19, 20, 20, 20, 20, 21, 21, 21, 21, 16, 199, 202};
     static const unsigned short dbase[32] = { /* Distance codes 0..29 base */
         1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193,
         257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097, 6145,

3rdparty/zlib/trees.c

@@ -1,5 +1,5 @@
 /* trees.c -- output deflated data using Huffman coding
- * Copyright (C) 1995-2017 Jean-loup Gailly
+ * Copyright (C) 1995-2021 Jean-loup Gailly
  * detect_data_type() function provided freely by Cosmin Truta, 2006
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
@@ -149,7 +149,7 @@ local void send_all_trees OF((deflate_state *s, int lcodes, int dcodes,
 local void compress_block OF((deflate_state *s, const ct_data *ltree,
                               const ct_data *dtree));
 local int  detect_data_type OF((deflate_state *s));
-local unsigned bi_reverse OF((unsigned value, int length));
+local unsigned bi_reverse OF((unsigned code, int len));
 local void bi_windup      OF((deflate_state *s));
 local void bi_flush       OF((deflate_state *s));
 
@@ -416,7 +416,7 @@ local void init_block(s)
 
     s->dyn_ltree[END_BLOCK].Freq = 1;
     s->opt_len = s->static_len = 0L;
-    s->last_lit = s->matches = 0;
+    s->sym_next = s->matches = 0;
 }
 
 #define SMALLEST 1
@@ -870,7 +870,8 @@ void ZLIB_INTERNAL _tr_stored_block(s, buf, stored_len, last)
     bi_windup(s);        /* align on byte boundary */
     put_short(s, (ush)stored_len);
     put_short(s, (ush)~stored_len);
-    zmemcpy(s->pending_buf + s->pending, (Bytef *)buf, stored_len);
+    if (stored_len)
+        zmemcpy(s->pending_buf + s->pending, (Bytef *)buf, stored_len);
     s->pending += stored_len;
 #ifdef ZLIB_DEBUG
     s->compressed_len = (s->compressed_len + 3 + 7) & (ulg)~7L;
@@ -947,7 +948,7 @@ void ZLIB_INTERNAL _tr_flush_block(s, buf, stored_len, last)
 
         Tracev((stderr, "\nopt %lu(%lu) stat %lu(%lu) stored %lu lit %u ",
                 opt_lenb, s->opt_len, static_lenb, s->static_len, stored_len,
-                s->last_lit));
+                s->sym_next / 3));
 
         if (static_lenb <= opt_lenb) opt_lenb = static_lenb;
 
@@ -1016,8 +1017,9 @@ int ZLIB_INTERNAL _tr_tally (s, dist, lc)
     unsigned dist;  /* distance of matched string */
     unsigned lc;    /* match length-MIN_MATCH or unmatched char (if dist==0) */
 {
-    s->d_buf[s->last_lit] = (ush)dist;
-    s->l_buf[s->last_lit++] = (uch)lc;
+    s->sym_buf[s->sym_next++] = dist;
+    s->sym_buf[s->sym_next++] = dist >> 8;
+    s->sym_buf[s->sym_next++] = lc;
     if (dist == 0) {
         /* lc is the unmatched char */
         s->dyn_ltree[lc].Freq++;
@@ -1032,30 +1034,7 @@ int ZLIB_INTERNAL _tr_tally (s, dist, lc)
         s->dyn_ltree[_length_code[lc]+LITERALS+1].Freq++;
         s->dyn_dtree[d_code(dist)].Freq++;
     }
-
-#ifdef TRUNCATE_BLOCK
-    /* Try to guess if it is profitable to stop the current block here */
-    if ((s->last_lit & 0x1fff) == 0 && s->level > 2) {
-        /* Compute an upper bound for the compressed length */
-        ulg out_length = (ulg)s->last_lit*8L;
-        ulg in_length = (ulg)((long)s->strstart - s->block_start);
-        int dcode;
-        for (dcode = 0; dcode < D_CODES; dcode++) {
-            out_length += (ulg)s->dyn_dtree[dcode].Freq *
-                (5L+extra_dbits[dcode]);
-        }
-        out_length >>= 3;
-        Tracev((stderr,"\nlast_lit %u, in %ld, out ~%ld(%ld%%) ",
-               s->last_lit, in_length, out_length,
-               100L - out_length*100L/in_length));
-        if (s->matches < s->last_lit/2 && out_length < in_length/2) return 1;
-    }
-#endif
-    return (s->last_lit == s->lit_bufsize-1);
-    /* We avoid equality with lit_bufsize because of wraparound at 64K
-     * on 16 bit machines and because stored blocks are restricted to
-     * 64K-1 bytes.
-     */
+    return (s->sym_next == s->sym_end);
 }
 
 /* ===========================================================================
@@ -1068,13 +1047,14 @@ local void compress_block(s, ltree, dtree)
 {
     unsigned dist;      /* distance of matched string */
     int lc;             /* match length or unmatched char (if dist == 0) */
-    unsigned lx = 0;    /* running index in l_buf */
+    unsigned sx = 0;    /* running index in sym_buf */
     unsigned code;      /* the code to send */
     int extra;          /* number of extra bits to send */
 
-    if (s->last_lit != 0) do {
-        dist = s->d_buf[lx];
-        lc = s->l_buf[lx++];
+    if (s->sym_next != 0) do {
+        dist = s->sym_buf[sx++] & 0xff;
+        dist += (unsigned)(s->sym_buf[sx++] & 0xff) << 8;
+        lc = s->sym_buf[sx++];
         if (dist == 0) {
             send_code(s, lc, ltree); /* send a literal byte */
             Tracecv(isgraph(lc), (stderr," '%c' ", lc));
@@ -1099,11 +1079,10 @@ local void compress_block(s, ltree, dtree)
             }
         } /* literal or match pair ? */
 
-        /* Check that the overlay between pending_buf and d_buf+l_buf is ok: */
-        Assert((uInt)(s->pending) < s->lit_bufsize + 2*lx,
-               "pendingBuf overflow");
+        /* Check that the overlay between pending_buf and sym_buf is ok: */
+        Assert(s->pending < s->lit_bufsize + sx, "pendingBuf overflow");
 
-    } while (lx < s->last_lit);
+    } while (sx < s->sym_next);
 
     send_code(s, END_BLOCK, ltree);
 }
@@ -1112,9 +1091,9 @@ local void compress_block(s, ltree, dtree)
  * Check if the data type is TEXT or BINARY, using the following algorithm:
  * - TEXT if the two conditions below are satisfied:
  *    a) There are no non-portable control characters belonging to the
- *       "black list" (0..6, 14..25, 28..31).
+ *       "block list" (0..6, 14..25, 28..31).
  *    b) There is at least one printable character belonging to the
- *       "white list" (9 {TAB}, 10 {LF}, 13 {CR}, 32..255).
+ *       "allow list" (9 {TAB}, 10 {LF}, 13 {CR}, 32..255).
  * - BINARY otherwise.
  * - The following partially-portable control characters form a
  *   "gray list" that is ignored in this detection algorithm:
@@ -1124,19 +1103,19 @@ local void compress_block(s, ltree, dtree)
 local int detect_data_type(s)
     deflate_state *s;
 {
-    /* black_mask is the bit mask of black-listed bytes
+    /* block_mask is the bit mask of block-listed bytes
      * set bits 0..6, 14..25, and 28..31
      * 0xf3ffc07f = binary 11110011111111111100000001111111
      */
-    unsigned long black_mask = 0xf3ffc07fUL;
+    unsigned long block_mask = 0xf3ffc07fUL;
     int n;
 
-    /* Check for non-textual ("black-listed") bytes. */
-    for (n = 0; n <= 31; n++, black_mask >>= 1)
-        if ((black_mask & 1) && (s->dyn_ltree[n].Freq != 0))
+    /* Check for non-textual ("block-listed") bytes. */
+    for (n = 0; n <= 31; n++, block_mask >>= 1)
+        if ((block_mask & 1) && (s->dyn_ltree[n].Freq != 0))
             return Z_BINARY;
 
-    /* Check for textual ("white-listed") bytes. */
+    /* Check for textual ("allow-listed") bytes. */
     if (s->dyn_ltree[9].Freq != 0 || s->dyn_ltree[10].Freq != 0
             || s->dyn_ltree[13].Freq != 0)
         return Z_TEXT;
@@ -1144,7 +1123,7 @@ local int detect_data_type(s)
         if (s->dyn_ltree[n].Freq != 0)
             return Z_TEXT;
 
-    /* There are no "black-listed" or "white-listed" bytes:
+    /* There are no "block-listed" or "allow-listed" bytes:
      * this stream either is empty or has tolerated ("gray-listed") bytes only.
      */
     return Z_BINARY;

3rdparty/zlib/zlib.h

@@ -1,7 +1,7 @@
 /* zlib.h -- interface of the 'zlib' general purpose compression library
-  version 1.2.11, January 15th, 2017
+  version 1.2.12, March 11th, 2022
 
-  Copyright (C) 1995-2017 Jean-loup Gailly and Mark Adler
+  Copyright (C) 1995-2022 Jean-loup Gailly and Mark Adler
 
   This software is provided 'as-is', without any express or implied
   warranty.  In no event will the authors be held liable for any damages
@@ -37,11 +37,11 @@
 extern "C" {
 #endif
 
-#define ZLIB_VERSION "1.2.11"
-#define ZLIB_VERNUM 0x12b0
+#define ZLIB_VERSION "1.2.12"
+#define ZLIB_VERNUM 0x12c0
 #define ZLIB_VER_MAJOR 1
 #define ZLIB_VER_MINOR 2
-#define ZLIB_VER_REVISION 11
+#define ZLIB_VER_REVISION 12
 #define ZLIB_VER_SUBREVISION 0
 
 /*
@@ -543,8 +543,7 @@ ZEXTERN int ZEXPORT deflateInit2 OF((z_streamp strm,
                                      int  strategy));
 
      This is another version of deflateInit with more compression options.  The
-   fields next_in, zalloc, zfree and opaque must be initialized before by the
-   caller.
+   fields zalloc, zfree and opaque must be initialized before by the caller.
 
      The method parameter is the compression method.  It must be Z_DEFLATED in
    this version of the library.
@@ -712,11 +711,12 @@ ZEXTERN int ZEXPORT deflateParams OF((z_streamp strm,
    used to switch between compression and straight copy of the input data, or
    to switch to a different kind of input data requiring a different strategy.
    If the compression approach (which is a function of the level) or the
-   strategy is changed, and if any input has been consumed in a previous
-   deflate() call, then the input available so far is compressed with the old
-   level and strategy using deflate(strm, Z_BLOCK).  There are three approaches
-   for the compression levels 0, 1..3, and 4..9 respectively.  The new level
-   and strategy will take effect at the next call of deflate().
+   strategy is changed, and if there have been any deflate() calls since the
+   state was initialized or reset, then the input available so far is
+   compressed with the old level and strategy using deflate(strm, Z_BLOCK).
+   There are three approaches for the compression levels 0, 1..3, and 4..9
+   respectively.  The new level and strategy will take effect at the next call
+   of deflate().
 
      If a deflate(strm, Z_BLOCK) is performed by deflateParams(), and it does
    not have enough output space to complete, then the parameter change will not
@@ -865,9 +865,11 @@ ZEXTERN int ZEXPORT inflateInit2 OF((z_streamp strm,
    detection, or add 16 to decode only the gzip format (the zlib format will
    return a Z_DATA_ERROR).  If a gzip stream is being decoded, strm->adler is a
    CRC-32 instead of an Adler-32.  Unlike the gunzip utility and gzread() (see
-   below), inflate() will not automatically decode concatenated gzip streams.
-   inflate() will return Z_STREAM_END at the end of the gzip stream.  The state
-   would need to be reset to continue decoding a subsequent gzip stream.
+   below), inflate() will *not* automatically decode concatenated gzip members.
+   inflate() will return Z_STREAM_END at the end of the gzip member.  The state
+   would need to be reset to continue decoding a subsequent gzip member.  This
+   *must* be done if there is more data after a gzip member, in order for the
+   decompression to be compliant with the gzip standard (RFC 1952).
 
      inflateInit2 returns Z_OK if success, Z_MEM_ERROR if there was not enough
    memory, Z_VERSION_ERROR if the zlib library version is incompatible with the
@@ -1302,14 +1304,14 @@ typedef struct gzFile_s *gzFile;    /* semi-opaque gzip file descriptor */
 /*
 ZEXTERN gzFile ZEXPORT gzopen OF((const char *path, const char *mode));
 
-     Opens a gzip (.gz) file for reading or writing.  The mode parameter is as
-   in fopen ("rb" or "wb") but can also include a compression level ("wb9") or
-   a strategy: 'f' for filtered data as in "wb6f", 'h' for Huffman-only
-   compression as in "wb1h", 'R' for run-length encoding as in "wb1R", or 'F'
-   for fixed code compression as in "wb9F".  (See the description of
-   deflateInit2 for more information about the strategy parameter.)  'T' will
-   request transparent writing or appending with no compression and not using
-   the gzip format.
+     Open the gzip (.gz) file at path for reading and decompressing, or
+   compressing and writing.  The mode parameter is as in fopen ("rb" or "wb")
+   but can also include a compression level ("wb9") or a strategy: 'f' for
+   filtered data as in "wb6f", 'h' for Huffman-only compression as in "wb1h",
+   'R' for run-length encoding as in "wb1R", or 'F' for fixed code compression
+   as in "wb9F".  (See the description of deflateInit2 for more information
+   about the strategy parameter.)  'T' will request transparent writing or
+   appending with no compression and not using the gzip format.
 
      "a" can be used instead of "w" to request that the gzip stream that will
    be written be appended to the file.  "+" will result in an error, since
@@ -1339,9 +1341,9 @@ ZEXTERN gzFile ZEXPORT gzopen OF((const char *path, const char *mode));
 
 ZEXTERN gzFile ZEXPORT gzdopen OF((int fd, const char *mode));
 /*
-     gzdopen associates a gzFile with the file descriptor fd.  File descriptors
-   are obtained from calls like open, dup, creat, pipe or fileno (if the file
-   has been previously opened with fopen).  The mode parameter is as in gzopen.
+     Associate a gzFile with the file descriptor fd.  File descriptors are
+   obtained from calls like open, dup, creat, pipe or fileno (if the file has
+   been previously opened with fopen).  The mode parameter is as in gzopen.
 
      The next call of gzclose on the returned gzFile will also close the file
    descriptor fd, just like fclose(fdopen(fd, mode)) closes the file descriptor
@@ -1362,13 +1364,13 @@ ZEXTERN gzFile ZEXPORT gzdopen OF((int fd, const char *mode));
 
 ZEXTERN int ZEXPORT gzbuffer OF((gzFile file, unsigned size));
 /*
-     Set the internal buffer size used by this library's functions.  The
-   default buffer size is 8192 bytes.  This function must be called after
-   gzopen() or gzdopen(), and before any other calls that read or write the
-   file.  The buffer memory allocation is always deferred to the first read or
-   write.  Three times that size in buffer space is allocated.  A larger buffer
-   size of, for example, 64K or 128K bytes will noticeably increase the speed
-   of decompression (reading).
+     Set the internal buffer size used by this library's functions for file to
+   size.  The default buffer size is 8192 bytes.  This function must be called
+   after gzopen() or gzdopen(), and before any other calls that read or write
+   the file.  The buffer memory allocation is always deferred to the first read
+   or write.  Three times that size in buffer space is allocated.  A larger
+   buffer size of, for example, 64K or 128K bytes will noticeably increase the
+   speed of decompression (reading).
 
      The new buffer size also affects the maximum length for gzprintf().
 
@@ -1378,9 +1380,9 @@ ZEXTERN int ZEXPORT gzbuffer OF((gzFile file, unsigned size));
 
 ZEXTERN int ZEXPORT gzsetparams OF((gzFile file, int level, int strategy));
 /*
-     Dynamically update the compression level or strategy.  See the description
-   of deflateInit2 for the meaning of these parameters.  Previously provided
-   data is flushed before the parameter change.
+     Dynamically update the compression level and strategy for file.  See the
+   description of deflateInit2 for the meaning of these parameters. Previously
+   provided data is flushed before applying the parameter changes.
 
      gzsetparams returns Z_OK if success, Z_STREAM_ERROR if the file was not
    opened for writing, Z_ERRNO if there is an error writing the flushed data,
@@ -1389,7 +1391,7 @@ ZEXTERN int ZEXPORT gzsetparams OF((gzFile file, int level, int strategy));
 
 ZEXTERN int ZEXPORT gzread OF((gzFile file, voidp buf, unsigned len));
 /*
-     Reads the given number of uncompressed bytes from the compressed file.  If
+     Read and decompress up to len uncompressed bytes from file into buf.  If
    the input file is not in gzip format, gzread copies the given number of
    bytes into the buffer directly from the file.
 
@@ -1420,11 +1422,11 @@ ZEXTERN int ZEXPORT gzread OF((gzFile file, voidp buf, unsigned len));
 ZEXTERN z_size_t ZEXPORT gzfread OF((voidp buf, z_size_t size, z_size_t nitems,
                                      gzFile file));
 /*
-     Read up to nitems items of size size from file to buf, otherwise operating
-   as gzread() does.  This duplicates the interface of stdio's fread(), with
-   size_t request and return types.  If the library defines size_t, then
-   z_size_t is identical to size_t.  If not, then z_size_t is an unsigned
-   integer type that can contain a pointer.
+     Read and decompress up to nitems items of size size from file into buf,
+   otherwise operating as gzread() does.  This duplicates the interface of
+   stdio's fread(), with size_t request and return types.  If the library
+   defines size_t, then z_size_t is identical to size_t.  If not, then z_size_t
+   is an unsigned integer type that can contain a pointer.
 
      gzfread() returns the number of full items read of size size, or zero if
    the end of the file was reached and a full item could not be read, or if
@@ -1443,18 +1445,16 @@ ZEXTERN z_size_t ZEXPORT gzfread OF((voidp buf, z_size_t size, z_size_t nitems,
    file, reseting and retrying on end-of-file, when size is not 1.
 */
 
-ZEXTERN int ZEXPORT gzwrite OF((gzFile file,
-                                voidpc buf, unsigned len));
+ZEXTERN int ZEXPORT gzwrite OF((gzFile file, voidpc buf, unsigned len));
 /*
-     Writes the given number of uncompressed bytes into the compressed file.
-   gzwrite returns the number of uncompressed bytes written or 0 in case of
-   error.
+     Compress and write the len uncompressed bytes at buf to file. gzwrite
+   returns the number of uncompressed bytes written or 0 in case of error.
 */
 
 ZEXTERN z_size_t ZEXPORT gzfwrite OF((voidpc buf, z_size_t size,
                                       z_size_t nitems, gzFile file));
 /*
-     gzfwrite() writes nitems items of size size from buf to file, duplicating
+     Compress and write nitems items of size size from buf to file, duplicating
    the interface of stdio's fwrite(), with size_t request and return types.  If
    the library defines size_t, then z_size_t is identical to size_t.  If not,
    then z_size_t is an unsigned integer type that can contain a pointer.
@@ -1467,22 +1467,22 @@ ZEXTERN z_size_t ZEXPORT gzfwrite OF((voidpc buf, z_size_t size,
 
 ZEXTERN int ZEXPORTVA gzprintf Z_ARG((gzFile file, const char *format, ...));
 /*
-     Converts, formats, and writes the arguments to the compressed file under
-   control of the format string, as in fprintf.  gzprintf returns the number of
+     Convert, format, compress, and write the arguments (...) to file under
+   control of the string format, as in fprintf.  gzprintf returns the number of
    uncompressed bytes actually written, or a negative zlib error code in case
    of error.  The number of uncompressed bytes written is limited to 8191, or
    one less than the buffer size given to gzbuffer().  The caller should assure
    that this limit is not exceeded.  If it is exceeded, then gzprintf() will
    return an error (0) with nothing written.  In this case, there may also be a
    buffer overflow with unpredictable consequences, which is possible only if
-   zlib was compiled with the insecure functions sprintf() or vsprintf()
+   zlib was compiled with the insecure functions sprintf() or vsprintf(),
    because the secure snprintf() or vsnprintf() functions were not available.
    This can be determined using zlibCompileFlags().
 */
 
 ZEXTERN int ZEXPORT gzputs OF((gzFile file, const char *s));
 /*
-     Writes the given null-terminated string to the compressed file, excluding
+     Compress and write the given null-terminated string s to file, excluding
    the terminating null character.
 
      gzputs returns the number of characters written, or -1 in case of error.
@@ -1490,11 +1490,12 @@ ZEXTERN int ZEXPORT gzputs OF((gzFile file, const char *s));
 
 ZEXTERN char * ZEXPORT gzgets OF((gzFile file, char *buf, int len));
 /*
-     Reads bytes from the compressed file until len-1 characters are read, or a
-   newline character is read and transferred to buf, or an end-of-file
-   condition is encountered.  If any characters are read or if len == 1, the
-   string is terminated with a null character.  If no characters are read due
-   to an end-of-file or len < 1, then the buffer is left untouched.
+     Read and decompress bytes from file into buf, until len-1 characters are
+   read, or until a newline character is read and transferred to buf, or an
+   end-of-file condition is encountered.  If any characters are read or if len
+   is one, the string is terminated with a null character.  If no characters
+   are read due to an end-of-file or len is less than one, then the buffer is
+   left untouched.
 
      gzgets returns buf which is a null-terminated string, or it returns NULL
    for end-of-file or in case of error.  If there was an error, the contents at
@@ -1503,13 +1504,13 @@ ZEXTERN char * ZEXPORT gzgets OF((gzFile file, char *buf, int len));
 
 ZEXTERN int ZEXPORT gzputc OF((gzFile file, int c));
 /*
-     Writes c, converted to an unsigned char, into the compressed file.  gzputc
+     Compress and write c, converted to an unsigned char, into file.  gzputc
    returns the value that was written, or -1 in case of error.
 */
 
 ZEXTERN int ZEXPORT gzgetc OF((gzFile file));
 /*
-     Reads one byte from the compressed file.  gzgetc returns this byte or -1
+     Read and decompress one byte from file.  gzgetc returns this byte or -1
    in case of end of file or error.  This is implemented as a macro for speed.
    As such, it does not do all of the checking the other functions do.  I.e.
    it does not check to see if file is NULL, nor whether the structure file
@@ -1518,8 +1519,8 @@ ZEXTERN int ZEXPORT gzgetc OF((gzFile file));
 
 ZEXTERN int ZEXPORT gzungetc OF((int c, gzFile file));
 /*
-     Push one character back onto the stream to be read as the first character
-   on the next read.  At least one character of push-back is allowed.
+     Push c back onto the stream for file to be read as the first character on
+   the next read.  At least one character of push-back is always allowed.
    gzungetc() returns the character pushed, or -1 on failure.  gzungetc() will
    fail if c is -1, and may fail if a character has been pushed but not read
    yet.  If gzungetc is used immediately after gzopen or gzdopen, at least the
@@ -1530,9 +1531,9 @@ ZEXTERN int ZEXPORT gzungetc OF((int c, gzFile file));
 
 ZEXTERN int ZEXPORT gzflush OF((gzFile file, int flush));
 /*
-     Flushes all pending output into the compressed file.  The parameter flush
-   is as in the deflate() function.  The return value is the zlib error number
-   (see function gzerror below).  gzflush is only permitted when writing.
+     Flush all pending output to file.  The parameter flush is as in the
+   deflate() function.  The return value is the zlib error number (see function
+   gzerror below).  gzflush is only permitted when writing.
 
