release: OpenCV 3.4.19

no lambda

whitespace

fixing build Java tests

.github/workflows/PR-3.4.yaml

@@ -0,0 +1,34 @@
+name: PR:3.4
+
+on:
+  pull_request:
+    branches:
+      - 3.4
+
+jobs:
+  Ubuntu2004-ARM64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-ARM64.yaml@main
+
+  Ubuntu1404-x64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-U14.yaml@main
+
+  Ubuntu2004-x64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-U20.yaml@main
+
+  Windows10-x64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-W10.yaml@main
+
+  macOS-ARM64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-macOS-ARM64.yaml@main
+
+  macOS-x64:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-macOS-x86_64.yaml@main
+
+  iOS:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-iOS.yaml@main
+
+  Android:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-Android.yaml@main
+
+  docs:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-PR-3.4-docs.yaml@main

3rdparty/carotene/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.11 FATAL_ERROR)
+cmake_minimum_required(VERSION ${MIN_VER_CMAKE} FATAL_ERROR)
 
 project(Carotene)
 
@@ -27,6 +27,10 @@ if(CMAKE_COMPILER_IS_GNUCC)
     endif()
 endif()
 
+if(APPLE AND CV_CLANG AND WITH_NEON)
+    ocv_warnings_disable(CMAKE_CXX_FLAGS -Wno-unused-function)
+endif()
+
 add_library(carotene_objs OBJECT EXCLUDE_FROM_ALL
   ${carotene_headers}
   ${carotene_sources}

3rdparty/carotene/hal/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.8 FATAL_ERROR)
+cmake_minimum_required(VERSION ${MIN_VER_CMAKE} FATAL_ERROR)
 
 include(CheckCCompilerFlag)
 include(CheckCXXCompilerFlag)

3rdparty/carotene/hal/tegra_hal.hpp

@@ -1296,13 +1296,13 @@ struct MorphCtx
     CAROTENE_NS::BORDER_MODE border;
     uchar borderValues[4];
 };
-inline int TEGRA_MORPHINIT(cvhalFilter2D **context, int operation, int src_type, int dst_type, int, int,
+inline int TEGRA_MORPHINIT(cvhalFilter2D **context, int operation, int src_type, int dst_type, int width, int height,
                            int kernel_type, uchar *kernel_data, size_t kernel_step, int kernel_width, int kernel_height, int anchor_x, int anchor_y,
                            int borderType, const double borderValue[4], int iterations, bool allowSubmatrix, bool allowInplace)
 {
     if(!context || !kernel_data || src_type != dst_type ||
        CV_MAT_DEPTH(src_type) != CV_8U || src_type < 0 || (src_type >> CV_CN_SHIFT) > 3 ||
-
+       width < kernel_width || height < kernel_height ||
        allowSubmatrix || allowInplace || iterations != 1 ||
        !CAROTENE_NS::isSupportedConfiguration())
         return CV_HAL_ERROR_NOT_IMPLEMENTED;

3rdparty/carotene/src/add_weighted.cpp

@@ -109,9 +109,9 @@ template <> struct wAdd<s32>
         vgamma = vdupq_n_f32(_gamma + 0.5);
     }
 
-    void operator() (const typename VecTraits<s32>::vec128 & v_src0,
-                     const typename VecTraits<s32>::vec128 & v_src1,
-                     typename VecTraits<s32>::vec128 & v_dst) const
+    void operator() (const VecTraits<s32>::vec128 & v_src0,
+                     const VecTraits<s32>::vec128 & v_src1,
+                     VecTraits<s32>::vec128 & v_dst) const
     {
         float32x4_t vs1 = vcvtq_f32_s32(v_src0);
         float32x4_t vs2 = vcvtq_f32_s32(v_src1);
@@ -121,9 +121,9 @@ template <> struct wAdd<s32>
         v_dst = vcvtq_s32_f32(vs1);
     }
 
-    void operator() (const typename VecTraits<s32>::vec64 & v_src0,
-                     const typename VecTraits<s32>::vec64 & v_src1,
-                     typename VecTraits<s32>::vec64 & v_dst) const
+    void operator() (const VecTraits<s32>::vec64 & v_src0,
+                     const VecTraits<s32>::vec64 & v_src1,
+                     VecTraits<s32>::vec64 & v_dst) const
     {
         float32x2_t vs1 = vcvt_f32_s32(v_src0);
         float32x2_t vs2 = vcvt_f32_s32(v_src1);
@@ -153,9 +153,9 @@ template <> struct wAdd<u32>
         vgamma = vdupq_n_f32(_gamma + 0.5);
     }
 