      If the flush parameter is Z_FINISH, the remaining data is written and the
    gzip stream is completed in the output.  If gzwrite() is called again, a new
@@ -1547,8 +1548,8 @@ ZEXTERN int ZEXPORT gzflush OF((gzFile file, int flush));
 ZEXTERN z_off_t ZEXPORT gzseek OF((gzFile file,
                                    z_off_t offset, int whence));
 
-     Sets the starting position for the next gzread or gzwrite on the given
-   compressed file.  The offset represents a number of bytes in the
+     Set the starting position to offset relative to whence for the next gzread
+   or gzwrite on file.  The offset represents a number of bytes in the
    uncompressed data stream.  The whence parameter is defined as in lseek(2);
    the value SEEK_END is not supported.
 
@@ -1565,18 +1566,18 @@ ZEXTERN z_off_t ZEXPORT gzseek OF((gzFile file,
 
 ZEXTERN int ZEXPORT    gzrewind OF((gzFile file));
 /*
-     Rewinds the given file. This function is supported only for reading.
+     Rewind file. This function is supported only for reading.
 
-     gzrewind(file) is equivalent to (int)gzseek(file, 0L, SEEK_SET)
+     gzrewind(file) is equivalent to (int)gzseek(file, 0L, SEEK_SET).
 */
 
 /*
 ZEXTERN z_off_t ZEXPORT    gztell OF((gzFile file));
 
-     Returns the starting position for the next gzread or gzwrite on the given
-   compressed file.  This position represents a number of bytes in the
-   uncompressed data stream, and is zero when starting, even if appending or
-   reading a gzip stream from the middle of a file using gzdopen().
+     Return the starting position for the next gzread or gzwrite on file.
+   This position represents a number of bytes in the uncompressed data stream,
+   and is zero when starting, even if appending or reading a gzip stream from
+   the middle of a file using gzdopen().
 
      gztell(file) is equivalent to gzseek(file, 0L, SEEK_CUR)
 */
@@ -1584,22 +1585,22 @@ ZEXTERN z_off_t ZEXPORT    gztell OF((gzFile file));
 /*
 ZEXTERN z_off_t ZEXPORT gzoffset OF((gzFile file));
 
-     Returns the current offset in the file being read or written.  This offset
-   includes the count of bytes that precede the gzip stream, for example when
-   appending or when using gzdopen() for reading.  When reading, the offset
-   does not include as yet unused buffered input.  This information can be used
-   for a progress indicator.  On error, gzoffset() returns -1.
+     Return the current compressed (actual) read or write offset of file.  This
+   offset includes the count of bytes that precede the gzip stream, for example
+   when appending or when using gzdopen() for reading.  When reading, the
+   offset does not include as yet unused buffered input.  This information can
+   be used for a progress indicator.  On error, gzoffset() returns -1.
 */
 
 ZEXTERN int ZEXPORT gzeof OF((gzFile file));
 /*
-     Returns true (1) if the end-of-file indicator has been set while reading,
-   false (0) otherwise.  Note that the end-of-file indicator is set only if the
-   read tried to go past the end of the input, but came up short.  Therefore,
-   just like feof(), gzeof() may return false even if there is no more data to
-   read, in the event that the last read request was for the exact number of
-   bytes remaining in the input file.  This will happen if the input file size
-   is an exact multiple of the buffer size.
+     Return true (1) if the end-of-file indicator for file has been set while
+   reading, false (0) otherwise.  Note that the end-of-file indicator is set
+   only if the read tried to go past the end of the input, but came up short.
+   Therefore, just like feof(), gzeof() may return false even if there is no
+   more data to read, in the event that the last read request was for the exact
+   number of bytes remaining in the input file.  This will happen if the input
+   file size is an exact multiple of the buffer size.
 
      If gzeof() returns true, then the read functions will return no more data,
    unless the end-of-file indicator is reset by gzclearerr() and the input file
@@ -1608,7 +1609,7 @@ ZEXTERN int ZEXPORT gzeof OF((gzFile file));
 
 ZEXTERN int ZEXPORT gzdirect OF((gzFile file));
 /*
-     Returns true (1) if file is being copied directly while reading, or false
+     Return true (1) if file is being copied directly while reading, or false
    (0) if file is a gzip stream being decompressed.
 
      If the input file is empty, gzdirect() will return true, since the input
@@ -1629,8 +1630,8 @@ ZEXTERN int ZEXPORT gzdirect OF((gzFile file));
 
 ZEXTERN int ZEXPORT    gzclose OF((gzFile file));
 /*
-     Flushes all pending output if necessary, closes the compressed file and
-   deallocates the (de)compression state.  Note that once file is closed, you
+     Flush all pending output for file, if necessary, close file and
+   deallocate the (de)compression state.  Note that once file is closed, you
    cannot call gzerror with file, since its structures have been deallocated.
    gzclose must not be called more than once on the same file, just as free
    must not be called more than once on the same allocation.
@@ -1654,10 +1655,10 @@ ZEXTERN int ZEXPORT gzclose_w OF((gzFile file));
 
 ZEXTERN const char * ZEXPORT gzerror OF((gzFile file, int *errnum));
 /*
-     Returns the error message for the last error which occurred on the given
-   compressed file.  errnum is set to zlib error number.  If an error occurred
-   in the file system and not in the compression library, errnum is set to
-   Z_ERRNO and the application may consult errno to get the exact error code.
+     Return the error message for the last error which occurred on file.
+   errnum is set to zlib error number.  If an error occurred in the file system
+   and not in the compression library, errnum is set to Z_ERRNO and the
+   application may consult errno to get the exact error code.
 
      The application must not modify the returned string.  Future calls to
    this function may invalidate the previously returned string.  If file is
@@ -1670,7 +1671,7 @@ ZEXTERN const char * ZEXPORT gzerror OF((gzFile file, int *errnum));
 
 ZEXTERN void ZEXPORT gzclearerr OF((gzFile file));
 /*
-     Clears the error and end-of-file flags for file.  This is analogous to the
+     Clear the error and end-of-file flags for file.  This is analogous to the
    clearerr() function in stdio.  This is useful for continuing to read a gzip
    file that is being written concurrently.
 */
@@ -1688,8 +1689,9 @@ ZEXTERN void ZEXPORT gzclearerr OF((gzFile file));
 ZEXTERN uLong ZEXPORT adler32 OF((uLong adler, const Bytef *buf, uInt len));
 /*
      Update a running Adler-32 checksum with the bytes buf[0..len-1] and
-   return the updated checksum.  If buf is Z_NULL, this function returns the
-   required initial value for the checksum.
+   return the updated checksum. An Adler-32 value is in the range of a 32-bit
+   unsigned integer. If buf is Z_NULL, this function returns the required
+   initial value for the checksum.
 
      An Adler-32 checksum is almost as reliable as a CRC-32 but can be computed
    much faster.
@@ -1722,12 +1724,13 @@ ZEXTERN uLong ZEXPORT adler32_combine OF((uLong adler1, uLong adler2,
    negative, the result has no meaning or utility.
 */
 
-ZEXTERN uLong ZEXPORT crc32   OF((uLong crc, const Bytef *buf, uInt len));
+ZEXTERN uLong ZEXPORT crc32 OF((uLong crc, const Bytef *buf, uInt len));
 /*
      Update a running CRC-32 with the bytes buf[0..len-1] and return the
-   updated CRC-32.  If buf is Z_NULL, this function returns the required
-   initial value for the crc.  Pre- and post-conditioning (one's complement) is
-   performed within this function so it shouldn't be done by the application.
+   updated CRC-32. A CRC-32 value is in the range of a 32-bit unsigned integer.
+   If buf is Z_NULL, this function returns the required initial value for the
+   crc. Pre- and post-conditioning (one's complement) is performed within this
+   function so it shouldn't be done by the application.
 
    Usage example:
 
@@ -1739,7 +1742,7 @@ ZEXTERN uLong ZEXPORT crc32   OF((uLong crc, const Bytef *buf, uInt len));
      if (crc != original_crc) error();
 */
 
-ZEXTERN uLong ZEXPORT crc32_z OF((uLong adler, const Bytef *buf,
+ZEXTERN uLong ZEXPORT crc32_z OF((uLong crc, const Bytef *buf,
                                   z_size_t len));
 /*
      Same as crc32(), but with a size_t length.
@@ -1755,6 +1758,20 @@ ZEXTERN uLong ZEXPORT crc32_combine OF((uLong crc1, uLong crc2, z_off_t len2));
    len2.
 */
 
+/*
+ZEXTERN uLong ZEXPORT crc32_combine_gen OF((z_off_t len2));
+
+     Return the operator corresponding to length len2, to be used with
+   crc32_combine_op().
+*/
+
+ZEXTERN uLong ZEXPORT crc32_combine_op OF((uLong crc1, uLong crc2, uLong op));
+/*
+     Give the same result as crc32_combine(), using op in place of len2. op is
+   is generated from len2 by crc32_combine_gen(). This will be faster than
+   crc32_combine() if the generated op is used more than once.
+*/
+
 
                         /* various hacks, don't look :) */
 
@@ -1842,6 +1859,7 @@ ZEXTERN int ZEXPORT gzgetc_ OF((gzFile file));  /* backward compatibility */
    ZEXTERN z_off64_t ZEXPORT gzoffset64 OF((gzFile));
    ZEXTERN uLong ZEXPORT adler32_combine64 OF((uLong, uLong, z_off64_t));
    ZEXTERN uLong ZEXPORT crc32_combine64 OF((uLong, uLong, z_off64_t));
+   ZEXTERN uLong ZEXPORT crc32_combine_gen64 OF((z_off64_t));
 #endif
 
 #if !defined(ZLIB_INTERNAL) && defined(Z_WANT64)
@@ -1852,6 +1870,7 @@ ZEXTERN int ZEXPORT gzgetc_ OF((gzFile file));  /* backward compatibility */
 #    define z_gzoffset z_gzoffset64
 #    define z_adler32_combine z_adler32_combine64
 #    define z_crc32_combine z_crc32_combine64
+#    define z_crc32_combine_gen z_crc32_combine_gen64
 #  else
 #    define gzopen gzopen64
 #    define gzseek gzseek64
@@ -1859,6 +1878,7 @@ ZEXTERN int ZEXPORT gzgetc_ OF((gzFile file));  /* backward compatibility */
 #    define gzoffset gzoffset64
 #    define adler32_combine adler32_combine64
 #    define crc32_combine crc32_combine64
+#    define crc32_combine_gen crc32_combine_gen64
 #  endif
 #  ifndef Z_LARGE64
      ZEXTERN gzFile ZEXPORT gzopen64 OF((const char *, const char *));
@@ -1867,6 +1887,7 @@ ZEXTERN int ZEXPORT gzgetc_ OF((gzFile file));  /* backward compatibility */
      ZEXTERN z_off_t ZEXPORT gzoffset64 OF((gzFile));
      ZEXTERN uLong ZEXPORT adler32_combine64 OF((uLong, uLong, z_off_t));
      ZEXTERN uLong ZEXPORT crc32_combine64 OF((uLong, uLong, z_off_t));
+     ZEXTERN uLong ZEXPORT crc32_combine_gen64 OF((z_off_t));
 #  endif
 #else
    ZEXTERN gzFile ZEXPORT gzopen OF((const char *, const char *));
@@ -1875,12 +1896,14 @@ ZEXTERN int ZEXPORT gzgetc_ OF((gzFile file));  /* backward compatibility */
    ZEXTERN z_off_t ZEXPORT gzoffset OF((gzFile));
    ZEXTERN uLong ZEXPORT adler32_combine OF((uLong, uLong, z_off_t));
    ZEXTERN uLong ZEXPORT crc32_combine OF((uLong, uLong, z_off_t));
+   ZEXTERN uLong ZEXPORT crc32_combine_gen OF((z_off_t));
 #endif
 
 #else /* Z_SOLO */
 
    ZEXTERN uLong ZEXPORT adler32_combine OF((uLong, uLong, z_off_t));
    ZEXTERN uLong ZEXPORT crc32_combine OF((uLong, uLong, z_off_t));
+   ZEXTERN uLong ZEXPORT crc32_combine_gen OF((z_off_t));
 
 #endif /* !Z_SOLO */
 
@@ -1893,7 +1916,7 @@ ZEXTERN int            ZEXPORT inflateValidate OF((z_streamp, int));
 ZEXTERN unsigned long  ZEXPORT inflateCodesUsed OF ((z_streamp));
 ZEXTERN int            ZEXPORT inflateResetKeep OF((z_streamp));
 ZEXTERN int            ZEXPORT deflateResetKeep OF((z_streamp));
-#if (defined(_WIN32) || defined(__CYGWIN__)) && !defined(Z_SOLO)
+#if defined(_WIN32) && !defined(Z_SOLO)
 ZEXTERN gzFile         ZEXPORT gzopen_w OF((const wchar_t *path,
                                             const char *mode));
 #endif

3rdparty/zlib/zutil.c

@@ -137,7 +137,7 @@ const char * ZEXPORT zError(err)
 }
 
 #if defined(_WIN32_WCE) && _WIN32_WCE < 0x800
-    /* The Microsoft C Run-Time Library for Windows CE doesn't have
+    /* The older Microsoft C Run-Time Library for Windows CE doesn't have
      * errno.  We define it as a global variable to simplify porting.
      * Its value is always 0 and should not be used.
      */

3rdparty/zlib/zutil.h

@@ -1,5 +1,5 @@
 /* zutil.h -- internal interface and configuration of the compression library
- * Copyright (C) 1995-2016 Jean-loup Gailly, Mark Adler
+ * Copyright (C) 1995-2022 Jean-loup Gailly, Mark Adler
  * For conditions of distribution and use, see copyright notice in zlib.h
  */
 
@@ -29,10 +29,6 @@
 #  include <stdlib.h>
 #endif
 
-#ifdef Z_SOLO
-   typedef long ptrdiff_t;  /* guess -- will be caught if guess is wrong */
-#endif
-
 #ifndef local
 #  define local static
 #endif
@@ -46,6 +42,17 @@ typedef unsigned short ush;
 typedef ush FAR ushf;
 typedef unsigned long  ulg;
 
+#if !defined(Z_U8) && !defined(Z_SOLO) && defined(STDC)
+#  include <limits.h>
+#  if (ULONG_MAX == 0xffffffffffffffff)
+#    define Z_U8 unsigned long
+#  elif (ULLONG_MAX == 0xffffffffffffffff)
+#    define Z_U8 unsigned long long
+#  elif (UINT_MAX == 0xffffffffffffffff)
+#    define Z_U8 unsigned
+#  endif
+#endif
+
 extern z_const char * const z_errmsg[10]; /* indexed by 2-zlib_error */
 /* (size given to avoid silly warnings with Visual C++) */
 
@@ -169,13 +176,7 @@ extern z_const char * const z_errmsg[10]; /* indexed by 2-zlib_error */
 
 #if (defined(_MSC_VER) && (_MSC_VER > 600)) && !defined __INTERIX
 #  if defined(_WIN32_WCE)
-#    if _WIN32_WCE < 0x800
-#      define fdopen(fd,mode) NULL /* No fdopen() */
-#      ifndef _PTRDIFF_T_DEFINED
-         typedef int ptrdiff_t;
-#        define _PTRDIFF_T_DEFINED
-#      endif
-#  endif
+#    define fdopen(fd,mode) NULL /* No fdopen() */
 #  else
 #    define fdopen(fd,type)  _fdopen(fd,type)
 #  endif

CMakeLists.txt

@@ -98,6 +98,12 @@ ocv_cmake_hook(CMAKE_INIT)
 
 # must go before the project()/enable_language() commands
 ocv_update(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "Configs" FORCE)
+if(NOT DEFINED CMAKE_BUILD_TYPE
+    AND NOT OPENCV_SKIP_DEFAULT_BUILD_TYPE
+)
+  message(STATUS "'Release' build type is used by default. Use CMAKE_BUILD_TYPE to specify build type (Release or Debug)")
+  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build")
+endif()
 if(DEFINED CMAKE_BUILD_TYPE)
   set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${CMAKE_CONFIGURATION_TYPES}")
 endif()
@@ -107,7 +113,7 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ${ENABLE_PIC})
 
 ocv_cmake_hook(PRE_CMAKE_BOOTSTRAP)
 
-# Bootstap CMake system: setup CMAKE_SYSTEM_NAME and other vars
+# Bootstrap CMake system: setup CMAKE_SYSTEM_NAME and other vars
 enable_language(CXX C)
 
 ocv_cmake_hook(POST_CMAKE_BOOTSTRAP)
@@ -218,7 +224,7 @@ OCV_OPTION(BUILD_TIFF               "Build libtiff from source"          (WIN32
 OCV_OPTION(BUILD_JASPER             "Build libjasper from source"        (WIN32 OR ANDROID OR APPLE OR OPENCV_FORCE_3RDPARTY_BUILD) )
 OCV_OPTION(BUILD_JPEG               "Build libjpeg from source"          (WIN32 OR ANDROID OR APPLE OR OPENCV_FORCE_3RDPARTY_BUILD) )
 OCV_OPTION(BUILD_PNG                "Build libpng from source"           (WIN32 OR ANDROID OR APPLE OR OPENCV_FORCE_3RDPARTY_BUILD) )
-OCV_OPTION(BUILD_OPENEXR            "Build openexr from source"          (((WIN32 OR ANDROID OR APPLE) AND NOT WINRT) OR OPENCV_FORCE_3RDPARTY_BUILD) )
+OCV_OPTION(BUILD_OPENEXR            "Build openexr from source"          (OPENCV_FORCE_3RDPARTY_BUILD) )
 OCV_OPTION(BUILD_WEBP               "Build WebP from source"             (((WIN32 OR ANDROID OR APPLE) AND NOT WINRT) OR OPENCV_FORCE_3RDPARTY_BUILD) )
 OCV_OPTION(BUILD_TBB                "Download and build TBB from source" (ANDROID OR OPENCV_FORCE_3RDPARTY_BUILD) )
 OCV_OPTION(BUILD_IPP_IW             "Build IPP IW from source"           (NOT MINGW OR OPENCV_FORCE_3RDPARTY_BUILD) IF (X86_64 OR X86) AND NOT WINRT )
@@ -238,7 +244,7 @@ OCV_OPTION(WITH_AVFOUNDATION "Use AVFoundation for Video I/O (iOS/Mac)" ON
 OCV_OPTION(WITH_CARBON "Use Carbon for UI instead of Cocoa (OBSOLETE)" OFF
   VISIBLE_IF (APPLE OR HAVE_COCOA)
   VERIFY HAVE_CARBON)
-OCV_OPTION(WITH_CAROTENE "Use NVidia carotene acceleration library for ARM platform" ON
+OCV_OPTION(WITH_CAROTENE "Use NVidia carotene acceleration library for ARM platform" (NOT CV_DISABLE_OPTIMIZATION)
   VISIBLE_IF (ARM OR AARCH64) AND NOT IOS AND NOT (CMAKE_VERSION VERSION_LESS "2.8.11"))
 OCV_OPTION(WITH_CPUFEATURES "Use cpufeatures Android library" ON
   VISIBLE_IF ANDROID
@@ -285,12 +291,10 @@ OCV_OPTION(WITH_IPP "Include Intel IPP support" (NOT MINGW AND NOT CV_DISABLE_OP
 OCV_OPTION(WITH_HALIDE "Include Halide support" OFF
   VISIBLE_IF TRUE
   VERIFY HAVE_HALIDE)
-OCV_OPTION(WITH_INF_ENGINE "Include Intel Inference Engine support" OFF
+# replacement for deprecated options: WITH_INF_ENGINE, WITH_NGRAPH
+OCV_OPTION(WITH_OPENVINO "Include Intel OpenVINO toolkit support" (WITH_INF_ENGINE)
   VISIBLE_IF TRUE
-  VERIFY INF_ENGINE_TARGET)
-OCV_OPTION(WITH_NGRAPH "Include nGraph support" WITH_INF_ENGINE
-  VISIBLE_IF TRUE
-  VERIFY TARGET ngraph::ngraph)
+  VERIFY TARGET ocv.3rdparty.openvino)
 OCV_OPTION(WITH_JASPER "Include JPEG2K support" ON
   VISIBLE_IF NOT IOS
   VERIFY HAVE_JASPER)
@@ -300,7 +304,7 @@ OCV_OPTION(WITH_JPEG "Include JPEG support" ON
 OCV_OPTION(WITH_WEBP "Include WebP support" ON
   VISIBLE_IF NOT WINRT
   VERIFY HAVE_WEBP)
-OCV_OPTION(WITH_OPENEXR "Include ILM support via OpenEXR" BUILD_OPENEXR OR NOT CMAKE_CROSSCOMPILING
+OCV_OPTION(WITH_OPENEXR "Include ILM support via OpenEXR" ((WIN32 OR ANDROID OR APPLE) OR BUILD_OPENEXR) OR NOT CMAKE_CROSSCOMPILING
   VISIBLE_IF NOT APPLE_FRAMEWORK AND NOT WINRT
   VERIFY HAVE_OPENEXR)
 OCV_OPTION(WITH_OPENGL "Include OpenGL support" OFF
@@ -599,10 +603,6 @@ endif()
 # ----------------------------------------------------------------------------
 # OpenCV compiler and linker options
 # ----------------------------------------------------------------------------
-# In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
-if(CMAKE_GENERATOR MATCHES "Makefiles|Ninja" AND "${CMAKE_BUILD_TYPE}" STREQUAL "")
-  set(CMAKE_BUILD_TYPE Release)
-endif()
 
 ocv_cmake_hook(POST_CMAKE_BUILD_OPTIONS)
 
@@ -762,7 +762,7 @@ if(WITH_HALIDE)
 endif()
 
 # --- Inference Engine ---
-if(WITH_INF_ENGINE)
+if(WITH_INF_ENGINE OR WITH_OPENVINO)
   include(cmake/OpenCVDetectInferenceEngine.cmake)
 endif()
 
@@ -1522,54 +1522,61 @@ if(WITH_HALIDE OR HAVE_HALIDE)
   status("    Halide:"     HAVE_HALIDE      THEN "YES (${HALIDE_LIBRARIES} ${HALIDE_INCLUDE_DIRS})" ELSE NO)
 endif()
 
-if(WITH_INF_ENGINE OR INF_ENGINE_TARGET)
-  if(INF_ENGINE_TARGET)
-    list(GET INF_ENGINE_TARGET 0 ie_target)
-    set(__msg "YES (${INF_ENGINE_RELEASE} / ${INF_ENGINE_VERSION})")
-    get_target_property(_lib ${ie_target} IMPORTED_LOCATION)
-    get_target_property(_lib_imp_rel ${ie_target} IMPORTED_IMPLIB_RELEASE)
-    get_target_property(_lib_imp_dbg ${ie_target} IMPORTED_IMPLIB_DEBUG)
-    get_target_property(_lib_rel ${ie_target} IMPORTED_LOCATION_RELEASE)
-    get_target_property(_lib_dbg ${ie_target} IMPORTED_LOCATION_DEBUG)
-    ocv_build_features_string(_lib
-      IF _lib THEN "${_lib}"
-      IF _lib_imp_rel AND _lib_imp_dbg THEN "${_lib_imp_rel} / ${_lib_imp_dbg}"
-      IF _lib_rel AND _lib_dbg THEN "${_lib_rel} / ${_lib_dbg}"
-      IF _lib_rel  THEN "${_lib_rel}"
-      IF _lib_dbg  THEN "${_lib_dbg}"
-      ELSE "unknown"
-    )
-    get_target_property(_inc ${ie_target} INTERFACE_INCLUDE_DIRECTORIES)
-    status("    Inference Engine:" "${__msg}")
-    status("        * libs:" "${_lib}")
-    status("        * includes:" "${_inc}")
-  else()
-    status("    Inference Engine:"     "NO")
+if(HAVE_OPENVINO
+    OR (WITH_OPENVINO AND NOT WITH_INF_ENGINE AND NOT INF_ENGINE_TARGET)
+)
+  status("    OpenVINO:" TARGET openvino::runtime THEN "YES (${OpenVINO_VERSION})" ELSE "NO")
+else()
+  if(WITH_INF_ENGINE OR INF_ENGINE_TARGET)
+    if(INF_ENGINE_TARGET)
+      list(GET INF_ENGINE_TARGET 0 ie_target)
+      set(__msg "YES (${INF_ENGINE_RELEASE} / ${INF_ENGINE_VERSION})")
+      ocv_get_imported_target(ie_target "${ie_target}")
+      get_target_property(_lib ${ie_target} IMPORTED_LOCATION)
+      get_target_property(_lib_imp_rel ${ie_target} IMPORTED_IMPLIB_RELEASE)
+      get_target_property(_lib_imp_dbg ${ie_target} IMPORTED_IMPLIB_DEBUG)
+      get_target_property(_lib_rel ${ie_target} IMPORTED_LOCATION_RELEASE)
+      get_target_property(_lib_dbg ${ie_target} IMPORTED_LOCATION_DEBUG)
+      ocv_build_features_string(_lib
+        IF _lib THEN "${_lib}"
+        IF _lib_imp_rel AND _lib_imp_dbg THEN "${_lib_imp_rel} / ${_lib_imp_dbg}"
+        IF _lib_rel AND _lib_dbg THEN "${_lib_rel} / ${_lib_dbg}"
+        IF _lib_rel  THEN "${_lib_rel}"
+        IF _lib_dbg  THEN "${_lib_dbg}"
+        ELSE "unknown"
+      )
+      get_target_property(_inc ${ie_target} INTERFACE_INCLUDE_DIRECTORIES)
+      status("    Inference Engine:" "${__msg}")
+      status("        * libs:" "${_lib}")
+      status("        * includes:" "${_inc}")
+    else()
+      status("    Inference Engine:"     "NO")
+    endif()
   endif()
-endif()
-if(WITH_NGRAPH OR HAVE_NGRAPH)
-  if(HAVE_NGRAPH)
-    set(__target ngraph::ngraph)
-    set(__msg "YES (${ngraph_VERSION})")
-    get_target_property(_lib ${__target} IMPORTED_LOCATION)
-    get_target_property(_lib_imp_rel ${__target} IMPORTED_IMPLIB_RELEASE)
-    get_target_property(_lib_imp_dbg ${__target} IMPORTED_IMPLIB_DEBUG)
-    get_target_property(_lib_rel ${__target} IMPORTED_LOCATION_RELEASE)
-    get_target_property(_lib_dbg ${__target} IMPORTED_LOCATION_DEBUG)
-    ocv_build_features_string(_lib
-      IF _lib THEN "${_lib}"
-      IF _lib_imp_rel AND _lib_imp_dbg THEN "${_lib_imp_rel} / ${_lib_imp_dbg}"
-      IF _lib_rel AND _lib_dbg THEN "${_lib_rel} / ${_lib_dbg}"
-      IF _lib_rel  THEN "${_lib_rel}"
-      IF _lib_dbg  THEN "${_lib_dbg}"
-      ELSE "unknown"
-    )
-    get_target_property(_inc ${__target} INTERFACE_INCLUDE_DIRECTORIES)
-    status("    nGraph:" "${__msg}")
-    status("        * libs:" "${_lib}")
-    status("        * includes:" "${_inc}")
-  else()
-    status("    nGraph:"     "NO")
+  if(WITH_NGRAPH OR HAVE_NGRAPH)
+    if(HAVE_NGRAPH)
+      ocv_get_imported_target(__target ngraph::ngraph)
+      set(__msg "YES (${ngraph_VERSION})")
+      get_target_property(_lib ${__target} IMPORTED_LOCATION)
+      get_target_property(_lib_imp_rel ${__target} IMPORTED_IMPLIB_RELEASE)
+      get_target_property(_lib_imp_dbg ${__target} IMPORTED_IMPLIB_DEBUG)
+      get_target_property(_lib_rel ${__target} IMPORTED_LOCATION_RELEASE)
+      get_target_property(_lib_dbg ${__target} IMPORTED_LOCATION_DEBUG)
+      ocv_build_features_string(_lib
+        IF _lib THEN "${_lib}"
+        IF _lib_imp_rel AND _lib_imp_dbg THEN "${_lib_imp_rel} / ${_lib_imp_dbg}"
+        IF _lib_rel AND _lib_dbg THEN "${_lib_rel} / ${_lib_dbg}"
+        IF _lib_rel  THEN "${_lib_rel}"
+        IF _lib_dbg  THEN "${_lib_dbg}"
+        ELSE "unknown"
+      )
+      get_target_property(_inc ${__target} INTERFACE_INCLUDE_DIRECTORIES)
+      status("    nGraph:" "${__msg}")
+      status("        * libs:" "${_lib}")
+      status("        * includes:" "${_inc}")
+    else()
+      status("    nGraph:"     "NO")
+    endif()
   endif()
 endif()
 

LICENSE

@@ -7,13 +7,13 @@ copy or use the software.
                For Open Source Computer Vision Library
                        (3-clause BSD License)
 
-Copyright (C) 2000-2021, Intel Corporation, all rights reserved.
+Copyright (C) 2000-2022, Intel Corporation, all rights reserved.
 Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
 Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.
 Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
-Copyright (C) 2015-2021, OpenCV Foundation, all rights reserved.
+Copyright (C) 2015-2022, OpenCV Foundation, all rights reserved.
 Copyright (C) 2015-2016, Itseez Inc., all rights reserved.
-Copyright (C) 2019-2021, Xperience AI, all rights reserved.
+Copyright (C) 2019-2022, Xperience AI, all rights reserved.
 Third party copyrights are property of their respective owners.
 
 Redistribution and use in source and binary forms, with or without modification,

apps/traincascade/cascadeclassifier.cpp

@@ -252,7 +252,7 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
             fs << "}";
         }
         // save current stage
-        char buf[10];
+        char buf[32];
         sprintf(buf, "%s%d", "stage", i );
         string stageFilename = dirName + buf + ".xml";
         FileStorage fs( stageFilename, FileStorage::WRITE );

cmake/OpenCVCompilerDefenses.cmake

@@ -87,11 +87,3 @@ endif()
 set( CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${OPENCV_LINKER_DEFENSES_FLAGS_COMMON}" )
 set( CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} ${OPENCV_LINKER_DEFENSES_FLAGS_COMMON}" )
 set( CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OPENCV_LINKER_DEFENSES_FLAGS_COMMON}" )
-
-if(CV_GCC OR CV_CLANG)
-  foreach(flags
-          CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_DEBUG
-          CMAKE_C_FLAGS CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_DEBUG)
-    string(REPLACE "-O3" "-O2" ${flags} "${${flags}}")
-  endforeach()
-endif()

cmake/OpenCVCompilerOptimizations.cmake

@@ -238,7 +238,7 @@ if(X86 OR X86_64)
     ocv_intel_compiler_optimization_option(FP16 "-mavx" "/arch:AVX")
     ocv_intel_compiler_optimization_option(AVX "-mavx" "/arch:AVX")
     ocv_intel_compiler_optimization_option(FMA3 "" "")
-    ocv_intel_compiler_optimization_option(POPCNT "" "")
+    ocv_intel_compiler_optimization_option(POPCNT "-mpopcnt" "")  # -mpopcnt is available since ICC 19.0.0
     ocv_intel_compiler_optimization_option(SSE4_2 "-msse4.2" "/arch:SSE4.2")
     ocv_intel_compiler_optimization_option(SSE4_1 "-msse4.1" "/arch:SSE4.1")
     ocv_intel_compiler_optimization_option(SSE3 "-msse3" "/arch:SSE3")

cmake/OpenCVCompilerOptions.cmake

@@ -119,12 +119,12 @@ if(CV_GCC OR CV_CLANG)
     # we want.
     add_extra_compiler_option(-Wall)
   endif()
-  add_extra_compiler_option(-Werror=return-type)
-  add_extra_compiler_option(-Werror=non-virtual-dtor)
-  add_extra_compiler_option(-Werror=address)
-  add_extra_compiler_option(-Werror=sequence-point)
+  add_extra_compiler_option(-Wreturn-type)
+  add_extra_compiler_option(-Wnon-virtual-dtor)
+  add_extra_compiler_option(-Waddress)
+  add_extra_compiler_option(-Wsequence-point)
   add_extra_compiler_option(-Wformat)
-  add_extra_compiler_option(-Werror=format-security -Wformat)
+  add_extra_compiler_option(-Wformat-security -Wformat)
   add_extra_compiler_option(-Wmissing-declarations)
   add_extra_compiler_option(-Wmissing-prototypes)
   add_extra_compiler_option(-Wstrict-prototypes)
@@ -360,6 +360,22 @@ if(NOT OPENCV_SKIP_LINK_AS_NEEDED)
   endif()
 endif()
 
+# Apply "-Wl,--no-undefined" linker flags: https://github.com/opencv/opencv/pull/21347
+if(NOT OPENCV_SKIP_LINK_NO_UNDEFINED)
+  if(UNIX AND (NOT APPLE OR NOT CMAKE_VERSION VERSION_LESS "3.2"))
+    set(_option "-Wl,--no-undefined")
+    set(_saved_CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS}")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${_option}")  # requires CMake 3.2+ and CMP0056
+    ocv_check_compiler_flag(CXX "" HAVE_LINK_NO_UNDEFINED)
+    set(CMAKE_EXE_LINKER_FLAGS "${_saved_CMAKE_EXE_LINKER_FLAGS}")
+    if(HAVE_LINK_NO_UNDEFINED)
+      set(OPENCV_EXTRA_EXE_LINKER_FLAGS "${OPENCV_EXTRA_EXE_LINKER_FLAGS} ${_option}")
+      set(OPENCV_EXTRA_SHARED_LINKER_FLAGS "${OPENCV_EXTRA_SHARED_LINKER_FLAGS} ${_option}")
+      set(OPENCV_EXTRA_MODULE_LINKER_FLAGS "${OPENCV_EXTRA_MODULE_LINKER_FLAGS} ${_option}")
+    endif()
+  endif()
+endif()
+
 # combine all "extra" options
 if(NOT OPENCV_SKIP_EXTRA_COMPILER_FLAGS)
   set(CMAKE_C_FLAGS           "${CMAKE_C_FLAGS} ${OPENCV_EXTRA_FLAGS} ${OPENCV_EXTRA_C_FLAGS}")

cmake/OpenCVDetectInferenceEngine.cmake

@@ -1,21 +1,7 @@
-# The script detects Intel(R) Inference Engine installation
-#
-# Cache variables:
-# INF_ENGINE_RELEASE - a number reflecting IE source interface (linked with OpenVINO release)
-#
-# Detect parameters:
-# 1. Native cmake IE package:
-#    - environment variable InferenceEngine_DIR is set to location of cmake module
-# 2. Custom location:
-#    - INF_ENGINE_INCLUDE_DIRS - headers search location
-#    - INF_ENGINE_LIB_DIRS     - library search location
-# 3. OpenVINO location:
-#    - environment variable INTEL_OPENVINO_DIR is set to location of OpenVINO installation dir
-#    - INF_ENGINE_PLATFORM - part of name of library directory representing its platform
+# The script detects Intel(R) OpenVINO(TM) runtime installation
 #
 # Result:
-# INF_ENGINE_TARGET - set to name of imported library target representing InferenceEngine
-#
+# - target ocv.3rdparty.openvino
 
 if(NOT HAVE_CXX11)
     message(WARNING "DL Inference engine requires C++11. You can turn it on via ENABLE_CXX11=ON CMake flag.")
@@ -24,84 +10,23 @@ endif()
 
 # =======================
 
-macro(ocv_ie_find_extra_libraries find_prefix find_suffix)
-  file(GLOB libraries "${INF_ENGINE_LIB_DIRS}/${find_prefix}inference_engine*${find_suffix}")
-  foreach(full_path IN LISTS libraries)
-    get_filename_component(library "${full_path}" NAME_WE)
-    string(REPLACE "${find_prefix}" "" library "${library}")
-    if(library STREQUAL "inference_engine" OR library STREQUAL "inference_engined")
-      # skip
-    else()
-      add_library(${library} UNKNOWN IMPORTED)
-      set_target_properties(${library} PROPERTIES
-          IMPORTED_LOCATION "${full_path}")
-      list(APPEND custom_libraries ${library})
-    endif()
-  endforeach()
-endmacro()
-
-function(add_custom_ie_build _inc _lib _lib_rel _lib_dbg _msg)
-  if(NOT _inc OR NOT (_lib OR _lib_rel OR _lib_dbg))
+if(WITH_OPENVINO)
+  find_package(OpenVINO QUIET)
+  if(OpenVINO_FOUND)
+    message(STATUS "OpenVINO FOUND: ${OpenVINO_VERSION}")
+    math(EXPR ver "${OpenVINO_VERSION_MAJOR} * 1000000 + ${OpenVINO_VERSION_MINOR} * 10000 + ${OpenVINO_VERSION_PATCH} * 100")
+    ocv_add_external_target(openvino "" "openvino::runtime" "INF_ENGINE_RELEASE=${ver};HAVE_NGRAPH;HAVE_DNN_NGRAPH;HAVE_INF_ENGINE")
+    set(HAVE_OPENVINO 1)
     return()
   endif()
-  if(NOT _lib)
-    if(_lib_rel)
-      set(_lib "${_lib_rel}")
-    else()
-      set(_lib "${_lib_dbg}")
-    endif()
-  endif()
-  add_library(inference_engine UNKNOWN IMPORTED)
-  set_target_properties(inference_engine PROPERTIES
-    IMPORTED_LOCATION "${_lib}"
-    IMPORTED_IMPLIB_RELEASE "${_lib_rel}"
-    IMPORTED_IMPLIB_DEBUG "${_lib_dbg}"
-    INTERFACE_INCLUDE_DIRECTORIES "${_inc}"
-  )
-
-  set(custom_libraries "")
-  set(__prefixes "${CMAKE_FIND_LIBRARY_PREFIXES}")
-  if(NOT __prefixes)
-    set(__prefixes "_empty_")
-  endif()
-  foreach(find_prefix ${__prefixes})
-    if(find_prefix STREQUAL "_empty_")  # foreach doesn't iterate over empty elements
-      set(find_prefix "")
-    endif()
-    if(NOT DEFINED INFERENCE_ENGINE_FIND_LIBRARY_SUFFIXES)  # allow custom override
-      set(INFERENCE_ENGINE_FIND_LIBRARY_SUFFIXES ${CMAKE_FIND_LIBRARY_SUFFIXES})
-      if(APPLE)
-        ocv_list_filterout(INFERENCE_ENGINE_FIND_LIBRARY_SUFFIXES "^.so$")  # skip plugins (can't be linked)
-      endif()
-    endif()
-    foreach(find_suffix ${INFERENCE_ENGINE_FIND_LIBRARY_SUFFIXES})
-      ocv_ie_find_extra_libraries("${find_prefix}" "${find_suffix}")
-    endforeach()
-    if(NOT CMAKE_FIND_LIBRARY_SUFFIXES)
-      ocv_ie_find_extra_libraries("${find_prefix}" "")
-    endif()
-  endforeach()
-
-  if(NOT INF_ENGINE_RELEASE VERSION_GREATER "2018050000")
-    find_library(INF_ENGINE_OMP_LIBRARY iomp5 PATHS "${INF_ENGINE_OMP_DIR}" NO_DEFAULT_PATH)
-    if(NOT INF_ENGINE_OMP_LIBRARY)
-      message(WARNING "OpenMP for IE have not been found. Set INF_ENGINE_OMP_DIR variable if you experience build errors.")
-    endif()
-  endif()
-  if(EXISTS "${INF_ENGINE_OMP_LIBRARY}")
-    set_target_properties(inference_engine PROPERTIES IMPORTED_LINK_INTERFACE_LIBRARIES "${INF_ENGINE_OMP_LIBRARY}")
-  endif()
-  set(INF_ENGINE_VERSION "Unknown" CACHE STRING "")
-  set(INF_ENGINE_TARGET "inference_engine;${custom_libraries}" PARENT_SCOPE)
-  message(STATUS "Detected InferenceEngine: ${_msg}")
-endfunction()
+endif()
 
 # ======================
 
 find_package(InferenceEngine QUIET)
 if(InferenceEngine_FOUND)
   set(INF_ENGINE_TARGET ${InferenceEngine_LIBRARIES})
-  set(INF_ENGINE_VERSION "${InferenceEngine_VERSION}" CACHE STRING "")
+  set(INF_ENGINE_VERSION "${InferenceEngine_VERSION}")
   message(STATUS "Detected InferenceEngine: cmake package (${InferenceEngine_VERSION})")
 endif()
 
@@ -112,54 +37,26 @@ if(DEFINED InferenceEngine_VERSION)
   endif()
 endif()
 if(NOT INF_ENGINE_RELEASE AND NOT INF_ENGINE_RELEASE_INIT)
-  message(STATUS "WARNING: InferenceEngine version has not been set, 2021.4.1 will be used by default. Set INF_ENGINE_RELEASE variable if you experience build errors.")
-  set(INF_ENGINE_RELEASE_INIT "2021040100")
+  message(STATUS "WARNING: InferenceEngine version has not been set, 2021.4.2 will be used by default. Set INF_ENGINE_RELEASE variable if you experience build errors.")
+  set(INF_ENGINE_RELEASE_INIT "2021040200")
 elseif(DEFINED INF_ENGINE_RELEASE)
   set(INF_ENGINE_RELEASE_INIT "${INF_ENGINE_RELEASE}")
 endif()
 set(INF_ENGINE_RELEASE "${INF_ENGINE_RELEASE_INIT}" CACHE STRING "Force IE version, should be in form YYYYAABBCC (e.g. 2020.1.0.2 -> 2020010002)")
 
-if(NOT INF_ENGINE_TARGET AND INF_ENGINE_LIB_DIRS AND INF_ENGINE_INCLUDE_DIRS)
-  find_path(ie_custom_inc "inference_engine.hpp" PATHS "${INF_ENGINE_INCLUDE_DIRS}" NO_DEFAULT_PATH)
-  if(CMAKE_BUILD_TYPE STREQUAL "Debug")
-    find_library(ie_custom_lib_dbg "inference_engined" PATHS "${INF_ENGINE_LIB_DIRS}" NO_DEFAULT_PATH)  # Win32 and MacOSX
-  endif()
-  find_library(ie_custom_lib "inference_engine" PATHS "${INF_ENGINE_LIB_DIRS}" NO_DEFAULT_PATH)
-  find_library(ie_custom_lib_rel "inference_engine" PATHS "${INF_ENGINE_LIB_DIRS}/Release" NO_DEFAULT_PATH)
-  find_library(ie_custom_lib_dbg "inference_engine" PATHS "${INF_ENGINE_LIB_DIRS}/Debug" NO_DEFAULT_PATH)
-  add_custom_ie_build("${ie_custom_inc}" "${ie_custom_lib}" "${ie_custom_lib_rel}" "${ie_custom_lib_dbg}" "INF_ENGINE_{INCLUDE,LIB}_DIRS")
-endif()
-
-set(_loc "$ENV{INTEL_OPENVINO_DIR}")
-if(NOT _loc AND DEFINED ENV{INTEL_CVSDK_DIR})
-  set(_loc "$ENV{INTEL_CVSDK_DIR}")  # OpenVINO 2018.x
-endif()
-if(NOT INF_ENGINE_TARGET AND _loc)
-  if(NOT INF_ENGINE_RELEASE VERSION_GREATER "2018050000")
-    set(INF_ENGINE_PLATFORM_DEFAULT "ubuntu_16.04")
-  else()
-    set(INF_ENGINE_PLATFORM_DEFAULT "")
-  endif()
-  set(INF_ENGINE_PLATFORM "${INF_ENGINE_PLATFORM_DEFAULT}" CACHE STRING "InferenceEngine platform (library dir)")
-  find_path(ie_custom_env_inc "inference_engine.hpp" PATHS "${_loc}/deployment_tools/inference_engine/include" NO_DEFAULT_PATH)
-  if(CMAKE_BUILD_TYPE STREQUAL "Debug")
-    find_library(ie_custom_env_lib_dbg "inference_engined" PATHS "${_loc}/deployment_tools/inference_engine/lib/${INF_ENGINE_PLATFORM}/intel64" NO_DEFAULT_PATH)
-  endif()
-  find_library(ie_custom_env_lib "inference_engine" PATHS "${_loc}/deployment_tools/inference_engine/lib/${INF_ENGINE_PLATFORM}/intel64" NO_DEFAULT_PATH)
-  find_library(ie_custom_env_lib_rel "inference_engine" PATHS "${_loc}/deployment_tools/inference_engine/lib/intel64/Release" NO_DEFAULT_PATH)
-  find_library(ie_custom_env_lib_dbg "inference_engine" PATHS "${_loc}/deployment_tools/inference_engine/lib/intel64/Debug" NO_DEFAULT_PATH)
-  add_custom_ie_build("${ie_custom_env_inc}" "${ie_custom_env_lib}" "${ie_custom_env_lib_rel}" "${ie_custom_env_lib_dbg}" "OpenVINO (${_loc})")
-endif()
+set(tgts)
+set(defs)
 
 # Add more features to the target
-
 if(INF_ENGINE_TARGET)
   set_target_properties(${INF_ENGINE_TARGET} PROPERTIES
       INTERFACE_COMPILE_DEFINITIONS "HAVE_INF_ENGINE=1;INF_ENGINE_RELEASE=${INF_ENGINE_RELEASE}"
   )
+  list(APPEND tgts ${INF_ENGINE_TARGET})
+  list(APPEND defs "INF_ENGINE_RELEASE=${INF_ENGINE_RELEASE}" "HAVE_INF_ENGINE")
 endif()
 
-if(WITH_NGRAPH)
+if(WITH_NGRAPH OR NOT DEFINED WITH_NGRAPH)
   find_package(ngraph QUIET)
   if(ngraph_FOUND)
     ocv_assert(TARGET ngraph::ngraph)
@@ -168,5 +65,9 @@ if(WITH_NGRAPH)
     endif()
     message(STATUS "Detected ngraph: cmake package (${ngraph_VERSION})")
     set(HAVE_NGRAPH ON)
+    list(APPEND tgts ngraph::ngraph)
+    list(APPEND defs "HAVE_NGRAPH" "HAVE_DNN_NGRAPH")
   endif()
 endif()
+
+ocv_add_external_target(openvino "" "${tgts}" "${defs}")

cmake/OpenCVDetectPython.cmake

@@ -177,7 +177,7 @@ if(NOT ${found})
 
     if(NOT ANDROID AND NOT IOS)
       if(CMAKE_HOST_UNIX)
-        execute_process(COMMAND ${_executable} -c "from distutils.sysconfig import *; print(get_python_lib())"
+        execute_process(COMMAND ${_executable} -c "from sysconfig import *; print(get_path('purelib'))"
                         RESULT_VARIABLE _cvpy_process
                         OUTPUT_VARIABLE _std_packages_path
                         OUTPUT_STRIP_TRAILING_WHITESPACE)

cmake/OpenCVFindLAPACK.cmake

@@ -51,6 +51,23 @@ macro(ocv_lapack_check)
     if(NOT "${OPENCV_CBLAS_H_PATH_${_lapack_impl}}" STREQUAL "${OPENCV_LAPACKE_H_PATH_${_lapack_impl}}")
       list(APPEND _lapack_content "#include \"${OPENCV_LAPACKE_H_PATH_${_lapack_impl}}\"")
     endif()
+    list(APPEND _lapack_content "
+#if defined(LAPACK_GLOBAL) || defined(LAPACK_NAME)
+/*
+ * Using netlib's reference LAPACK implementation version >= 3.4.0 (first with C interface).
+ * Use LAPACK_xxxx to transparently (via predefined lapack macros) deal with pre and post 3.9.1 versions.
+ * LAPACK 3.9.1 introduces LAPACK_FORTRAN_STRLEN_END and modifies (through preprocessing) the declarations of the following functions used in opencv
+ *        sposv_, dposv_, spotrf_, dpotrf_, sgesdd_, dgesdd_, sgels_, dgels_
+ * which end up with an extra parameter.
+ * So we also need to preprocess the function calls in opencv coding by prefixing them with LAPACK_.
+ * The good news is the preprocessing works fine whatever netlib's LAPACK version.
+ */
+#define OCV_LAPACK_FUNC(f) LAPACK_##f
+#else
+/* Using other LAPACK implementations so fall back to opencv's assumption until now */
+#define OCV_LAPACK_FUNC(f) f##_
+#endif
+")
     if(${_lapack_add_extern_c})
       list(APPEND _lapack_content "}")
     endif()

cmake/OpenCVFindLibsGUI.cmake

@@ -101,7 +101,6 @@ if(WITH_OPENGL)
     find_package (OpenGL QUIET)
     if(OPENGL_FOUND)
       set(HAVE_OPENGL TRUE)
-      list(APPEND OPENCV_LINKER_LIBS ${OPENGL_LIBRARIES})
       if(QT_QTOPENGL_FOUND)
         set(HAVE_QT_OPENGL TRUE)
       else()

cmake/OpenCVFindLibsGrfmt.cmake

@@ -240,7 +240,9 @@ if(WITH_OPENEXR)
     set(OPENEXR_LIBRARIES IlmImf)
     add_subdirectory("${OpenCV_SOURCE_DIR}/3rdparty/openexr")
     if(OPENEXR_VERSION)  # check via TARGET doesn't work
+      set(BUILD_OPENEXR ON)
       set(HAVE_OPENEXR YES)
+      set(BUILD_OPENEXR ON)
     endif()
   endif()
 endif()

cmake/OpenCVFindOpenEXR.cmake

@@ -9,6 +9,27 @@
 # OPENEXR_LIBRARIES = libraries that are needed to use OpenEXR.
 #
 
+if(NOT HAVE_CXX11)
+  message(STATUS "OpenEXR: enable C++11 to use external OpenEXR")
+  return()
+endif()
+
+if(NOT OPENCV_SKIP_OPENEXR_FIND_PACKAGE)
+  find_package(OpenEXR 3 QUIET)
+  #ocv_cmake_dump_vars(EXR)
+  if(OpenEXR_FOUND)
+    if(TARGET OpenEXR::OpenEXR)  # OpenEXR 3+
+      set(OPENEXR_LIBRARIES OpenEXR::OpenEXR)
+      set(OPENEXR_INCLUDE_PATHS "")
+      set(OPENEXR_VERSION "${OpenEXR_VERSION}")
+      set(OPENEXR_FOUND 1)
+      return()
+    else()
+      message(STATUS "Unsupported find_package(OpenEXR) - missing OpenEXR::OpenEXR target (version ${OpenEXR_VERSION})")
+    endif()
+  endif()
+endif()
+
 SET(OPENEXR_LIBRARIES "")
 SET(OPENEXR_LIBSEARCH_SUFFIXES "")
 file(TO_CMAKE_PATH "$ENV{ProgramFiles}" ProgramFiles_ENV_PATH)

cmake/OpenCVUtils.cmake

@@ -1580,6 +1580,60 @@ function(ocv_add_library target)
 endfunction()
 
 
+function(ocv_add_external_target name inc link def)
+  if(BUILD_SHARED_LIBS AND link)
+    set(imp IMPORTED)
+  endif()
+  add_library(ocv.3rdparty.${name} INTERFACE ${imp})
+  if(def)
+    if(NOT (CMAKE_VERSION VERSION_LESS "3.11.0"))  # https://gitlab.kitware.com/cmake/cmake/-/merge_requests/1264 : eliminates "Cannot specify compile definitions for imported target" error message
+      target_compile_definitions(ocv.3rdparty.${name} INTERFACE "${def}")
+    else()
+      set_target_properties(ocv.3rdparty.${name} PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${def}")
+    endif()
+  endif()
+  if(inc)
+    if(NOT (CMAKE_VERSION VERSION_LESS "3.11.0"))  # https://gitlab.kitware.com/cmake/cmake/-/merge_requests/1264 : eliminates "Cannot specify compile definitions for imported target" error message
+      target_include_directories(ocv.3rdparty.${name} SYSTEM INTERFACE "$<BUILD_INTERFACE:${inc}>")
+    else()
+      set_target_properties(ocv.3rdparty.${name} PROPERTIES
+          INTERFACE_INCLUDE_DIRECTORIES "$<BUILD_INTERFACE:${inc}>"
+          INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "$<BUILD_INTERFACE:${inc}>"
+      )
+    endif()
+  endif()
+  if(link)
+    # When cmake version is greater than or equal to 3.11, INTERFACE_LINK_LIBRARIES no longer applies to interface library
+    # See https://github.com/opencv/opencv/pull/18658
+    if(CMAKE_VERSION VERSION_LESS 3.11)
+      set_target_properties(ocv.3rdparty.${name} PROPERTIES
+        INTERFACE_LINK_LIBRARIES "${link}")
+    else()
+      target_link_libraries(ocv.3rdparty.${name} INTERFACE ${link})
+    endif()
+  endif()
+  # to install used target only upgrade CMake
+  if(NOT BUILD_SHARED_LIBS
+      AND CMAKE_VERSION VERSION_LESS "3.13.0"  # https://gitlab.kitware.com/cmake/cmake/-/merge_requests/2152
+  )
+    install(TARGETS ocv.3rdparty.${name} EXPORT OpenCVModules)
+  endif()
+endfunction()
+
+
+# Returns the first non-interface target
+function(ocv_get_imported_target imported interface)
+  set(__result "${interface}")
+  get_target_property(__type "${__result}" TYPE)
+  if(__type STREQUAL "INTERFACE_LIBRARY")
+    get_target_property(__libs "${__result}" INTERFACE_LINK_LIBRARIES)
+    list(GET __libs 0 __interface)
+    ocv_get_imported_target(__result "${__interface}")
+  endif()
+  set(${imported} "${__result}" PARENT_SCOPE)
+endfunction()
+
+
 macro(ocv_get_libname var_name)
   get_filename_component(__libname "${ARGN}" NAME)
   # libopencv_core.so.3.3 -> opencv_core

doc/js_tutorials/js_assets/js_camshift.html

@@ -77,7 +77,7 @@ cv.normalize(roiHist, roiHist, 0, 255, cv.NORM_MINMAX);
 // delete useless mats.
 roi.delete(); hsvRoi.delete(); mask.delete(); low.delete(); high.delete(); hsvRoiVec.delete();
 
-// Setup the termination criteria, either 10 iteration or move by atleast 1 pt
+// Setup the termination criteria, either 10 iteration or move by at least 1 pt
 let termCrit = new cv.TermCriteria(cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10, 1);
 
 let hsv = new cv.Mat(video.height, video.width, cv.CV_8UC3);

doc/js_tutorials/js_assets/js_image_classification.html

@@ -116,7 +116,7 @@ swapRB = false;
 needSoftmax = false;
 
 // url for label file, can from local or Internet
-labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt";
+labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt";
 </script>
 
 <script id="codeSnippet1" type="text/code-snippet">

doc/js_tutorials/js_assets/js_image_classification_model_info.json

@@ -6,7 +6,7 @@
             "std": "1",
             "swapRB": "false",
             "needSoftmax": "false",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt",
             "modelUrl": "http://dl.caffe.berkeleyvision.org/bvlc_alexnet.caffemodel",
             "configUrl": "https://raw.githubusercontent.com/BVLC/caffe/master/models/bvlc_alexnet/deploy.prototxt"
         },
@@ -16,7 +16,7 @@
             "std": "0.007843",
             "swapRB": "false",
             "needSoftmax": "true",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt",
             "modelUrl": "https://drive.google.com/open?id=0B7ubpZO7HnlCcHlfNmJkU2VPelE",
             "configUrl": "https://raw.githubusercontent.com/shicai/DenseNet-Caffe/master/DenseNet_121.prototxt"
         },
@@ -26,7 +26,7 @@
             "std": "1",
             "swapRB": "false",
             "needSoftmax": "false",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt",
             "modelUrl": "http://dl.caffe.berkeleyvision.org/bvlc_googlenet.caffemodel",
             "configUrl": "https://raw.githubusercontent.com/BVLC/caffe/master/models/bvlc_googlenet/deploy.prototxt"
         },
@@ -36,7 +36,7 @@
             "std": "1",
             "swapRB": "false",
             "needSoftmax": "false",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt",
             "modelUrl": "https://raw.githubusercontent.com/forresti/SqueezeNet/master/SqueezeNet_v1.0/squeezenet_v1.0.caffemodel",
             "configUrl": "https://raw.githubusercontent.com/forresti/SqueezeNet/master/SqueezeNet_v1.0/deploy.prototxt"
         },
@@ -46,7 +46,7 @@
             "std": "1",
             "swapRB": "false",
             "needSoftmax": "false",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt",
             "modelUrl": "http://www.robots.ox.ac.uk/~vgg/software/very_deep/caffe/VGG_ILSVRC_19_layers.caffemodel",
             "configUrl": "https://gist.githubusercontent.com/ksimonyan/3785162f95cd2d5fee77/raw/f02f8769e64494bcd3d7e97d5d747ac275825721/VGG_ILSVRC_19_layers_deploy.prototxt"
         }

doc/js_tutorials/js_assets/js_image_classification_with_camera.html

@@ -116,7 +116,7 @@ swapRB = false;
 needSoftmax = false;
 
 // url for label file, can from local or Internet
-labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/classification_classes_ILSVRC2012.txt";
+labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/classification_classes_ILSVRC2012.txt";
 </script>
 
 <script id="codeSnippet1" type="text/code-snippet">

doc/js_tutorials/js_assets/js_meanshift.html

@@ -77,7 +77,7 @@ cv.normalize(roiHist, roiHist, 0, 255, cv.NORM_MINMAX);
 // delete useless mats.
 roi.delete(); hsvRoi.delete(); mask.delete(); low.delete(); high.delete(); hsvRoiVec.delete();
 
-// Setup the termination criteria, either 10 iteration or move by atleast 1 pt
+// Setup the termination criteria, either 10 iteration or move by at least 1 pt
 let termCrit = new cv.TermCriteria(cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10, 1);
 
 let hsv = new cv.Mat(video.height, video.width, cv.CV_8UC3);

doc/js_tutorials/js_assets/js_object_detection.html

@@ -94,7 +94,7 @@ nmsThreshold = 0.4;
 outType = "SSD";
 
 // url for label file, can from local or Internet
-labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/object_detection_classes_pascal_voc.txt";
+labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/object_detection_classes_pascal_voc.txt";
 </script>
 
 <script id="codeSnippet1" type="text/code-snippet">

doc/js_tutorials/js_assets/js_object_detection_model_info.json

@@ -7,7 +7,7 @@
             "std": "0.007843",
             "swapRB": "false",
             "outType": "SSD",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/object_detection_classes_pascal_voc.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/object_detection_classes_pascal_voc.txt",
             "modelUrl": "https://raw.githubusercontent.com/chuanqi305/MobileNet-SSD/master/mobilenet_iter_73000.caffemodel",
             "configUrl": "https://raw.githubusercontent.com/chuanqi305/MobileNet-SSD/master/deploy.prototxt"
         },
@@ -18,7 +18,7 @@
             "std": "1",
             "swapRB": "false",
             "outType": "SSD",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/object_detection_classes_pascal_voc.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/object_detection_classes_pascal_voc.txt",
             "modelUrl": "https://drive.google.com/uc?id=0BzKzrI_SkD1_WVVTSmQxU0dVRzA&export=download",
             "configUrl": "https://drive.google.com/uc?id=0BzKzrI_SkD1_WVVTSmQxU0dVRzA&export=download"
         }
@@ -31,7 +31,7 @@
             "std": "0.00392",
             "swapRB": "false",
             "outType": "YOLO",
-            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/object_detection_classes_yolov3.txt",
+            "labelsUrl": "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/object_detection_classes_yolov3.txt",
             "modelUrl": "https://pjreddie.com/media/files/yolov2-tiny.weights",
             "configUrl": "https://raw.githubusercontent.com/pjreddie/darknet/master/cfg/yolov2-tiny.cfg"
         }

doc/js_tutorials/js_assets/js_object_detection_with_camera.html

@@ -94,7 +94,7 @@ nmsThreshold = 0.4;
 outType = "SSD";
 
 // url for label file, can from local or Internet
-labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/master/samples/data/dnn/object_detection_classes_pascal_voc.txt";
+labelsUrl = "https://raw.githubusercontent.com/opencv/opencv/3.4/samples/data/dnn/object_detection_classes_pascal_voc.txt";
 </script>
 
 <script id="codeSnippet1" type="text/code-snippet">

doc/js_tutorials/js_imgproc/js_morphological_ops/js_morphological_ops.markdown

@@ -52,7 +52,7 @@ Try it
 
 ### 2. Dilation
 
-It is just opposite of erosion. Here, a pixel element is '1' if atleast one pixel under the kernel
+It is just opposite of erosion. Here, a pixel element is '1' if at least one pixel under the kernel
 is '1'. So it increases the white region in the image or size of foreground object increases.
 Normally, in cases like noise removal, erosion is followed by dilation. Because, erosion removes
 white noises, but it also shrinks our object. So we dilate it. Since noise is gone, they won't come

doc/js_tutorials/js_setup/js_nodejs/js_nodejs.markdown

@@ -223,7 +223,7 @@ Before the example, is worth consider first how files are handled in emscripten
 
 These C++ sources use standard APIs to access the filesystem and the implementation often ends up in system calls that read a file in the hard drive. Since JavaScript applications in the browser don't have access to the local filesystem, [emscripten emulates a standard filesystem](https://emscripten.org/docs/api_reference/Filesystem-API.html) so compiled C++ code works out of the box.
 
-In the browser, this filesystem is emulated in memory while in Node.js there's also the possibility of using the local filesystem directly. This is often preferable since there's no need of copy file's content in memory. This section is explains how to do do just that, this is, configuring emscripten so files are accessed directly from our local filesystem and relative paths match files relative to the current local directory as expected.
+In the browser, this filesystem is emulated in memory while in Node.js there's also the possibility of using the local filesystem directly. This is often preferable since there's no need of copy file's content in memory. This section explains how to do just that, this is, configuring emscripten so files are accessed directly from our local filesystem and relative paths match files relative to the current local directory as expected.
 
 ### The example ###
 
@@ -333,7 +333,7 @@ function installDOM(){
 ### Execute it ###
 
 -   Save the file as `exampleNodeCanvasData.js`.
--   Make sure the files `aarcascade_frontalface_default.xml` and `haarcascade_eye.xml` are present in project's directory. They can be obtained from [OpenCV sources](https://github.com/opencv/opencv/tree/master/data/haarcascades).
+-   Make sure the files `aarcascade_frontalface_default.xml` and `haarcascade_eye.xml` are present in project's directory. They can be obtained from [OpenCV sources](https://github.com/opencv/opencv/tree/3.4/data/haarcascades).
 -   Make sure a sample image file `lena.jpg` exists in project's directory. It should display people's faces for this example to make sense. The following image is known to work:
 
 ![image](lena.jpg)

doc/js_tutorials/js_setup/js_usage/js_usage.markdown

@@ -4,7 +4,9 @@ Using OpenCV.js {#tutorial_js_usage}
 Steps
 -----
 
-In this tutorial, you will learn how to include and start to use `opencv.js` inside a web page. You can get a copy of `opencv.js` from `opencv-{VERSION_NUMBER}-docs.zip` in each [release](https://github.com/opencv/opencv/releases), or simply download the prebuilt script from the online documentations at "https://docs.opencv.org/{VERSION_NUMBER}/opencv.js" (For example, [https://docs.opencv.org/3.4.0/opencv.js](https://docs.opencv.org/3.4.0/opencv.js). Use `master` if you want the latest build). You can also build your own copy by following the tutorial on Build Opencv.js.
+In this tutorial, you will learn how to include and start to use `opencv.js` inside a web page.
+You can get a copy of `opencv.js` from `opencv-{VERSION_NUMBER}-docs.zip` in each [release](https://github.com/opencv/opencv/releases), or simply download the prebuilt script from the online documentations at "https://docs.opencv.org/{VERSION_NUMBER}/opencv.js" (For example, [https://docs.opencv.org/3.4.0/opencv.js](https://docs.opencv.org/3.4.0/opencv.js). Use `3.4` if you want the latest build).
+You can also build your own copy by following the tutorial @ref tutorial_js_setup.
 
 ### Create a web page
 
@@ -120,11 +122,14 @@ imgElement.onload = function() {
   mat.delete();
 };
 
-function onOpenCvReady() {
-  document.getElementById('status').innerHTML = 'OpenCV.js is ready.';
-}
+var Module = {
+  // https://emscripten.org/docs/api_reference/module.html#Module.onRuntimeInitialized
+  onRuntimeInitialized() {
+    document.getElementById('status').innerHTML = 'OpenCV.js is ready.';
+  }
+};
 </script>
-<script async src="opencv.js" onload="onOpenCvReady();" type="text/javascript"></script>
+<script async src="opencv.js" type="text/javascript"></script>
 </body>
 </html>
 @endcode

doc/js_tutorials/js_video/js_lucas_kanade/js_lucas_kanade.markdown

@@ -133,9 +133,9 @@ Dense Optical Flow in OpenCV.js
 
 Lucas-Kanade method computes optical flow for a sparse feature set (in our example, corners detected
 using Shi-Tomasi algorithm). OpenCV.js provides another algorithm to find the dense optical flow. It
-computes the optical flow for all the points in the frame. It is based on Gunner Farneback's
+computes the optical flow for all the points in the frame. It is based on Gunnar Farneback's
 algorithm which is explained in "Two-Frame Motion Estimation Based on Polynomial Expansion" by
-Gunner Farneback in 2003.
+Gunnar Farneback in 2003.
 
 We use the function: **cv.calcOpticalFlowFarneback (prev, next, flow, pyrScale, levels, winsize,
 iterations, polyN, polySigma, flags)**

doc/opencv.bib

@@ -240,7 +240,7 @@
   hal_id = {inria-00350283},
   hal_version = {v1},
 }
-@article{Collins14
+@article{Collins14,
   year = {2014},
   issn = {0920-5691},
   journal = {International Journal of Computer Vision},
@@ -1271,6 +1271,12 @@
   number={2},
   pages={117-135},
 }
+@inproceedings{Zuliani2014RANSACFD,
+  title={RANSAC for Dummies With examples using the RANSAC toolbox for Matlab \& Octave and more...},
+  author={Marco Zuliani},
+  year={2014},
+  url = {https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.475.1243&rep=rep1&type=pdf}
+}
 @inproceedings{forstner1987fast,
   title={A fast operator for detection and precise location of distincs points, corners and center of circular features},
   author={FORSTNER, W},
@@ -1278,3 +1284,21 @@
   pages={281--305},
   year={1987}
 }
+@article{Bolelli2021,
+  title={One DAG to Rule Them All},
+  author={Bolelli, Federico and Allegretti, Stefano and Grana, Costantino},
+  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
+  year={2021},
+  publisher={IEEE},
+  doi = {10.1109/TPAMI.2021.3055337}
+}
+@article{Kannala2006,
+  author = {Kannala, Juho and Brandt, Sami},
+  year = {2006},
+  month = {09},
+  pages = {1335-40},
+  title = {A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses},
+  volume = {28},
+  journal = {IEEE transactions on pattern analysis and machine intelligence},
+  doi = {10.1109/TPAMI.2006.153}
+}

doc/py_tutorials/py_feature2d/py_feature_homography/py_feature_homography.markdown

@@ -18,7 +18,7 @@ is sufficient to find the object exactly on the trainImage.
 
 For that, we can use a function from calib3d module, ie **cv.findHomography()**. If we pass the set
 of points from both the images, it will find the perspective transformation of that object. Then we
-can use **cv.perspectiveTransform()** to find the object. It needs atleast four correct points to
+can use **cv.perspectiveTransform()** to find the object. It needs at least four correct points to
 find the transformation.
 
 We have seen that there can be some possible errors while matching which may affect the result. To
@@ -64,7 +64,7 @@ for m,n in matches:
     if m.distance < 0.7*n.distance:
         good.append(m)
 @endcode
-Now we set a condition that atleast 10 matches (defined by MIN_MATCH_COUNT) are to be there to
+Now we set a condition that at least 10 matches (defined by MIN_MATCH_COUNT) are to be there to
 find the object. Otherwise simply show a message saying not enough matches are present.
 
 If enough matches are found, we extract the locations of matched keypoints in both the images. They
@@ -78,7 +78,7 @@ if len(good)>MIN_MATCH_COUNT:
     M, mask = cv.findHomography(src_pts, dst_pts, cv.RANSAC,5.0)
     matchesMask = mask.ravel().tolist()
 
-    h,w,d = img1.shape
+    h,w = img1.shape
     pts = np.float32([ [0,0],[0,h-1],[w-1,h-1],[w-1,0] ]).reshape(-1,1,2)
     dst = cv.perspectiveTransform(pts,M)
 

doc/py_tutorials/py_imgproc/py_morphological_ops/py_morphological_ops.markdown

@@ -48,7 +48,7 @@ Result:
 
 ### 2. Dilation
 
-It is just opposite of erosion. Here, a pixel element is '1' if atleast one pixel under the kernel
+It is just opposite of erosion. Here, a pixel element is '1' if at least one pixel under the kernel
 is '1'. So it increases the white region in the image or size of foreground object increases.
 Normally, in cases like noise removal, erosion is followed by dilation. Because, erosion removes
 white noises, but it also shrinks our object. So we dilate it. Since noise is gone, they won't come

doc/py_tutorials/py_imgproc/py_pyramids/py_pyramids.markdown

@@ -117,7 +117,7 @@ for i in range(5,0,-1):
 LS = []
 for la,lb in zip(lpA,lpB):
     rows,cols,dpt = la.shape
-    ls = np.hstack((la[:,0:cols/2], lb[:,cols/2:]))
+    ls = np.hstack((la[:,0:cols//2], lb[:,cols//2:]))
     LS.append(ls)
 
 # now reconstruct
@@ -127,7 +127,7 @@ for i in range(1,6):
     ls_ = cv.add(ls_, LS[i])
 
 # image with direct connecting each half
-real = np.hstack((A[:,:cols/2],B[:,cols/2:]))
+real = np.hstack((A[:,:cols//2],B[:,cols//2:]))
 
 cv.imwrite('Pyramid_blending2.jpg',ls_)
 cv.imwrite('Direct_blending.jpg',real)

doc/tutorials/calib3d/interactive_calibration/interactive_calibration.markdown

@@ -95,7 +95,7 @@ QR faster than SVD, but potentially less precise
 -  *camera_resolution*: resolution of camera which is used for calibration
 
 **Note:** *charuco_dict*, *charuco_square_length* and *charuco_marker_size* are used for chAruco pattern generation
-(see Aruco module description for details: [Aruco tutorials](https://github.com/opencv/opencv_contrib/tree/master/modules/aruco/tutorials))
+(see Aruco module description for details: [Aruco tutorials](https://github.com/opencv/opencv_contrib/tree/3.4/modules/aruco/tutorials))
 
 Default chAruco pattern:
 

doc/tutorials/dnn/dnn_googlenet/dnn_googlenet.markdown

@@ -23,7 +23,7 @@ Explanation
 -----------
 
 -# Firstly, download GoogLeNet model files:
-   [bvlc_googlenet.prototxt  ](https://github.com/opencv/opencv_extra/blob/master/testdata/dnn/bvlc_googlenet.prototxt) and
+   [bvlc_googlenet.prototxt](https://github.com/opencv/opencv_extra/blob/3.4/testdata/dnn/bvlc_googlenet.prototxt) and
    [bvlc_googlenet.caffemodel](http://dl.caffe.berkeleyvision.org/bvlc_googlenet.caffemodel)
 
    Also you need file with names of [ILSVRC2012](http://image-net.org/challenges/LSVRC/2012/browse-synsets) classes:

doc/tutorials/dnn/dnn_halide_scheduling/dnn_halide_scheduling.markdown

@@ -38,7 +38,7 @@ correspondingly. In example, for variable `x` in range `[0, 10)` directive
 `split: { x: 2 }` gives new ones `xo` in range `[0, 5)` and `xi` in range `[0, 2)`.
 Variable name `x` is no longer available in the same scheduling node.
 
-You can find scheduling examples at [opencv_extra/testdata/dnn](https://github.com/opencv/opencv_extra/tree/master/testdata/dnn)
+You can find scheduling examples at [opencv_extra/testdata/dnn](https://github.com/opencv/opencv_extra/tree/3.4/testdata/dnn)
 and use it for schedule your networks.
 
 ## Layers fusing

doc/tutorials/imgproc/erosion_dilatation/erosion_dilatation.markdown

@@ -273,7 +273,7 @@ Results
 
 Compile the code above and execute it (or run the script if using python) with an image as argument.
 If you do not provide an image as argument the default sample image
-([LinuxLogo.jpg](https://github.com/opencv/opencv/tree/master/samples/data/LinuxLogo.jpg)) will be used.
+([LinuxLogo.jpg](https://github.com/opencv/opencv/tree/3.4/samples/data/LinuxLogo.jpg)) will be used.
 
 For instance, using this image:
 

doc/tutorials/imgproc/imgtrans/hough_circle/hough_circle.markdown

@@ -74,11 +74,11 @@ The image we used can be found [here](https://raw.githubusercontent.com/opencv/o
 @end_toggle
 
 @add_toggle_java
-@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py load
+@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java load
 @end_toggle
 
 @add_toggle_python
-@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java load
+@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py load
 @end_toggle
 
 ####  Convert it to grayscale:
@@ -88,11 +88,11 @@ The image we used can be found [here](https://raw.githubusercontent.com/opencv/o
 @end_toggle
 
 @add_toggle_java
-@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py convert_to_gray
+@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java convert_to_gray
 @end_toggle
 
 @add_toggle_python
-@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java convert_to_gray
+@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py convert_to_gray
 @end_toggle
 
 #### Apply a Median blur to reduce noise and avoid false circle detection:
@@ -102,11 +102,11 @@ The image we used can be found [here](https://raw.githubusercontent.com/opencv/o
 @end_toggle
 
 @add_toggle_java
-@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py reduce_noise
+@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java reduce_noise
 @end_toggle
 
 @add_toggle_python
-@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java reduce_noise
+@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py reduce_noise
 @end_toggle
 
 #### Proceed to apply Hough Circle Transform:
@@ -116,11 +116,11 @@ The image we used can be found [here](https://raw.githubusercontent.com/opencv/o
 @end_toggle
 
 @add_toggle_java
-@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py houghcircles
+@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java houghcircles
 @end_toggle
 
 @add_toggle_python
-@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java houghcircles
+@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py houghcircles
 @end_toggle
 
 -   with the arguments:
@@ -144,11 +144,11 @@ The image we used can be found [here](https://raw.githubusercontent.com/opencv/o
 @end_toggle
 
 @add_toggle_java
-@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py draw
+@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java draw
 @end_toggle
 
 @add_toggle_python
-@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java draw
+@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py draw
 @end_toggle
 
 You can see that we will draw the circle(s) on red and the center(s) with a small green dot
@@ -160,11 +160,11 @@ You can see that we will draw the circle(s) on red and the center(s) with a smal
 @end_toggle
 
 @add_toggle_java
-@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py display
+@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java display
 @end_toggle
 
 @add_toggle_python
-@snippet samples/java/tutorial_code/ImgTrans/HoughCircle/HoughCircles.java display
+@snippet samples/python/tutorial_code/ImgTrans/HoughCircle/hough_circle.py display
 @end_toggle
 
 Result

doc/tutorials/imgproc/morph_lines_detection/morph_lines_detection.md

@@ -123,7 +123,7 @@ Get image from [here](https://raw.githubusercontent.com/opencv/opencv/3.4/doc/tu
 
 #### Output images
 
-Now we are ready to apply morphological operations in order to extract the horizontal and vertical lines and as a consequence to separate the the music notes from the music sheet, but first let's initialize the output images that we will use for that reason:
+Now we are ready to apply morphological operations in order to extract the horizontal and vertical lines and as a consequence to separate the music notes from the music sheet, but first let's initialize the output images that we will use for that reason:
 
 @add_toggle_cpp
 @snippet samples/cpp/tutorial_code/ImgProc/morph_lines_detection/Morphology_3.cpp init

doc/tutorials/imgproc/pyramids/pyramids.markdown

@@ -47,7 +47,7 @@ Theory
 -   To produce layer \f$(i+1)\f$ in the Gaussian pyramid, we do the following:
     -   Convolve \f$G_{i}\f$ with a Gaussian kernel:
 
-        \f[\frac{1}{16} \begin{bmatrix} 1 & 4 & 6 & 4 & 1  \\ 4 & 16 & 24 & 16 & 4  \\ 6 & 24 & 36 & 24 & 6  \\ 4 & 16 & 24 & 16 & 4  \\ 1 & 4 & 6 & 4 & 1 \end{bmatrix}\f]
+        \f[\frac{1}{256} \begin{bmatrix} 1 & 4 & 6 & 4 & 1  \\ 4 & 16 & 24 & 16 & 4  \\ 6 & 24 & 36 & 24 & 6  \\ 4 & 16 & 24 & 16 & 4  \\ 1 & 4 & 6 & 4 & 1 \end{bmatrix}\f]
 
     -   Remove every even-numbered row and column.
 

doc/tutorials/imgproc/random_generator_and_text/random_generator_and_text.markdown

@@ -23,7 +23,7 @@ Code
     to populate our image with a big number of geometric figures. Since we will be initializing them
     in a random fashion, this process will be automatic and made by using *loops* .
 -   This code is in your OpenCV sample folder. Otherwise you can grab it from
-    [here](http://code.opencv.org/projects/opencv/repository/revisions/master/raw/samples/cpp/tutorial_code/core/Matrix/Drawing_2.cpp)
+    [here](https://github.com/opencv/opencv/blob/3.4/samples/cpp/tutorial_code/ImgProc/basic_drawing/Drawing_2.cpp)
 
 Explanation
 -----------

doc/tutorials/introduction/cross_referencing/tutorial_cross_referencing.markdown

@@ -39,14 +39,14 @@ Open your Doxyfile using your favorite text editor and search for the key
 `TAGFILES`. Change it as follows:
 
 @code
-TAGFILES = ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.16
+TAGFILES = ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.18
 @endcode
 
 If you had other definitions already, you can append the line using a `\`:
 
 @code
 TAGFILES = ./docs/doxygen-tags/libstdc++.tag=https://gcc.gnu.org/onlinedocs/libstdc++/latest-doxygen \
-           ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.16
+           ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.18
 @endcode
 
 Doxygen can now use the information from the tag file to link to the OpenCV

doc/tutorials/introduction/windows_install/windows_install.markdown

@@ -360,7 +360,7 @@ libraries). If you do not need the support for some of these, you can just freel
 Set the OpenCV environment variable and add it to the systems path {#tutorial_windows_install_path}
 =================================================================
 
-First we set an environment variable to make easier our work. This will hold the build directory of
+First, we set an environment variable to make our work easier. This will hold the build directory of
 our OpenCV library that we use in our projects. Start up a command window and enter:
 @code
     setx -m OPENCV_DIR D:\OpenCV\Build\x86\vc11     (suggested for Visual Studio 2012 - 32 bit Windows)

doc/tutorials/video/optical_flow/optical_flow.markdown

@@ -136,9 +136,9 @@ Dense Optical Flow in OpenCV
 
 Lucas-Kanade method computes optical flow for a sparse feature set (in our example, corners detected
 using Shi-Tomasi algorithm). OpenCV provides another algorithm to find the dense optical flow. It
-computes the optical flow for all the points in the frame. It is based on Gunner Farneback's
+computes the optical flow for all the points in the frame. It is based on Gunnar Farneback's
 algorithm which is explained in "Two-Frame Motion Estimation Based on Polynomial Expansion" by
-Gunner Farneback in 2003.
+Gunnar Farneback in 2003.
 
 Below sample shows how to find the dense optical flow using above algorithm. We get a 2-channel
 array with optical flow vectors, \f$(u,v)\f$. We find their magnitude and direction. We color code the

modules/calib3d/doc/calib3d.bib

@@ -40,10 +40,11 @@
   publisher={IEEE}
 }
 
-@inproceedings{Terzakis20,
-  author = {Terzakis, George and Lourakis, Manolis},
-  year = {2020},
-  month = {09},
-  pages = {},
-  title = {A Consistently Fast and Globally Optimal Solution to the Perspective-n-Point Problem}
+@inproceedings{Terzakis2020SQPnP,
+  title={A Consistently Fast and Globally Optimal Solution to the Perspective-n-Point Problem},
+  author={George Terzakis and Manolis Lourakis},
+  booktitle={European Conference on Computer Vision},
+  pages={478--494},
+  year={2020},
+  publisher={Springer International Publishing}
 }

modules/calib3d/doc/solvePnP.markdown

@@ -0,0 +1,176 @@
+# Perspective-n-Point (PnP) pose computation {#calib3d_solvePnP}
+
+## Pose computation overview
+
+The pose computation problem @cite Marchand16 consists in solving for the rotation and translation that minimizes the reprojection error from 3D-2D point correspondences.
+
+The `solvePnP` and related functions estimate the object pose given a set of object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below (more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward and the Z-axis forward).
+
+![](pnp.jpg)
+
+Points expressed in the world frame \f$ \bf{X}_w \f$ are projected into the image plane \f$ \left[ u, v \right] \f$
+using the perspective projection model \f$ \Pi \f$ and the camera intrinsic parameters matrix \f$ \bf{A} \f$ (also denoted \f$ \bf{K} \f$ in the literature):
+
+\f[
+  \begin{align*}
+  \begin{bmatrix}
+  u \\
+  v \\
+  1
+  \end{bmatrix} &=
+  \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w
+  \begin{bmatrix}
+  X_{w} \\
+  Y_{w} \\
+  Z_{w} \\
+  1
+  \end{bmatrix} \\
+  \begin{bmatrix}
+  u \\
+  v \\
+  1
+  \end{bmatrix} &=
+  \begin{bmatrix}
+  f_x & 0 & c_x \\
+  0 & f_y & c_y \\
+  0 & 0 & 1
+  \end{bmatrix}
+  \begin{bmatrix}
+  1 & 0 & 0 & 0 \\
+  0 & 1 & 0 & 0 \\
+  0 & 0 & 1 & 0
+  \end{bmatrix}
+  \begin{bmatrix}
+  r_{11} & r_{12} & r_{13} & t_x \\
+  r_{21} & r_{22} & r_{23} & t_y \\
+  r_{31} & r_{32} & r_{33} & t_z \\
+  0 & 0 & 0 & 1
+  \end{bmatrix}
+  \begin{bmatrix}
+  X_{w} \\
+  Y_{w} \\
+  Z_{w} \\
+  1
+  \end{bmatrix}
+  \end{align*}
+\f]
+
+The estimated pose is thus the rotation (`rvec`) and the translation (`tvec`) vectors that allow transforming
+a 3D point expressed in the world frame into the camera frame:
+
+\f[
+  \begin{align*}
+  \begin{bmatrix}
+  X_c \\
+  Y_c \\
+  Z_c \\
+  1
+  \end{bmatrix} &=
+  \hspace{0.2em} ^{c}\bf{T}_w
+  \begin{bmatrix}
+  X_{w} \\
+  Y_{w} \\
+  Z_{w} \\
+  1
+  \end{bmatrix} \\
+  \begin{bmatrix}
+  X_c \\
+  Y_c \\
+  Z_c \\
+  1
+  \end{bmatrix} &=
+  \begin{bmatrix}
+  r_{11} & r_{12} & r_{13} & t_x \\
+  r_{21} & r_{22} & r_{23} & t_y \\
+  r_{31} & r_{32} & r_{33} & t_z \\
+  0 & 0 & 0 & 1
+  \end{bmatrix}
+  \begin{bmatrix}
+  X_{w} \\
+  Y_{w} \\
+  Z_{w} \\
+  1
+  \end{bmatrix}
+  \end{align*}
+\f]
+
+## Pose computation methods
+@anchor calib3d_solvePnP_flags
+
+Refer to the cv::SolvePnPMethod enum documentation for the list of possible values. Some details about each method are described below:
+
+-   cv::SOLVEPNP_ITERATIVE Iterative method is based on a Levenberg-Marquardt optimization. In
+this case the function finds such a pose that minimizes reprojection error, that is the sum
+of squared distances between the observed projections "imagePoints" and the projected (using
+cv::projectPoints ) "objectPoints". Initial solution for non-planar "objectPoints" needs at least 6 points and uses the DLT algorithm.
+Initial solution for planar "objectPoints" needs at least 4 points and uses pose from homography decomposition.
+-   cv::SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
+"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
+In this case the function requires exactly four object and image points.
+-   cv::SOLVEPNP_AP3P Method is based on the paper of T. Ke, S. Roumeliotis
+"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17).
+In this case the function requires exactly four object and image points.
+-   cv::SOLVEPNP_EPNP Method has been introduced by F. Moreno-Noguer, V. Lepetit and P. Fua in the
+paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp).
+-   cv::SOLVEPNP_DLS **Broken implementation. Using this flag will fallback to EPnP.** \n
+Method is based on the paper of J. Hesch and S. Roumeliotis.
+"A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct).
+-   cv::SOLVEPNP_UPNP **Broken implementation. Using this flag will fallback to EPnP.** \n
+Method is based on the paper of A. Penate-Sanchez, J. Andrade-Cetto,
+F. Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
+Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
+assuming that both have the same value. Then the cameraMatrix is updated with the estimated
+focal length.
+-   cv::SOLVEPNP_IPPE Method is based on the paper of T. Collins and A. Bartoli.
+"Infinitesimal Plane-Based Pose Estimation" (@cite Collins14). This method requires coplanar object points.
+-   cv::SOLVEPNP_IPPE_SQUARE Method is based on the paper of Toby Collins and Adrien Bartoli.
+"Infinitesimal Plane-Based Pose Estimation" (@cite Collins14). This method is suitable for marker pose estimation.
+It requires 4 coplanar object points defined in the following order:
+  - point 0: [-squareLength / 2,  squareLength / 2, 0]
+  - point 1: [ squareLength / 2,  squareLength / 2, 0]
+  - point 2: [ squareLength / 2, -squareLength / 2, 0]
+  - point 3: [-squareLength / 2, -squareLength / 2, 0]
+-   cv::SOLVEPNP_SQPNP Method is based on the paper "A Consistently Fast and Globally Optimal Solution to the
+Perspective-n-Point Problem" by G. Terzakis and M.Lourakis (@cite Terzakis2020SQPnP). It requires 3 or more points.
+
+## P3P
+
+The cv::solveP3P() computes an object pose from exactly 3 3D-2D point correspondences. A P3P problem has up to 4 solutions.
+
+@note The solutions are sorted by reprojection errors (lowest to highest).
+
+## PnP
+
+The cv::solvePnP() returns the rotation and the translation vectors that transform a 3D point expressed in the object
+coordinate frame to the camera coordinate frame, using different methods:
+- P3P methods (cv::SOLVEPNP_P3P, cv::SOLVEPNP_AP3P): need 4 input points to return a unique solution.
+- cv::SOLVEPNP_IPPE Input points must be >= 4 and object points must be coplanar.
+- cv::SOLVEPNP_IPPE_SQUARE Special case suitable for marker pose estimation.
+Number of input points must be 4. Object points must be defined in the following order:
+  - point 0: [-squareLength / 2,  squareLength / 2, 0]
+  - point 1: [ squareLength / 2,  squareLength / 2, 0]
+  - point 2: [ squareLength / 2, -squareLength / 2, 0]
+  - point 3: [-squareLength / 2, -squareLength / 2, 0]
+- for all the other flags, number of input points must be >= 4 and object points can be in any configuration.
+
+## Generic PnP
+
+The cv::solvePnPGeneric() allows retrieving all the possible solutions.
+
+Currently, only cv::SOLVEPNP_P3P, cv::SOLVEPNP_AP3P, cv::SOLVEPNP_IPPE, cv::SOLVEPNP_IPPE_SQUARE, cv::SOLVEPNP_SQPNP can return multiple solutions.
+
+## RANSAC PnP
+
+The cv::solvePnPRansac() computes the object pose wrt. the camera frame using a RANSAC scheme to deal with outliers.
+
+More information can be found in @cite Zuliani2014RANSACFD
+
+## Pose refinement
+
+Pose refinement consists in estimating the rotation and translation that minimizes the reprojection error using a non-linear minimization method and starting from an initial estimate of the solution. OpenCV proposes cv::solvePnPRefineLM() and cv::solvePnPRefineVVS() for this problem.
+
+cv::solvePnPRefineLM() uses a non-linear Levenberg-Marquardt minimization scheme @cite Madsen04 @cite Eade13 and the current implementation computes the rotation update as a perturbation and not on SO(3).
+
+cv::solvePnPRefineVVS() uses a Gauss-Newton non-linear minimization scheme @cite Marchand16 and with an update of the rotation part computed using the exponential map.
+
+@note at least three 3D-2D point correspondences are necessary.

modules/calib3d/include/opencv2/calib3d.hpp

@@ -429,6 +429,9 @@ R & t \\
     \f[u = f_x (x' + \alpha y') + c_x \\
     v = f_y y' + c_y\f]
 
+    Summary:
+    Generic camera model @cite Kannala2006 with perspective projection and without distortion correction
+
     @defgroup calib3d_c C API
 
   @}
@@ -447,7 +450,9 @@ enum { LMEDS  = 4, //!< least-median of squares algorithm
      };
 
 enum SolvePnPMethod {
-    SOLVEPNP_ITERATIVE   = 0,
+    SOLVEPNP_ITERATIVE   = 0, //!< Pose refinement using non-linear Levenberg-Marquardt minimization scheme @cite Madsen04 @cite Eade13 \n
+                              //!< Initial solution for non-planar "objectPoints" needs at least 6 points and uses the DLT algorithm. \n
+                              //!< Initial solution for planar "objectPoints" needs at least 4 points and uses pose from homography decomposition.
     SOLVEPNP_EPNP        = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp
     SOLVEPNP_P3P         = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
     SOLVEPNP_DLS         = 3, //!< **Broken implementation. Using this flag will fallback to EPnP.** \n
@@ -464,7 +469,7 @@ enum SolvePnPMethod {
                               //!<   - point 1: [ squareLength / 2,  squareLength / 2, 0]
                               //!<   - point 2: [ squareLength / 2, -squareLength / 2, 0]
                               //!<   - point 3: [-squareLength / 2, -squareLength / 2, 0]
-    SOLVEPNP_SQPNP       = 8, //!< SQPnP: A Consistently Fast and Globally OptimalSolution to the Perspective-n-Point Problem @cite Terzakis20
+    SOLVEPNP_SQPNP       = 8, //!< SQPnP: A Consistently Fast and Globally OptimalSolution to the Perspective-n-Point Problem @cite Terzakis2020SQPnP
 #ifndef CV_DOXYGEN
     SOLVEPNP_MAX_COUNT        //!< Used for count
 #endif
@@ -779,6 +784,9 @@ Check @ref tutorial_homography "the corresponding tutorial" for more details
 */
 
 /** @brief Finds an object pose from 3D-2D point correspondences.
+
+@see @ref calib3d_solvePnP
+
 This function returns the rotation and the translation vectors that transform a 3D point expressed in the object
 coordinate frame to the camera coordinate frame, using different methods:
 - P3P methods (@ref SOLVEPNP_P3P, @ref SOLVEPNP_AP3P): need 4 input points to return a unique solution.
@@ -805,133 +813,9 @@ the model coordinate system to the camera coordinate system.
 @param useExtrinsicGuess Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
 the provided rvec and tvec values as initial approximations of the rotation and translation
 vectors, respectively, and further optimizes them.
-@param flags Method for solving a PnP problem:
--   @ref SOLVEPNP_ITERATIVE Iterative method is based on a Levenberg-Marquardt optimization. In
-this case the function finds such a pose that minimizes reprojection error, that is the sum
-of squared distances between the observed projections imagePoints and the projected (using
-@ref projectPoints ) objectPoints .
--   @ref SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
-"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
-In this case the function requires exactly four object and image points.
--   @ref SOLVEPNP_AP3P Method is based on the paper of T. Ke, S. Roumeliotis
-"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17).
-In this case the function requires exactly four object and image points.
--   @ref SOLVEPNP_EPNP Method has been introduced by F. Moreno-Noguer, V. Lepetit and P. Fua in the
-paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp).
--   @ref SOLVEPNP_DLS **Broken implementation. Using this flag will fallback to EPnP.** \n
-Method is based on the paper of J. Hesch and S. Roumeliotis.
-"A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct).
--   @ref SOLVEPNP_UPNP **Broken implementation. Using this flag will fallback to EPnP.** \n
-Method is based on the paper of A. Penate-Sanchez, J. Andrade-Cetto,
-F. Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
-Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
-assuming that both have the same value. Then the cameraMatrix is updated with the estimated
-focal length.
--   @ref SOLVEPNP_IPPE Method is based on the paper of T. Collins and A. Bartoli.
-"Infinitesimal Plane-Based Pose Estimation" (@cite Collins14). This method requires coplanar object points.
--   @ref SOLVEPNP_IPPE_SQUARE Method is based on the paper of Toby Collins and Adrien Bartoli.
-"Infinitesimal Plane-Based Pose Estimation" (@cite Collins14). This method is suitable for marker pose estimation.
-It requires 4 coplanar object points defined in the following order:
-  - point 0: [-squareLength / 2,  squareLength / 2, 0]
-  - point 1: [ squareLength / 2,  squareLength / 2, 0]
-  - point 2: [ squareLength / 2, -squareLength / 2, 0]
-  - point 3: [-squareLength / 2, -squareLength / 2, 0]
--   @ref SOLVEPNP_SQPNP Method is based on the paper "A Consistently Fast and Globally Optimal Solution to the
-Perspective-n-Point Problem" by G. Terzakis and M.Lourakis (@cite Terzakis20). It requires 3 or more points.
+@param flags Method for solving a PnP problem: see @ref calib3d_solvePnP_flags
 
-
-The function estimates the object pose given a set of object points, their corresponding image
-projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below
-(more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward
-and the Z-axis forward).
-
-![](pnp.jpg)
-
-Points expressed in the world frame \f$ \bf{X}_w \f$ are projected into the image plane \f$ \left[ u, v \right] \f$
-using the perspective projection model \f$ \Pi \f$ and the camera intrinsic parameters matrix \f$ \bf{A} \f$:
-
-\f[
-  \begin{align*}
-  \begin{bmatrix}
-  u \\
-  v \\
-  1
-  \end{bmatrix} &=
-  \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix} \\
-  \begin{bmatrix}
-  u \\
-  v \\
-  1
-  \end{bmatrix} &=
-  \begin{bmatrix}
-  f_x & 0 & c_x \\
-  0 & f_y & c_y \\
-  0 & 0 & 1
-  \end{bmatrix}
-  \begin{bmatrix}
-  1 & 0 & 0 & 0 \\
-  0 & 1 & 0 & 0 \\
-  0 & 0 & 1 & 0
-  \end{bmatrix}
-  \begin{bmatrix}
-  r_{11} & r_{12} & r_{13} & t_x \\
-  r_{21} & r_{22} & r_{23} & t_y \\
-  r_{31} & r_{32} & r_{33} & t_z \\
-  0 & 0 & 0 & 1
-  \end{bmatrix}
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix}
-  \end{align*}
-\f]
-
-The estimated pose is thus the rotation (`rvec`) and the translation (`tvec`) vectors that allow transforming
-a 3D point expressed in the world frame into the camera frame:
-
-\f[
-  \begin{align*}
-  \begin{bmatrix}
-  X_c \\
-  Y_c \\
-  Z_c \\
-  1
-  \end{bmatrix} &=
-  \hspace{0.2em} ^{c}\bf{T}_w
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix} \\
-  \begin{bmatrix}
-  X_c \\
-  Y_c \\
-  Z_c \\
-  1
-  \end{bmatrix} &=
-  \begin{bmatrix}
-  r_{11} & r_{12} & r_{13} & t_x \\
-  r_{21} & r_{22} & r_{23} & t_y \\
-  r_{31} & r_{32} & r_{33} & t_z \\
-  0 & 0 & 0 & 1
-  \end{bmatrix}
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix}
-  \end{align*}
-\f]
+More information about Perspective-n-Points is described in @ref calib3d_solvePnP
 
 @note
    -   An example of how to use solvePnP for planar augmented reality can be found at
@@ -971,6 +855,8 @@ CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
 
 /** @brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
+@see @ref calib3d_solvePnP
+
 @param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or
 1xN/Nx1 3-channel, where N is the number of points. vector\<Point3d\> can be also passed here.
 @param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
@@ -1019,6 +905,8 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
 
 /** @brief Finds an object pose from 3 3D-2D point correspondences.
 
+@see @ref calib3d_solvePnP
+
 @param objectPoints Array of object points in the object coordinate space, 3x3 1-channel or
 1x3/3x1 3-channel. vector\<Point3f\> can be also passed here.
 @param imagePoints Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel.
@@ -1050,6 +938,8 @@ CV_EXPORTS_W int solveP3P( InputArray objectPoints, InputArray imagePoints,
 /** @brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
 to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
 
+@see @ref calib3d_solvePnP
+
 @param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
 where N is the number of points. vector\<Point3d\> can also be passed here.
 @param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
@@ -1077,6 +967,8 @@ CV_EXPORTS_W void solvePnPRefineLM( InputArray objectPoints, InputArray imagePoi
 /** @brief Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame
 to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.
 
+@see @ref calib3d_solvePnP
+
 @param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel,
 where N is the number of points. vector\<Point3d\> can also be passed here.
 @param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
@@ -1105,6 +997,9 @@ CV_EXPORTS_W void solvePnPRefineVVS( InputArray objectPoints, InputArray imagePo
                                      double VVSlambda = 1);
 
 /** @brief Finds an object pose from 3D-2D point correspondences.
+
+@see @ref calib3d_solvePnP
+
 This function returns a list of all the possible solutions (a solution is a <rotation vector, translation vector>
 couple), depending on the number of input points and the chosen method:
 - P3P methods (@ref SOLVEPNP_P3P, @ref SOLVEPNP_AP3P): 3 or 4 input points. Number of returned solutions can be between 0 and 4 with 3 input points.
@@ -1132,37 +1027,7 @@ the model coordinate system to the camera coordinate system.
 @param useExtrinsicGuess Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
 the provided rvec and tvec values as initial approximations of the rotation and translation
 vectors, respectively, and further optimizes them.
-@param flags Method for solving a PnP problem:
--   @ref SOLVEPNP_ITERATIVE Iterative method is based on a Levenberg-Marquardt optimization. In
-this case the function finds such a pose that minimizes reprojection error, that is the sum
-of squared distances between the observed projections imagePoints and the projected (using
-projectPoints ) objectPoints .
--   @ref SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
-"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
-In this case the function requires exactly four object and image points.
--   @ref SOLVEPNP_AP3P Method is based on the paper of T. Ke, S. Roumeliotis
-"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17).
-In this case the function requires exactly four object and image points.
--   @ref SOLVEPNP_EPNP Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the
-paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp).
--   @ref SOLVEPNP_DLS **Broken implementation. Using this flag will fallback to EPnP.** \n
-Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis.
-"A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct).
--   @ref SOLVEPNP_UPNP **Broken implementation. Using this flag will fallback to EPnP.** \n
-Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto,
-F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
-Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
-assuming that both have the same value. Then the cameraMatrix is updated with the estimated
-focal length.
--   @ref SOLVEPNP_IPPE Method is based on the paper of T. Collins and A. Bartoli.
-"Infinitesimal Plane-Based Pose Estimation" (@cite Collins14). This method requires coplanar object points.
--   @ref SOLVEPNP_IPPE_SQUARE Method is based on the paper of Toby Collins and Adrien Bartoli.
-"Infinitesimal Plane-Based Pose Estimation" (@cite Collins14). This method is suitable for marker pose estimation.
-It requires 4 coplanar object points defined in the following order:
-  - point 0: [-squareLength / 2,  squareLength / 2, 0]
-  - point 1: [ squareLength / 2,  squareLength / 2, 0]
-  - point 2: [ squareLength / 2, -squareLength / 2, 0]
-  - point 3: [-squareLength / 2, -squareLength / 2, 0]
+@param flags Method for solving a PnP problem: see @ref calib3d_solvePnP_flags
 @param rvec Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is @ref SOLVEPNP_ITERATIVE
 and useExtrinsicGuess is set to true.
 @param tvec Translation vector used to initialize an iterative PnP refinement algorithm, when flag is @ref SOLVEPNP_ITERATIVE
@@ -1171,98 +1036,7 @@ and useExtrinsicGuess is set to true.
 (\f$ \text{RMSE} = \sqrt{\frac{\sum_{i}^{N} \left ( \hat{y_i} - y_i \right )^2}{N}} \f$) between the input image points
 and the 3D object points projected with the estimated pose.
 
-The function estimates the object pose given a set of object points, their corresponding image
-projections, as well as the camera intrinsic matrix and the distortion coefficients, see the figure below
-(more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward
-and the Z-axis forward).
-
-![](pnp.jpg)
-
-Points expressed in the world frame \f$ \bf{X}_w \f$ are projected into the image plane \f$ \left[ u, v \right] \f$
-using the perspective projection model \f$ \Pi \f$ and the camera intrinsic parameters matrix \f$ \bf{A} \f$:
-
-\f[
-  \begin{align*}
-  \begin{bmatrix}
-  u \\
-  v \\
-  1
-  \end{bmatrix} &=
-  \bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{T}_w
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix} \\
-  \begin{bmatrix}
-  u \\
-  v \\
-  1
-  \end{bmatrix} &=
-  \begin{bmatrix}
-  f_x & 0 & c_x \\
-  0 & f_y & c_y \\
-  0 & 0 & 1
-  \end{bmatrix}
-  \begin{bmatrix}
-  1 & 0 & 0 & 0 \\
-  0 & 1 & 0 & 0 \\
-  0 & 0 & 1 & 0
-  \end{bmatrix}
-  \begin{bmatrix}
-  r_{11} & r_{12} & r_{13} & t_x \\
-  r_{21} & r_{22} & r_{23} & t_y \\
-  r_{31} & r_{32} & r_{33} & t_z \\
-  0 & 0 & 0 & 1
-  \end{bmatrix}
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix}
-  \end{align*}
-\f]
-
-The estimated pose is thus the rotation (`rvec`) and the translation (`tvec`) vectors that allow transforming
-a 3D point expressed in the world frame into the camera frame:
-
-\f[
-  \begin{align*}
-  \begin{bmatrix}
-  X_c \\
-  Y_c \\
-  Z_c \\
-  1
-  \end{bmatrix} &=
-  \hspace{0.2em} ^{c}\bf{T}_w
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix} \\
-  \begin{bmatrix}
-  X_c \\
-  Y_c \\
-  Z_c \\
-  1
-  \end{bmatrix} &=
-  \begin{bmatrix}
-  r_{11} & r_{12} & r_{13} & t_x \\
-  r_{21} & r_{22} & r_{23} & t_y \\
-  r_{31} & r_{32} & r_{33} & t_z \\
-  0 & 0 & 0 & 1
-  \end{bmatrix}
-  \begin{bmatrix}
-  X_{w} \\
-  Y_{w} \\
-  Z_{w} \\
-  1
-  \end{bmatrix}
-  \end{align*}
-\f]
+More information is described in @ref calib3d_solvePnP
 
 @note
    -   An example of how to use solvePnP for planar augmented reality can be found at
@@ -3150,7 +2924,7 @@ namespace fisheye
     CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
         OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
 
-    /** @brief Performs camera calibaration
+    /** @brief Performs camera calibration
 
     @param objectPoints vector of vectors of calibration pattern points in the calibration pattern
     coordinate space.

modules/calib3d/src/calibration.cpp

@@ -1737,7 +1737,7 @@ void cvCalibrationMatrixValues( const CvMat *calibMatr, CvSize imgSize,
         CV_Error(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
 
     if(!CV_IS_MAT(calibMatr))
-        CV_Error(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
+        CV_Error(CV_StsUnsupportedFormat, "Input parameters must be matrices!");
 
     double dummy = .0;
     Point2d pp;
@@ -2125,7 +2125,7 @@ static double cvStereoCalibrateImpl( const CvMat* _objectPoints, const CvMat* _i
                 if( solver.state == CvLevMarq::CALC_J )
                 {
                     int iofs = (nimages+1)*6 + k*NINTRINSIC, eofs = (i+1)*6;
-                    assert( JtJ && JtErr );
+                    CV_Assert( JtJ && JtErr );
 
                     Mat _JtJ(cvarrToMat(JtJ)), _JtErr(cvarrToMat(JtErr));
 
@@ -2929,7 +2929,7 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
     CvMat Qx = cvMat(3, 3, CV_64F, _Qx);
 
     cvMatMul(&M, &Qx, &R);
-    assert(fabs(matR[2][1]) < FLT_EPSILON);
+    CV_DbgAssert(fabs(matR[2][1]) < FLT_EPSILON);
     matR[2][1] = 0;
 
     /* Find Givens rotation for y axis. */
@@ -2948,7 +2948,7 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
     CvMat Qy = cvMat(3, 3, CV_64F, _Qy);
     cvMatMul(&R, &Qy, &M);
 
-    assert(fabs(matM[2][0]) < FLT_EPSILON);
+    CV_DbgAssert(fabs(matM[2][0]) < FLT_EPSILON);
     matM[2][0] = 0;
 
     /* Find Givens rotation for z axis. */
@@ -2968,7 +2968,7 @@ cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
     CvMat Qz = cvMat(3, 3, CV_64F, _Qz);
 
     cvMatMul(&M, &Qz, &R);
-    assert(fabs(matR[1][0]) < FLT_EPSILON);
+    CV_DbgAssert(fabs(matR[1][0]) < FLT_EPSILON);
     matR[1][0] = 0;
 
     // Solve the decomposition ambiguity.
@@ -3078,7 +3078,7 @@ cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
         CV_Error(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
 
     if(!CV_IS_MAT(projMatr) || !CV_IS_MAT(calibMatr) || !CV_IS_MAT(rotMatr) || !CV_IS_MAT(posVect))
-        CV_Error(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
+        CV_Error(CV_StsUnsupportedFormat, "Input parameters must be matrices!");
 
     if(projMatr->cols != 4 || projMatr->rows != 3)
         CV_Error(CV_StsUnmatchedSizes, "Size of projection matrix must be 3x4!");

modules/calib3d/src/compat_ptsetreg.cpp

@@ -121,7 +121,7 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
 {
     matJ = _err = 0;
 
-    assert( !err.empty() );
+    CV_Assert( !err.empty() );
     if( state == DONE )
     {
         _param = param;
@@ -154,7 +154,7 @@ bool CvLevMarq::update( const CvMat*& _param, CvMat*& matJ, CvMat*& _err )
         return true;
     }
 
-    assert( state == CHECK_ERR );
+    CV_Assert( state == CHECK_ERR );
     errNorm = cvNorm( err, 0, CV_L2 );
     if( errNorm > prevErrNorm )
     {
@@ -222,7 +222,7 @@ bool CvLevMarq::updateAlt( const CvMat*& _param, CvMat*& _JtJ, CvMat*& _JtErr, d
         return true;
     }
 
-    assert( state == CHECK_ERR );
+    CV_Assert( state == CHECK_ERR );
     if( errNorm > prevErrNorm )
     {
         if( ++lambdaLg10 <= 16 )

modules/calib3d/src/dls.cpp

@@ -21,15 +21,15 @@
 #  include "opencv2/core/eigen.hpp"
 #endif
 
-using namespace std;
+namespace cv {
 
-dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
+dls::dls(const Mat& opoints, const Mat& ipoints)
 {
 
-    N =  std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
-    p = cv::Mat(3, N, CV_64F);
-    z = cv::Mat(3, N, CV_64F);
-    mn = cv::Mat::zeros(3, 1, CV_64F);
+    N = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
+    p = Mat(3, N, CV_64F);
+    z = Mat(3, N, CV_64F);
+    mn = Mat::zeros(3, 1, CV_64F);
 
     cost__ = 9999;
 
@@ -40,14 +40,14 @@ dls::dls(const cv::Mat& opoints, const cv::Mat& ipoints)
     if (opoints.depth() == ipoints.depth())
     {
         if (opoints.depth() == CV_32F)
-            init_points<cv::Point3f, cv::Point2f>(opoints, ipoints);
+            init_points<Point3f, Point2f>(opoints, ipoints);
         else
-            init_points<cv::Point3d, cv::Point2d>(opoints, ipoints);
+            init_points<Point3d, Point2d>(opoints, ipoints);
     }
     else if (opoints.depth() == CV_32F)
-        init_points<cv::Point3f, cv::Point2d>(opoints, ipoints);
+        init_points<Point3f, Point2d>(opoints, ipoints);
     else
-        init_points<cv::Point3d, cv::Point2f>(opoints, ipoints);
+        init_points<Point3d, Point2f>(opoints, ipoints);
 }
 
 dls::~dls()
@@ -55,10 +55,10 @@ dls::~dls()
   // TODO Auto-generated destructor stub
 }
 
-bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
+bool dls::compute_pose(Mat& R, Mat& t)
 {
 
-    std::vector<cv::Mat> R_;
+    std::vector<Mat> R_;
     R_.push_back(rotx(CV_PI/2));
     R_.push_back(roty(CV_PI/2));
     R_.push_back(rotz(CV_PI/2));
@@ -67,7 +67,7 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
     for (int i = 0; i < 3; ++i)
     {
         // Make a random rotation
-        cv::Mat pp = R_[i] * ( p - cv::repeat(mn, 1, p.cols) );
+        Mat pp = R_[i] * ( p - repeat(mn, 1, p.cols) );
 
         // clear for new data
         C_est_.clear();
@@ -99,13 +99,13 @@ bool dls::compute_pose(cv::Mat& R, cv::Mat& t)
     return false;
 }
 
-void dls::run_kernel(const cv::Mat& pp)
+void dls::run_kernel(const Mat& pp)
 {
-    cv::Mat Mtilde(27, 27, CV_64F);
-    cv::Mat D = cv::Mat::zeros(9, 9, CV_64F);
+    Mat Mtilde(27, 27, CV_64F);
+    Mat D = Mat::zeros(9, 9, CV_64F);
     build_coeff_matrix(pp, Mtilde, D);
 
-    cv::Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
+    Mat eigenval_r, eigenval_i, eigenvec_r, eigenvec_i;
     compute_eigenvec(Mtilde, eigenval_r, eigenval_i, eigenvec_r, eigenvec_i);
 
     /*
@@ -115,16 +115,16 @@ void dls::run_kernel(const cv::Mat& pp)
     // extract the optimal solutions from the eigen decomposition of the
     // Multiplication matrix
 
-    cv::Mat sols = cv::Mat::zeros(3, 27, CV_64F);
+    Mat sols = Mat::zeros(3, 27, CV_64F);
     std::vector<double> cost;
     int count = 0;
     for (int k = 0; k < 27; ++k)
     {
         //  V(:,k) = V(:,k)/V(1,k);
-        cv::Mat V_kA = eigenvec_r.col(k); // 27x1
-        cv::Mat V_kB = cv::Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
-        cv::Mat V_k; cv::solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
-        cv::Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
+        Mat V_kA = eigenvec_r.col(k); // 27x1
+        Mat V_kB = Mat(1, 1, z.depth(), V_kA.at<double>(0)); // 1x1
+        Mat V_k; solve(V_kB.t(), V_kA.t(), V_k); // A/B = B'\A'
+        Mat( V_k.t()).copyTo( eigenvec_r.col(k) );
 
         //if (imag(V(2,k)) == 0)
 #ifdef HAVE_EIGEN
@@ -138,24 +138,24 @@ void dls::run_kernel(const cv::Mat& pp)
             stmp[1] = eigenvec_r.at<double>(3, k);
             stmp[2] = eigenvec_r.at<double>(1, k);
 
-            cv::Mat H = Hessian(stmp);
+            Mat H = Hessian(stmp);
 
-            cv::Mat eigenvalues, eigenvectors;
-            cv::eigen(H, eigenvalues, eigenvectors);
+            Mat eigenvalues, eigenvectors;
+            eigen(H, eigenvalues, eigenvectors);
 
             if(positive_eigenvalues(&eigenvalues))
             {
 
                 // sols(:,i) = stmp;
-                cv::Mat stmp_mat(3, 1, CV_64F, &stmp);
+                Mat stmp_mat(3, 1, CV_64F, &stmp);
 
                 stmp_mat.copyTo( sols.col(count) );
 
-                cv::Mat Cbar = cayley2rotbar(stmp_mat);
-                cv::Mat Cbarvec = Cbar.reshape(1,1).t();
+                Mat Cbar = cayley2rotbar(stmp_mat);
+                Mat Cbarvec = Cbar.reshape(1,1).t();
 
                 // cost(i) = CbarVec' * D * CbarVec;
-                cv::Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
+                Mat cost_mat =  Cbarvec.t() * D * Cbarvec;
                 cost.push_back( cost_mat.at<double>(0) );
 
                 count++;
@@ -166,30 +166,30 @@ void dls::run_kernel(const cv::Mat& pp)
     // extract solutions
     sols = sols.clone().colRange(0, count);
 
-    std::vector<cv::Mat> C_est, t_est;
+    std::vector<Mat> C_est, t_est;
     for (int j = 0; j < sols.cols; ++j)
     {
         // recover the optimal orientation
         // C_est(:,:,j) = 1/(1 + sols(:,j)' * sols(:,j)) * cayley2rotbar(sols(:,j));
 
-        cv::Mat sols_j = sols.col(j);
-        double sols_mult = 1./(1.+cv::Mat( sols_j.t() * sols_j ).at<double>(0));
-        cv::Mat C_est_j = cayley2rotbar(sols_j).mul(sols_mult);
+        Mat sols_j = sols.col(j);
+        double sols_mult = 1./(1.+Mat( sols_j.t() * sols_j ).at<double>(0));
+        Mat C_est_j = cayley2rotbar(sols_j).mul(sols_mult);
         C_est.push_back( C_est_j );
 
-        cv::Mat A2 = cv::Mat::zeros(3, 3, CV_64F);
-        cv::Mat b2 = cv::Mat::zeros(3, 1, CV_64F);
+        Mat A2 = Mat::zeros(3, 3, CV_64F);
+        Mat b2 = Mat::zeros(3, 1, CV_64F);
         for (int i = 0; i < N; ++i)
         {
-            cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
-            cv::Mat z_mul = z.col(i)*z.col(i).t();
+            Mat eye = Mat::eye(3, 3, CV_64F);
+            Mat z_mul = z.col(i)*z.col(i).t();
 
             A2 += eye - z_mul;
             b2 += (z_mul - eye) * C_est_j * pp.col(i);
         }
 
         // recover the optimal translation
-        cv::Mat X2; cv::solve(A2, b2, X2); // A\B
+        Mat X2; solve(A2, b2, X2); // A\B
         t_est.push_back(X2);
 
     }
@@ -197,12 +197,12 @@ void dls::run_kernel(const cv::Mat& pp)
     // check that the points are infront of the center of perspectivity
     for (int k = 0; k < sols.cols; ++k)
     {
-        cv::Mat cam_points = C_est[k] * pp + cv::repeat(t_est[k], 1, pp.cols);
-        cv::Mat cam_points_k = cam_points.row(2);
+        Mat cam_points = C_est[k] * pp + repeat(t_est[k], 1, pp.cols);
+        Mat cam_points_k = cam_points.row(2);
 
         if(is_empty(&cam_points_k))
         {
-            cv::Mat C_valid = C_est[k], t_valid = t_est[k];
+            Mat C_valid = C_est[k], t_valid = t_est[k];
             double cost_valid = cost[k];
 
             C_est_.push_back(C_valid);
@@ -213,20 +213,20 @@ void dls::run_kernel(const cv::Mat& pp)
 
 }
 
-void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
+void dls::build_coeff_matrix(const Mat& pp, Mat& Mtilde, Mat& D)
 {
     CV_Assert(!pp.empty() && N > 0);
-    cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+    Mat eye = Mat::eye(3, 3, CV_64F);
 
     // build coeff matrix
     // An intermediate matrix, the inverse of what is called "H" in the paper
     // (see eq. 25)
 
-    cv::Mat H = cv::Mat::zeros(3, 3, CV_64F);
-    cv::Mat A = cv::Mat::zeros(3, 9, CV_64F);
-    cv::Mat pp_i(3, 1, CV_64F);
+    Mat H = Mat::zeros(3, 3, CV_64F);
+    Mat A = Mat::zeros(3, 9, CV_64F);
+    Mat pp_i(3, 1, CV_64F);
 
-    cv::Mat z_i(3, 1, CV_64F);
+    Mat z_i(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
         z.col(i).copyTo(z_i);
@@ -236,10 +236,10 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
     H = eye.mul(N) - z * z.t();
 
     // A\B
-    cv::solve(H, A, A, cv::DECOMP_NORMAL);
+    solve(H, A, A, DECOMP_NORMAL);
     H.release();
 
-    cv::Mat ppi_A(3, 1, CV_64F);
+    Mat ppi_A(3, 1, CV_64F);
     for (int i = 0; i < N; ++i)
     {
         z.col(i).copyTo(z_i);
@@ -253,18 +253,18 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 
     // generate random samples
     std::vector<double> u(5);
-    cv::randn(u, 0, 200);
+    randn(u, 0, 200);
 
-    cv::Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
+    Mat M2 = cayley_LS_M(f1coeff, f2coeff, f3coeff, u);
 
-    cv::Mat M2_1 = M2(cv::Range(0,27), cv::Range(0,27));
-    cv::Mat M2_2 = M2(cv::Range(0,27), cv::Range(27,120));
-    cv::Mat M2_3 = M2(cv::Range(27,120), cv::Range(27,120));
-    cv::Mat M2_4 = M2(cv::Range(27,120), cv::Range(0,27));
+    Mat M2_1 = M2(Range(0,27), Range(0,27));
+    Mat M2_2 = M2(Range(0,27), Range(27,120));
+    Mat M2_3 = M2(Range(27,120), Range(27,120));
+    Mat M2_4 = M2(Range(27,120), Range(0,27));
     M2.release();
 
     // A/B = B'\A'
-    cv::Mat M2_5; cv::solve(M2_3.t(), M2_2.t(), M2_5);
+    Mat M2_5; solve(M2_3.t(), M2_2.t(), M2_5);
     M2_2.release(); M2_3.release();
 
     // construct the multiplication matrix via schur compliment of the Macaulay
@@ -273,13 +273,13 @@ void dls::build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D)
 
 }
 
-void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
-                                                  cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag)
+void dls::compute_eigenvec(const Mat& Mtilde, Mat& eigenval_real, Mat& eigenval_imag,
+                                              Mat& eigenvec_real, Mat& eigenvec_imag)
 {
 #ifdef HAVE_EIGEN
     Eigen::MatrixXd Mtilde_eig, zeros_eig;
-    cv::cv2eigen(Mtilde, Mtilde_eig);
-    cv::cv2eigen(cv::Mat::zeros(27, 27, CV_64F), zeros_eig);
+    cv2eigen(Mtilde, Mtilde_eig);
+    cv2eigen(Mat::zeros(27, 27, CV_64F), zeros_eig);
 
     Eigen::MatrixXcd Mtilde_eig_cmplx(27, 27);
     Mtilde_eig_cmplx.real() = Mtilde_eig;
@@ -293,20 +293,20 @@ void dls::compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Ma
     Eigen::MatrixXd eigvec_real = ces.eigenvectors().real();
     Eigen::MatrixXd eigvec_imag = ces.eigenvectors().imag();
 
-    cv::eigen2cv(eigval_real, eigenval_real);
-    cv::eigen2cv(eigval_imag, eigenval_imag);
-    cv::eigen2cv(eigvec_real, eigenvec_real);
-    cv::eigen2cv(eigvec_imag, eigenvec_imag);
+    eigen2cv(eigval_real, eigenval_real);
+    eigen2cv(eigval_imag, eigenval_imag);
+    eigen2cv(eigvec_real, eigenvec_real);
+    eigen2cv(eigvec_imag, eigenvec_imag);
 #else
     EigenvalueDecomposition es(Mtilde);
     eigenval_real = es.eigenvalues();
     eigenvec_real = es.eigenvectors();
-    eigenval_imag = eigenvec_imag = cv::Mat();
+    eigenval_imag = eigenvec_imag = Mat();
 #endif
 
 }
 
-void dls::fill_coeff(const cv::Mat * D_mat)
+void dls::fill_coeff(const Mat * D_mat)
 {
     // TODO: shift D and coefficients one position to left
 
@@ -394,9 +394,9 @@ void dls::fill_coeff(const cv::Mat * D_mat)
 
 }
 
-cv::Mat dls::LeftMultVec(const cv::Mat& v)
+Mat dls::LeftMultVec(const Mat& v)
 {
-    cv::Mat mat_ = cv::Mat::zeros(3, 9, CV_64F);
+    Mat mat_ = Mat::zeros(3, 9, CV_64F);
 
     for (int i = 0; i < 3; ++i)
     {
@@ -407,12 +407,12 @@ cv::Mat dls::LeftMultVec(const cv::Mat& v)
     return mat_;
 }
 
-cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
+Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u)
 {
     // TODO: input matrix pointer
     // TODO: shift coefficients one position to left
 
-    cv::Mat M = cv::Mat::zeros(120, 120, CV_64F);
+    Mat M = Mat::zeros(120, 120, CV_64F);
 
     M.at<double>(0,0)=u[1]; M.at<double>(0,35)=a[1]; M.at<double>(0,83)=b[1]; M.at<double>(0,118)=c[1];
     M.at<double>(1,0)=u[4]; M.at<double>(1,1)=u[1]; M.at<double>(1,34)=a[1]; M.at<double>(1,35)=a[10]; M.at<double>(1,54)=b[1]; M.at<double>(1,83)=b[10]; M.at<double>(1,99)=c[1]; M.at<double>(1,118)=c[10];
@@ -538,7 +538,7 @@ cv::Mat dls::cayley_LS_M(const std::vector<double>& a, const std::vector<double>
     return M.t();
 }
 
-cv::Mat dls::Hessian(const double s[])
+Mat dls::Hessian(const double s[])
 {
     // the vector of monomials is
     // m = [ const ; s1^2 * s2 ; s1 * s2 ; s1 * s3 ; s2 * s3 ; s2^2 * s3 ; s2^3 ; ...
@@ -577,73 +577,73 @@ cv::Mat dls::Hessian(const double s[])
     Hs3[14]=0; Hs3[15]=3*s[2]*s[2]; Hs3[16]=s[0]*s[1]; Hs3[17]=0; Hs3[18]=s[0]*s[0]; Hs3[19]=0;
 
     // fill Hessian matrix
-    cv::Mat H(3, 3, CV_64F);
-    H.at<double>(0,0) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
-    H.at<double>(0,1) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
-    H.at<double>(0,2) = cv::Mat(cv::Mat(f1coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
+    Mat H(3, 3, CV_64F);
+    H.at<double>(0,0) = Mat(Mat(f1coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+    H.at<double>(0,1) = Mat(Mat(f1coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+    H.at<double>(0,2) = Mat(Mat(f1coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-    H.at<double>(1,0) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
-    H.at<double>(1,1) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
-    H.at<double>(1,2) = cv::Mat(cv::Mat(f2coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
+    H.at<double>(1,0) = Mat(Mat(f2coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+    H.at<double>(1,1) = Mat(Mat(f2coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+    H.at<double>(1,2) = Mat(Mat(f2coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
-    H.at<double>(2,0) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
-    H.at<double>(2,1) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
-    H.at<double>(2,2) = cv::Mat(cv::Mat(f3coeff).rowRange(1,21).t()*cv::Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
+    H.at<double>(2,0) = Mat(Mat(f3coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs1)).at<double>(0,0);
+    H.at<double>(2,1) = Mat(Mat(f3coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs2)).at<double>(0,0);
+    H.at<double>(2,2) = Mat(Mat(f3coeff).rowRange(1,21).t()*Mat(20, 1, CV_64F, &Hs3)).at<double>(0,0);
 
     return H;
 }
 
-cv::Mat dls::cayley2rotbar(const cv::Mat& s)
+Mat dls::cayley2rotbar(const Mat& s)
 {
-    double s_mul1 = cv::Mat(s.t()*s).at<double>(0,0);
-    cv::Mat s_mul2 = s*s.t();
-    cv::Mat eye = cv::Mat::eye(3, 3, CV_64F);
+    double s_mul1 = Mat(s.t()*s).at<double>(0,0);
+    Mat s_mul2 = s*s.t();
+    Mat eye = Mat::eye(3, 3, CV_64F);
 
-    return cv::Mat( eye.mul(1.-s_mul1) + skewsymm(&s).mul(2.) + s_mul2.mul(2.) ).t();
+    return Mat( eye.mul(1.-s_mul1) + skewsymm(&s).mul(2.) + s_mul2.mul(2.) ).t();
 }
 
-cv::Mat dls::skewsymm(const cv::Mat * X1)
+Mat dls::skewsymm(const Mat * X1)
 {
-    cv::MatConstIterator_<double> it = X1->begin<double>();
-    return (cv::Mat_<double>(3,3) <<        0, -*(it+2),  *(it+1),
-                                      *(it+2),        0, -*(it+0),
-                                     -*(it+1),  *(it+0),       0);
+    MatConstIterator_<double> it = X1->begin<double>();
+    return (Mat_<double>(3,3) <<        0, -*(it+2),  *(it+1),
+                                  *(it+2),        0, -*(it+0),
+                                 -*(it+1),  *(it+0),       0);
 }
 
-cv::Mat dls::rotx(const double t)
+Mat dls::rotx(const double t)
 {
     // rotx: rotation about y-axis
     double ct = cos(t);
     double st = sin(t);
-    return (cv::Mat_<double>(3,3) << 1, 0, 0, 0, ct, -st, 0, st, ct);
+    return (Mat_<double>(3,3) << 1, 0, 0, 0, ct, -st, 0, st, ct);
 }
 
-cv::Mat dls::roty(const double t)
+Mat dls::roty(const double t)
 {
     // roty: rotation about y-axis
     double ct = cos(t);
     double st = sin(t);
-    return (cv::Mat_<double>(3,3) << ct, 0, st, 0, 1, 0, -st, 0, ct);
+    return (Mat_<double>(3,3) << ct, 0, st, 0, 1, 0, -st, 0, ct);
 }
 
-cv::Mat dls::rotz(const double t)
+Mat dls::rotz(const double t)
 {
     // rotz: rotation about y-axis
     double ct = cos(t);
     double st = sin(t);
-    return (cv::Mat_<double>(3,3) << ct, -st, 0, st, ct, 0, 0, 0, 1);
+    return (Mat_<double>(3,3) << ct, -st, 0, st, ct, 0, 0, 0, 1);
 }
 
-cv::Mat dls::mean(const cv::Mat& M)
+Mat dls::mean(const Mat& M)
 {
-    cv::Mat m = cv::Mat::zeros(3, 1, CV_64F);
+    Mat m = Mat::zeros(3, 1, CV_64F);
     for (int i = 0; i < M.cols; ++i) m += M.col(i);
     return m.mul(1./(double)M.cols);
 }
 
-bool dls::is_empty(const cv::Mat * M)
+bool dls::is_empty(const Mat * M)
 {
-    cv::MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
+    MatConstIterator_<double> it = M->begin<double>(), it_end = M->end<double>();
     for(; it != it_end; ++it)
     {
         if(*it < 0) return false;
@@ -651,9 +651,11 @@ bool dls::is_empty(const cv::Mat * M)
     return true;
 }
 
-bool dls::positive_eigenvalues(const cv::Mat * eigenvalues)
+bool dls::positive_eigenvalues(const Mat * eigenvalues)
 {
     CV_Assert(eigenvalues && !eigenvalues->empty());
-    cv::MatConstIterator_<double> it = eigenvalues->begin<double>();
+    MatConstIterator_<double> it = eigenvalues->begin<double>();
     return *(it) > 0 && *(it+1) > 0 && *(it+2) > 0;
 }
+
+} // namespace cv

modules/calib3d/src/dls.h

@@ -5,22 +5,21 @@
 
 #include <iostream>
 
-using namespace std;
-using namespace cv;
+namespace cv {
 
 class dls
 {
 public:
-    dls(const cv::Mat& opoints, const cv::Mat& ipoints);
+    dls(const Mat& opoints, const Mat& ipoints);
     ~dls();
 
-    bool compute_pose(cv::Mat& R, cv::Mat& t);
+    bool compute_pose(Mat& R, Mat& t);
 
 private:
 
     // initialisation
     template <typename OpointType, typename IpointType>
-    void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
+    void init_points(const Mat& opoints, const Mat& ipoints)
     {
         for(int i = 0; i < N; i++)
         {
@@ -49,33 +48,33 @@ private:
     }
 
     // main algorithm
-    cv::Mat LeftMultVec(const cv::Mat& v);
-    void run_kernel(const cv::Mat& pp);
-    void build_coeff_matrix(const cv::Mat& pp, cv::Mat& Mtilde, cv::Mat& D);
-    void compute_eigenvec(const cv::Mat& Mtilde, cv::Mat& eigenval_real, cv::Mat& eigenval_imag,
-                                                 cv::Mat& eigenvec_real, cv::Mat& eigenvec_imag);
-    void fill_coeff(const cv::Mat * D);
+    Mat LeftMultVec(const Mat& v);
+    void run_kernel(const Mat& pp);
+    void build_coeff_matrix(const Mat& pp, Mat& Mtilde, Mat& D);
+    void compute_eigenvec(const Mat& Mtilde, Mat& eigenval_real, Mat& eigenval_imag,
+                                             Mat& eigenvec_real, Mat& eigenvec_imag);
+    void fill_coeff(const Mat * D);
 
     // useful functions
-    cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
-                        const std::vector<double>& c, const std::vector<double>& u);
-    cv::Mat Hessian(const double s[]);
-    cv::Mat cayley2rotbar(const cv::Mat& s);
-    cv::Mat skewsymm(const cv::Mat * X1);
+    Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b,
+                    const std::vector<double>& c, const std::vector<double>& u);
+    Mat Hessian(const double s[]);
+    Mat cayley2rotbar(const Mat& s);
+    Mat skewsymm(const Mat * X1);
 
     // extra functions
-    cv::Mat rotx(const double t);
-    cv::Mat roty(const double t);
-    cv::Mat rotz(const double t);
-    cv::Mat mean(const cv::Mat& M);
-    bool is_empty(const cv::Mat * v);
-    bool positive_eigenvalues(const cv::Mat * eigenvalues);
+    Mat rotx(const double t);
+    Mat roty(const double t);
+    Mat rotz(const double t);
+    Mat mean(const Mat& M);
+    bool is_empty(const Mat * v);
+    bool positive_eigenvalues(const Mat * eigenvalues);
 
-    cv::Mat p, z, mn;        // object-image points
+    Mat p, z, mn;        // object-image points
     int N;                // number of input points
     std::vector<double> f1coeff, f2coeff, f3coeff, cost_; // coefficient for coefficients matrix
-    std::vector<cv::Mat> C_est_, t_est_;    // optimal candidates
-    cv::Mat C_est__, t_est__;                // optimal found solution
+    std::vector<Mat> C_est_, t_est_;    // optimal candidates
+    Mat C_est__, t_est__;                // optimal found solution
     double cost__;                            // optimal found solution
 };
 
@@ -738,7 +737,7 @@ public:
     {
         /*if(isSymmetric(src)) {
             // Fall back to OpenCV for a symmetric matrix!
-            cv::eigen(src, _eigenvalues, _eigenvectors);
+            eigen(src, _eigenvalues, _eigenvectors);
         } else {*/
             Mat tmp;
             // Convert the given input matrix to double. Is there any way to
@@ -770,4 +769,5 @@ public:
     Mat eigenvectors() { return _eigenvectors; }
 };
 
+} // namespace cv
 #endif // DLS_H

modules/calib3d/src/solvepnp.cpp

@@ -100,12 +100,12 @@ void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray d
     CV_Assert(length > 0);
 
     // project axes points
-    vector<Point3f> axesPoints;
+    std::vector<Point3f> axesPoints;
     axesPoints.push_back(Point3f(0, 0, 0));
     axesPoints.push_back(Point3f(length, 0, 0));
     axesPoints.push_back(Point3f(0, length, 0));
     axesPoints.push_back(Point3f(0, 0, length));
-    vector<Point2f> imagePoints;
+    std::vector<Point2f> imagePoints;
     projectPoints(axesPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints);
 
     // draw axes lines
@@ -120,7 +120,7 @@ bool solvePnP( InputArray opoints, InputArray ipoints,
 {
     CV_INSTRUMENT_REGION();
 
-    vector<Mat> rvecs, tvecs;
+    std::vector<Mat> rvecs, tvecs;
     int solutions = solvePnPGeneric(opoints, ipoints, cameraMatrix, distCoeffs, rvecs, tvecs, useExtrinsicGuess, (SolvePnPMethod)flags, rvec, tvec);
 
     if (solutions > 0)
@@ -298,8 +298,8 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
         return false;
     }
 
-    vector<Point3d> opoints_inliers;
-    vector<Point2d> ipoints_inliers;
+    std::vector<Point3d> opoints_inliers;
+    std::vector<Point2d> ipoints_inliers;
     opoints = opoints.reshape(3);
     ipoints = ipoints.reshape(2);
     opoints.convertTo(opoints_inliers, CV_64F);
@@ -420,7 +420,7 @@ int solveP3P( InputArray _opoints, InputArray _ipoints,
     else
         imgPts = imgPts.reshape(1, 2*imgPts.rows);
 
-    vector<double> reproj_errors(solutions);
+    std::vector<double> reproj_errors(solutions);
     for (size_t i = 0; i < reproj_errors.size(); i++)
     {
         Mat rvec;
@@ -710,7 +710,7 @@ static void solvePnPRefine(InputArray _objectPoints, InputArray _imagePoints,
         rvec0.convertTo(rvec, CV_64F);
         tvec0.convertTo(tvec, CV_64F);
 
-        vector<Point2d> ipoints_normalized;
+        std::vector<Point2d> ipoints_normalized;
         undistortPoints(ipoints, ipoints_normalized, cameraMatrix, distCoeffs);
         Mat sd = Mat(ipoints_normalized).reshape(1, npoints*2);
         Mat objectPoints0 = opoints.reshape(1, npoints);
@@ -804,7 +804,7 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
     Mat cameraMatrix = Mat_<double>(cameraMatrix0);
     Mat distCoeffs = Mat_<double>(distCoeffs0);
 
-    vector<Mat> vec_rvecs, vec_tvecs;
+    std::vector<Mat> vec_rvecs, vec_tvecs;
     if (flags == SOLVEPNP_EPNP || flags == SOLVEPNP_DLS || flags == SOLVEPNP_UPNP)
     {
         if (flags == SOLVEPNP_DLS)
@@ -829,7 +829,7 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
     }
     else if (flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P)
     {
-        vector<Mat> rvecs, tvecs;
+        std::vector<Mat> rvecs, tvecs;
         solveP3P(opoints, ipoints, _cameraMatrix, _distCoeffs, rvecs, tvecs, flags);
         vec_rvecs.insert(vec_rvecs.end(), rvecs.begin(), rvecs.end());
         vec_tvecs.insert(vec_tvecs.end(), tvecs.begin(), tvecs.end());
@@ -1082,7 +1082,7 @@ int solvePnPGeneric( InputArray _opoints, InputArray _ipoints,
 
         for (size_t i = 0; i < vec_rvecs.size(); i++)
         {
-            vector<Point2d> projectedPoints;
+            std::vector<Point2d> projectedPoints;
             projectPoints(objectPoints, vec_rvecs[i], vec_tvecs[i], cameraMatrix, distCoeffs, projectedPoints);
             double rmse = norm(Mat(projectedPoints, false), imagePoints, NORM_L2) / sqrt(2*projectedPoints.size());
 

modules/calib3d/test/test_cameracalibration.cpp

@@ -831,30 +831,30 @@ void CV_CameraCalibrationTest_CPP::calibrate(int imageCount, int* pointCounts,
                      perViewErrorsMat,
                      flags );
 
-    assert( stdDevsMatInt.type() == CV_64F );
-    assert( stdDevsMatInt.total() == static_cast<size_t>(CV_CALIB_NINTRINSIC) );
+    CV_Assert( stdDevsMatInt.type() == CV_64F );
+    CV_Assert( stdDevsMatInt.total() == static_cast<size_t>(CV_CALIB_NINTRINSIC) );
     memcpy( stdDevs, stdDevsMatInt.ptr(), CV_CALIB_NINTRINSIC*sizeof(double) );
 
-    assert( stdDevsMatExt.type() == CV_64F );
-    assert( stdDevsMatExt.total() == static_cast<size_t>(6*imageCount) );
+    CV_Assert( stdDevsMatExt.type() == CV_64F );
+    CV_Assert( stdDevsMatExt.total() == static_cast<size_t>(6*imageCount) );
     memcpy( stdDevs + CV_CALIB_NINTRINSIC, stdDevsMatExt.ptr(), 6*imageCount*sizeof(double) );
 
-    assert( perViewErrorsMat.type() == CV_64F);
-    assert( perViewErrorsMat.total() == static_cast<size_t>(imageCount) );
+    CV_Assert( perViewErrorsMat.type() == CV_64F);
+    CV_Assert( perViewErrorsMat.total() == static_cast<size_t>(imageCount) );
     memcpy( perViewErrors, perViewErrorsMat.ptr(), imageCount*sizeof(double) );
 
-    assert( cameraMatrix.type() == CV_64FC1 );
+    CV_Assert( cameraMatrix.type() == CV_64FC1 );
     memcpy( _cameraMatrix, cameraMatrix.ptr(), 9*sizeof(double) );
 
-    assert( cameraMatrix.type() == CV_64FC1 );
+    CV_Assert( cameraMatrix.type() == CV_64FC1 );
     memcpy( _distortionCoeffs, distCoeffs.ptr(), 4*sizeof(double) );
 
     vector<Mat>::iterator rvecsIt = rvecs.begin();
     vector<Mat>::iterator tvecsIt = tvecs.begin();
     double *rm = rotationMatrices,
            *tm = translationVectors;
-    assert( rvecsIt->type() == CV_64FC1 );
-    assert( tvecsIt->type() == CV_64FC1 );
+    CV_Assert( rvecsIt->type() == CV_64FC1 );
+    CV_Assert( tvecsIt->type() == CV_64FC1 );
     for( int i = 0; i < imageCount; ++rvecsIt, ++tvecsIt, i++, rm+=9, tm+=3 )
     {
         Mat r9( 3, 3, CV_64FC1 );
@@ -1141,7 +1141,7 @@ void CV_ProjectPointsTest::run(int)
         imgPoints, dpdrot, dpdt, dpdf, dpdc, dpddist, 0 );
 
     // calculate and check image points
-    assert( (int)imgPoints.size() == pointCount );
+    CV_Assert( (int)imgPoints.size() == pointCount );
     vector<Point2f>::const_iterator it = imgPoints.begin();
     for( int i = 0; i < pointCount; i++, ++it )
     {

modules/calib3d/test/test_fundam.cpp

@@ -56,7 +56,7 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
 
     if( jacobian )
     {
-        assert( (jacobian->rows == 9 && jacobian->cols == 3) ||
+        CV_Assert( (jacobian->rows == 9 && jacobian->cols == 3) ||
                 (jacobian->rows == 3 && jacobian->cols == 9) );
     }
 
@@ -65,7 +65,7 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
         double r[3], theta;
         CvMat _r = cvMat( src->rows, src->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(src->type)), r);
 
-        assert( dst->rows == 3 && dst->cols == 3 );
+        CV_Assert( dst->rows == 3 && dst->cols == 3 );
 
         cvConvert( src, &_r );
 
@@ -320,7 +320,7 @@ static int cvTsRodrigues( const CvMat* src, CvMat* dst, CvMat* jacobian )
     }
     else
     {
-        assert(0);
+        CV_Assert(0);
         return 0;
     }
 
@@ -404,7 +404,7 @@ static void test_convertHomogeneous( const Mat& _src, Mat& _dst )
     }
     else
     {
-        assert( count == dst.cols );
+        CV_Assert( count == dst.cols );
         ddims = dst.channels()*dst.rows;
         if( dst.rows == 1 )
         {

modules/calib3d/test/test_stereomatching.cpp

@@ -406,7 +406,7 @@ void CV_StereoMatchingTest::run(int)
 {
     string dataPath = ts->get_data_path() + "cv/";
     string algorithmName = name;
-    assert( !algorithmName.empty() );
+    CV_Assert( !algorithmName.empty() );
     if( dataPath.empty() )
     {
         ts->printf( cvtest::TS::LOG, "dataPath is empty" );
@@ -553,22 +553,22 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
 {
     // rightDisp is not used in current test virsion
     int code = cvtest::TS::OK;
-    assert( fs.isOpened() );
-    assert( trueLeftDisp.type() == CV_32FC1 );
-    assert( trueRightDisp.empty() || trueRightDisp.type() == CV_32FC1 );
-    assert( leftDisp.type() == CV_32FC1 && (rightDisp.empty() || rightDisp.type() == CV_32FC1) );
+    CV_Assert( fs.isOpened() );
+    CV_Assert( trueLeftDisp.type() == CV_32FC1 );
+    CV_Assert( trueRightDisp.empty() || trueRightDisp.type() == CV_32FC1 );
+    CV_Assert( leftDisp.type() == CV_32FC1 && (rightDisp.empty() || rightDisp.type() == CV_32FC1) );
 
     // get masks for unknown ground truth disparity values
     Mat leftUnknMask, rightUnknMask;
     DatasetParams params = datasetsParams[caseDatasets[caseIdx]];
     absdiff( trueLeftDisp, Scalar(params.dispUnknVal), leftUnknMask );
     leftUnknMask = leftUnknMask < std::numeric_limits<float>::epsilon();
-    assert(leftUnknMask.type() == CV_8UC1);
+    CV_Assert(leftUnknMask.type() == CV_8UC1);
     if( !trueRightDisp.empty() )
     {
         absdiff( trueRightDisp, Scalar(params.dispUnknVal), rightUnknMask );
         rightUnknMask = rightUnknMask < std::numeric_limits<float>::epsilon();
-        assert(rightUnknMask.type() == CV_8UC1);
+        CV_Assert(rightUnknMask.type() == CV_8UC1);
     }
 
     // calculate errors
@@ -623,7 +623,7 @@ int CV_StereoMatchingTest::readDatasetsParams( FileStorage& fs )
     }
     datasetsParams.clear();
     FileNode fn = fs.getFirstTopLevelNode();
-    assert(fn.isSeq());
+    CV_Assert(fn.isSeq());
     for( int i = 0; i < (int)fn.size(); i+=3 )
     {
         String _name = fn[i];
@@ -649,7 +649,7 @@ int CV_StereoMatchingTest::readRunParams( FileStorage& fs )
 
 void CV_StereoMatchingTest::writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs )
 {
-    assert( (int)errors.size() == ERROR_KINDS_COUNT );
+    CV_Assert( (int)errors.size() == ERROR_KINDS_COUNT );
     vector<float>::const_iterator it = errors.begin();
     if( fs )
         for( int i = 0; i < ERROR_KINDS_COUNT; i++, ++it )
@@ -696,9 +696,9 @@ void CV_StereoMatchingTest::readROI( FileNode& fn, Rect& validROI )
 int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
                    const vector<float>& eps, const string& errName )
 {
-    assert( (int)calcErrors.size() == ERROR_KINDS_COUNT );
-    assert( (int)validErrors.size() == ERROR_KINDS_COUNT );
-    assert( (int)eps.size() == ERROR_KINDS_COUNT );
+    CV_Assert( (int)calcErrors.size() == ERROR_KINDS_COUNT );
+    CV_Assert( (int)validErrors.size() == ERROR_KINDS_COUNT );
+    CV_Assert( (int)eps.size() == ERROR_KINDS_COUNT );
     vector<float>::const_iterator calcIt = calcErrors.begin(),
                                   validIt = validErrors.begin(),
                                   epsIt = eps.begin();
@@ -757,7 +757,7 @@ protected:
     {
         int code = CV_StereoMatchingTest::readRunParams( fs );
         FileNode fn = fs.getFirstTopLevelNode();
-        assert(fn.isSeq());
+        CV_Assert(fn.isSeq());
         for( int i = 0; i < (int)fn.size(); i+=5 )
         {
             String caseName = fn[i], datasetName = fn[i+1];
@@ -776,8 +776,8 @@ protected:
                    Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
     {
         RunParams params = caseRunParams[caseIdx];
-        assert( params.ndisp%16 == 0 );
-        assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
+        CV_Assert( params.ndisp%16 == 0 );
+        CV_Assert( _leftImg.type() == CV_8UC3 && _rightImg.type() == CV_8UC3 );
         Mat leftImg; cvtColor( _leftImg, leftImg, COLOR_BGR2GRAY );
         Mat rightImg; cvtColor( _rightImg, rightImg, COLOR_BGR2GRAY );
 
@@ -883,7 +883,7 @@ protected:
     {
         int code = CV_StereoMatchingTest::readRunParams(fs);
         FileNode fn = fs.getFirstTopLevelNode();
-        assert(fn.isSeq());
+        CV_Assert(fn.isSeq());
         for( int i = 0; i < (int)fn.size(); i+=5 )
         {
             String caseName = fn[i], datasetName = fn[i+1];
@@ -902,7 +902,7 @@ protected:
                    Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
     {
         RunParams params = caseRunParams[caseIdx];
-        assert( params.ndisp%16 == 0 );
+        CV_Assert( params.ndisp%16 == 0 );
         Ptr<StereoSGBM> sgbm = StereoSGBM::create( 0, params.ndisp, params.winSize,
                                                  10*params.winSize*params.winSize,
                                                  40*params.winSize*params.winSize,

modules/core/CMakeLists.txt

@@ -107,6 +107,7 @@ ocv_create_module(${extra_libs})
 
 ocv_target_link_libraries(${the_module} PRIVATE
     "${ZLIB_LIBRARIES}" "${OPENCL_LIBRARIES}" "${VA_LIBRARIES}"
+    "${OPENGL_LIBRARIES}"
     "${LAPACK_LIBRARIES}" "${CPUFEATURES_LIBRARIES}" "${HALIDE_LIBRARIES}"
     "${ITT_LIBRARIES}"
     "${OPENCV_HAL_LINKER_LIBS}"

modules/core/include/opencv2/core/base.hpp

@@ -297,30 +297,16 @@ It is possible to alternate error processing by using redirectError().
  */
 CV_EXPORTS void error(int _code, const String& _err, const char* _func, const char* _file, int _line);
 
-#ifdef __GNUC__
-# if defined __clang__ || defined __APPLE__
-#   pragma GCC diagnostic push
-#   pragma GCC diagnostic ignored "-Winvalid-noreturn"
-# endif
-#endif
-
 /** same as cv::error, but does not return */
 CV_INLINE CV_NORETURN void errorNoReturn(int _code, const String& _err, const char* _func, const char* _file, int _line)
 {
     error(_code, _err, _func, _file, _line);
-#ifdef __GNUC__
-# if !defined __clang__ && !defined __APPLE__
+#if defined(__GNUC__) || defined(__clang__)
     // this suppresses this warning: "noreturn" function does return [enabled by default]
     __builtin_trap();
     // or use infinite loop: for (;;) {}
-# endif
 #endif
 }
-#ifdef __GNUC__
-# if defined __clang__ || defined __APPLE__
-#   pragma GCC diagnostic pop
-# endif
-#endif
 
 #ifdef CV_STATIC_ANALYSIS
 

modules/core/include/opencv2/core/bindings_utils.hpp

@@ -103,6 +103,21 @@ String dumpRotatedRect(const RotatedRect& argument)
                   argument.size.height, argument.angle);
 }
 
+CV_WRAP static inline
+RotatedRect testRotatedRect(float x, float y, float w, float h, float angle)
+{
+    return RotatedRect(Point2f(x, y), Size2f(w, h), angle);
+}
+
+CV_WRAP static inline
+std::vector<RotatedRect> testRotatedRectVector(float x, float y, float w, float h, float angle)
+{
+    std::vector<RotatedRect> result;
+    for (int i = 0; i < 10; i++)
+        result.push_back(RotatedRect(Point2f(x + i, y + 2 * i), Size2f(w, h), angle + 10 * i));
+    return result;
+}
+
 CV_WRAP static inline
 String dumpRange(const Range& argument)
 {
@@ -198,6 +213,59 @@ AsyncArray testAsyncException()
     return p.getArrayResult();
 }
 
+namespace nested {
+CV_WRAP static inline bool testEchoBooleanFunction(bool flag) {
+    return flag;
+}
+
+class CV_EXPORTS_W CV_WRAP_AS(ExportClassName) OriginalClassName
+{
+public:
+    struct CV_EXPORTS_W_SIMPLE Params
+    {
+        CV_PROP_RW int int_value;
+        CV_PROP_RW float float_value;
+
+        CV_WRAP explicit Params(int int_param = 123, float float_param = 3.5f)
+        {
+            int_value = int_param;
+            float_value = float_param;
+        }
+    };
+
+    explicit OriginalClassName(const OriginalClassName::Params& params = OriginalClassName::Params())
+    {
+        params_ = params;
+    }
+
+    CV_WRAP int getIntParam() const
+    {
+        return params_.int_value;
+    }
+
+    CV_WRAP float getFloatParam() const
+    {
+        return params_.float_value;
+    }
+
+    CV_WRAP static std::string originalName()
+    {
+        return "OriginalClassName";
+    }
+
+    CV_WRAP static Ptr<OriginalClassName>
+    create(const OriginalClassName::Params& params = OriginalClassName::Params())
+    {
+        return makePtr<OriginalClassName>(params);
+    }
+
+private:
+    OriginalClassName::Params params_;
+};
+
+typedef OriginalClassName::Params OriginalClassName_Params;
+} // namespace nested
+
 //! @}  // core_utils
 }  // namespace cv::utils
 

modules/core/include/opencv2/core/core_c.h

@@ -48,16 +48,19 @@
 #include "opencv2/core/types_c.h"
 
 #ifdef __cplusplus
-#  ifdef _MSC_VER
-/* disable warning C4190: 'function' has C-linkage specified, but returns UDT 'typename'
-                          which is incompatible with C
+/* disable MSVC warning C4190 / clang-cl -Wreturn-type-c-linkage:
+       'function' has C-linkage specified, but returns UDT 'typename'
+       which is incompatible with C
 
    It is OK to disable it because we only extend few plain structures with
    C++ constructors for simpler interoperability with C++ API of the library
 */
-#    pragma warning(disable:4190)
-#  elif defined __clang__ && __clang_major__ >= 3
+#  if defined(__clang__)
+     // handle clang on Linux and clang-cl (i. e. clang on Windows) first
 #    pragma GCC diagnostic ignored "-Wreturn-type-c-linkage"
+#  elif defined(_MSC_VER)
+     // then handle MSVC
+#    pragma warning(disable:4190)
 #  endif
 #endif
 

modules/core/include/opencv2/core/cv_cpu_dispatch.h

@@ -55,7 +55,7 @@
 #  ifdef _MSC_VER
 #    include <nmmintrin.h>
 #    if defined(_M_X64)
-#      define CV_POPCNT_U64 _mm_popcnt_u64
+#      define CV_POPCNT_U64 (int)_mm_popcnt_u64
 #    endif
 #    define CV_POPCNT_U32 _mm_popcnt_u32
 #  else

modules/core/include/opencv2/core/cvdef.h

@@ -589,6 +589,8 @@ Cv64suf;
 #  elif __cplusplus >= 201703L
 //   available when compiler is C++17 compliant
 #    define CV_NODISCARD_STD [[nodiscard]]
+#  elif defined(__INTEL_COMPILER)
+     // see above, available when C++17 is enabled
 #  elif defined(_MSC_VER) && _MSC_VER >= 1911 && _MSVC_LANG >= 201703L
 //   available with VS2017 v15.3+ with /std:c++17 or higher; works on functions and classes
 #    define CV_NODISCARD_STD [[nodiscard]]

modules/core/include/opencv2/core/hal/intrin_avx.hpp

@@ -1390,11 +1390,21 @@ OPENCV_HAL_IMPL_AVX_CHECK_SHORT(v_int16x16)
 ////////// Other math /////////
 
 /** Some frequent operations **/
+#if CV_FMA3
 #define OPENCV_HAL_IMPL_AVX_MULADD(_Tpvec, suffix)                            \
     inline _Tpvec v_fma(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c)    \
     { return _Tpvec(_mm256_fmadd_##suffix(a.val, b.val, c.val)); }            \
     inline _Tpvec v_muladd(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c) \
-    { return _Tpvec(_mm256_fmadd_##suffix(a.val, b.val, c.val)); }            \
+    { return _Tpvec(_mm256_fmadd_##suffix(a.val, b.val, c.val)); }
+#else
+#define OPENCV_HAL_IMPL_AVX_MULADD(_Tpvec, suffix)                                    \
+    inline _Tpvec v_fma(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c)            \
+    { return _Tpvec(_mm256_add_##suffix(_mm256_mul_##suffix(a.val, b.val), c.val)); } \
+    inline _Tpvec v_muladd(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c)         \
+    { return _Tpvec(_mm256_add_##suffix(_mm256_mul_##suffix(a.val, b.val), c.val)); }
+#endif
+
+#define OPENCV_HAL_IMPL_AVX_MISC(_Tpvec, suffix)                              \
     inline _Tpvec v_sqrt(const _Tpvec& x)                                     \
     { return _Tpvec(_mm256_sqrt_##suffix(x.val)); }                           \
     inline _Tpvec v_sqr_magnitude(const _Tpvec& a, const _Tpvec& b)           \
@@ -1404,6 +1414,8 @@ OPENCV_HAL_IMPL_AVX_CHECK_SHORT(v_int16x16)
 
 OPENCV_HAL_IMPL_AVX_MULADD(v_float32x8, ps)
 OPENCV_HAL_IMPL_AVX_MULADD(v_float64x4, pd)
+OPENCV_HAL_IMPL_AVX_MISC(v_float32x8, ps)
+OPENCV_HAL_IMPL_AVX_MISC(v_float64x4, pd)
 
 inline v_int32x8 v_fma(const v_int32x8& a, const v_int32x8& b, const v_int32x8& c)
 {
@@ -2379,7 +2391,7 @@ inline void v_load_deinterleave( const unsigned* ptr, v_uint32x8& a, v_uint32x8&
     __m256i ab0 = _mm256_loadu_si256((const __m256i*)ptr);
     __m256i ab1 = _mm256_loadu_si256((const __m256i*)(ptr + 8));
 
-    const int sh = 0+2*4+1*16+3*64;
+    enum { sh = 0+2*4+1*16+3*64 };
     __m256i p0 = _mm256_shuffle_epi32(ab0, sh);
     __m256i p1 = _mm256_shuffle_epi32(ab1, sh);
     __m256i pl = _mm256_permute2x128_si256(p0, p1, 0 + 2*16);

modules/core/include/opencv2/core/hal/intrin_avx512.hpp

@@ -1385,11 +1385,21 @@ inline v_uint64x8  v_popcount(const v_uint64x8&  a) { return v_popcount(v_reinte
 ////////// Other math /////////
 
 /** Some frequent operations **/
+#if CV_FMA3
 #define OPENCV_HAL_IMPL_AVX512_MULADD(_Tpvec, suffix)                         \
     inline _Tpvec v_fma(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c)    \
     { return _Tpvec(_mm512_fmadd_##suffix(a.val, b.val, c.val)); }            \
     inline _Tpvec v_muladd(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c) \
-    { return _Tpvec(_mm512_fmadd_##suffix(a.val, b.val, c.val)); }            \
+    { return _Tpvec(_mm512_fmadd_##suffix(a.val, b.val, c.val)); }
+#else
+#define OPENCV_HAL_IMPL_AVX512_MULADD(_Tpvec, suffix)                                 \
+    inline _Tpvec v_fma(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c)            \
+    { return _Tpvec(_mm512_add_##suffix(_mm512_mul_##suffix(a.val, b.val), c.val)); } \
+    inline _Tpvec v_muladd(const _Tpvec& a, const _Tpvec& b, const _Tpvec& c)         \
+    { return _Tpvec(_mm512_add_##suffix(_mm512_mul_##suffix(a.val, b.val), c.val)); }
+#endif
+
+#define OPENCV_HAL_IMPL_AVX512_MISC(_Tpvec, suffix)                           \
     inline _Tpvec v_sqrt(const _Tpvec& x)                                     \
     { return _Tpvec(_mm512_sqrt_##suffix(x.val)); }                           \
     inline _Tpvec v_sqr_magnitude(const _Tpvec& a, const _Tpvec& b)           \
@@ -1399,6 +1409,8 @@ inline v_uint64x8  v_popcount(const v_uint64x8&  a) { return v_popcount(v_reinte
 
 OPENCV_HAL_IMPL_AVX512_MULADD(v_float32x16, ps)
 OPENCV_HAL_IMPL_AVX512_MULADD(v_float64x8,  pd)
+OPENCV_HAL_IMPL_AVX512_MISC(v_float32x16, ps)
+OPENCV_HAL_IMPL_AVX512_MISC(v_float64x8,  pd)
 
 inline v_int32x16 v_fma(const v_int32x16& a, const v_int32x16& b, const v_int32x16& c)
 { return a * b + c; }

modules/core/include/opencv2/core/hal/intrin_msa.hpp

@@ -1037,12 +1037,12 @@ inline scalartype v_reduce_sum(const _Tpvec& a) \
     return (scalartype)msa_sum_##suffix(a.val); \
 }
 
-OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_uint8x16, unsigned char, u8)
-OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_int8x16, char, s8)
-OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_uint16x8, unsigned short, u16)
-OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_int16x8, short, s16)
-OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_uint32x4, unsigned, u32)
-OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_int32x4, int, s32)
+OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_uint8x16, unsigned short, u8)
+OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_int8x16, short, s8)
+OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_uint16x8, unsigned, u16)
+OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_int16x8, int, s16)
+OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_uint32x4, uint64_t, u32)
+OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_int32x4, int64_t, s32)
 OPENCV_HAL_IMPL_MSA_REDUCE_SUM(v_float32x4, float, f32)
 
 inline uint64 v_reduce_sum(const v_uint64x2& a)

modules/core/include/opencv2/core/hal/intrin_sse.hpp

@@ -244,7 +244,13 @@ struct v_uint64x2
     explicit v_uint64x2(__m128i v) : val(v) {}
     v_uint64x2(uint64 v0, uint64 v1)
     {
+#if defined(_MSC_VER) && _MSC_VER >= 1920/*MSVS 2019*/ && defined(_M_X64) && !defined(__clang__)
+        val = _mm_setr_epi64x((int64_t)v0, (int64_t)v1);
+#elif defined(__GNUC__)
+        val = _mm_setr_epi64((__m64)v0, (__m64)v1);
+#else
         val = _mm_setr_epi32((int)v0, (int)(v0 >> 32), (int)v1, (int)(v1 >> 32));
+#endif
     }
 
     uint64 get0() const
@@ -272,7 +278,13 @@ struct v_int64x2
     explicit v_int64x2(__m128i v) : val(v) {}
     v_int64x2(int64 v0, int64 v1)
     {
+#if defined(_MSC_VER) && _MSC_VER >= 1920/*MSVS 2019*/ && defined(_M_X64) && !defined(__clang__)
+        val = _mm_setr_epi64x((int64_t)v0, (int64_t)v1);
+#elif defined(__GNUC__)
+        val = _mm_setr_epi64((__m64)v0, (__m64)v1);
+#else
         val = _mm_setr_epi32((int)v0, (int)(v0 >> 32), (int)v1, (int)(v1 >> 32));
+#endif
     }
 
     int64 get0() const

modules/core/include/opencv2/core/hal/msa_macros.h

@@ -719,7 +719,7 @@ typedef double v1f64 __attribute__ ((vector_size(8), aligned(8)));
   v2i64 _c;                                     \
   _b = __builtin_msa_hadd_s_w(__a, __a);        \
   _c = __builtin_msa_hadd_s_d(_b, _b);          \
-  (int16_t)(_c[0] + _c[1]);                     \
+  (int32_t)(_c[0] + _c[1]);                     \
 })
 
 
@@ -736,7 +736,7 @@ typedef double v1f64 __attribute__ ((vector_size(8), aligned(8)));
 ({                                             \
   v2i64 _b;                                    \
   _b = __builtin_msa_hadd_s_d(__a, __a);       \
-  (int32_t)(_b[0] + _b[1]);                    \
+  (int64_t)(_b[0] + _b[1]);                    \
 })
 
 /* uint8_t msa_sum_u8(v16u8 __a)*/
@@ -756,7 +756,7 @@ typedef double v1f64 __attribute__ ((vector_size(8), aligned(8)));
   v4i32 _c32;                                    \
   _b16 = __builtin_msa_hadd_s_h(__a, __a);       \
   _c32 = __builtin_msa_hadd_s_w(_b16, _b16);         \
-  (int8_t)msa_sum_s32(_c32);                     \
+  (int16_t)msa_sum_s32(_c32);                     \
 })
 
 /* float msa_sum_f32(v4f32 __a)*/

modules/core/include/opencv2/core/mat.hpp

@@ -458,7 +458,16 @@ CV_EXPORTS InputOutputArray noArray();
 
 /////////////////////////////////// MatAllocator //////////////////////////////////////
 
-//! Usage flags for allocator
+/** @brief  Usage flags for allocator
+
+ @warning  All flags except `USAGE_DEFAULT` are experimental.
+
+ @warning  For the OpenCL allocator, `USAGE_ALLOCATE_SHARED_MEMORY` depends on
+ OpenCV's optional, experimental integration with OpenCL SVM. To enable this
+ integration, build OpenCV using the `WITH_OPENCL_SVM=ON` CMake option and, at
+ runtime, call `cv::ocl::Context::getDefault().setUseSVM(true);` or similar
+ code. Note that SVM is incompatible with OpenCL 1.x.
+*/
 enum UMatUsageFlags
 {
     USAGE_DEFAULT = 0,
@@ -1021,7 +1030,7 @@ public:
     @param copyData Flag to specify whether the underlying data of the STL vector should be copied
     to (true) or shared with (false) the newly constructed matrix. When the data is copied, the
     allocated buffer is managed using Mat reference counting mechanism. While the data is shared,
-    the reference counter is NULL, and you should not deallocate the data until the matrix is not
+    the reference counter is NULL, and you should not deallocate the data until the matrix is
     destructed.
     */
     template<typename _Tp> explicit Mat(const std::vector<_Tp>& vec, bool copyData=false);
@@ -2091,7 +2100,7 @@ public:
 
         Mat_<Pixel> image = Mat::zeros(3, sizes, CV_8UC3);
 
-        image.forEach<Pixel>([&](Pixel& pixel, const int position[]) -> void {
+        image.forEach<Pixel>([](Pixel& pixel, const int position[]) -> void {
             pixel.x = position[0];
             pixel.y = position[1];
             pixel.z = position[2];
@@ -2281,7 +2290,7 @@ public:
     const_iterator begin() const;
     const_iterator end() const;
 
-    //! template methods for for operation over all matrix elements.
+    //! template methods for operation over all matrix elements.
     // the operations take care of skipping gaps in the end of rows (if any)
     template<typename Functor> void forEach(const Functor& operation);
     template<typename Functor> void forEach(const Functor& operation) const;