-    void operator() (const typename VecTraits<u32>::vec128 & v_src0,
-                     const typename VecTraits<u32>::vec128 & v_src1,
-                     typename VecTraits<u32>::vec128 & v_dst) const
+    void operator() (const VecTraits<u32>::vec128 & v_src0,
+                     const VecTraits<u32>::vec128 & v_src1,
+                     VecTraits<u32>::vec128 & v_dst) const
     {
         float32x4_t vs1 = vcvtq_f32_u32(v_src0);
         float32x4_t vs2 = vcvtq_f32_u32(v_src1);
@@ -165,9 +165,9 @@ template <> struct wAdd<u32>
         v_dst = vcvtq_u32_f32(vs1);
     }
 
-    void operator() (const typename VecTraits<u32>::vec64 & v_src0,
-                     const typename VecTraits<u32>::vec64 & v_src1,
-                     typename VecTraits<u32>::vec64 & v_dst) const
+    void operator() (const VecTraits<u32>::vec64 & v_src0,
+                     const VecTraits<u32>::vec64 & v_src1,
+                     VecTraits<u32>::vec64 & v_dst) const
     {
         float32x2_t vs1 = vcvt_f32_u32(v_src0);
         float32x2_t vs2 = vcvt_f32_u32(v_src1);
@@ -197,17 +197,17 @@ template <> struct wAdd<f32>
         vgamma = vdupq_n_f32(_gamma + 0.5);
     }
 
-    void operator() (const typename VecTraits<f32>::vec128 & v_src0,
-                     const typename VecTraits<f32>::vec128 & v_src1,
-                     typename VecTraits<f32>::vec128 & v_dst) const
+    void operator() (const VecTraits<f32>::vec128 & v_src0,
+                     const VecTraits<f32>::vec128 & v_src1,
+                     VecTraits<f32>::vec128 & v_dst) const
     {
         float32x4_t vs1 = vmlaq_f32(vgamma, v_src0, valpha);
         v_dst = vmlaq_f32(vs1, v_src1, vbeta);
     }
 
-    void operator() (const typename VecTraits<f32>::vec64 & v_src0,
-                     const typename VecTraits<f32>::vec64 & v_src1,
-                     typename VecTraits<f32>::vec64 & v_dst) const
+    void operator() (const VecTraits<f32>::vec64 & v_src0,
+                     const VecTraits<f32>::vec64 & v_src1,
+                     VecTraits<f32>::vec64 & v_dst) const
     {
         float32x2_t vs1 = vmla_f32(vget_low(vgamma), v_src0, vget_low(valpha));
         v_dst = vmla_f32(vs1, v_src1, vget_low(vbeta));

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/openexr/CMakeLists.txt

@@ -119,6 +119,7 @@ ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4334) # vs2005 Win64
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4244) # vs2008
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4267) # vs2008 Win64
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4456) # vs2015
+ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4819) # vs2019 Win64
 
 if(MSVC AND CV_ICC)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Qrestrict")

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(${ZLIB_LIBRARY} PROPERTIES
@@ -101,4 +102,4 @@ if(NOT BUILD_SHARED_LIBS)
   ocv_install_target(${ZLIB_LIBRARY} EXPORT OpenCVModules ARCHIVE DESTINATION ${OPENCV_3P_LIB_INSTALL_PATH} COMPONENT dev)
 endif()
 
-ocv_install_3rdparty_licenses(zlib README)
+ocv_install_3rdparty_licenses(zlib LICENSE)

3rdparty/zlib/ChangeLog

@@ -1,6 +1,81 @@
 
                 ChangeLog file for zlib
 
+Changes in 1.2.13 (13 Oct 2022)
+- Fix configure issue that discarded provided CC definition
+- Correct incorrect inputs provided to the CRC functions
+- Repair prototypes and exporting of new CRC functions
+- Fix inflateBack to detect invalid input with distances too far
+- Have infback() deliver all of the available output up to any error
+- Fix a bug when getting a gzip header extra field with inflate()
+- Fix bug in block type selection when Z_FIXED used
+- Tighten deflateBound bounds
+- Remove deleted assembler code references
+- Various portability and appearance improvements
+
+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
@@ -96,7 +171,7 @@ Changes in 1.2.7.1 (24 Mar 2013)
 - Fix types in contrib/minizip to match result of get_crc_table()
 - Simplify contrib/vstudio/vc10 with 'd' suffix
 - Add TOP support to win32/Makefile.msc
-- Suport i686 and amd64 assembler builds in CMakeLists.txt
+- Support i686 and amd64 assembler builds in CMakeLists.txt
 - Fix typos in the use of _LARGEFILE64_SOURCE in zconf.h
 - Add vc11 and vc12 build files to contrib/vstudio
 - Add gzvprintf() as an undocumented function in zlib
@@ -296,14 +371,14 @@ Changes in 1.2.5.1 (10 Sep 2011)
 - Use u4 type for crc_table to avoid conversion warnings
 - Apply casts in zlib.h to avoid conversion warnings
 - Add OF to prototypes for adler32_combine_ and crc32_combine_ [Miller]
-- Improve inflateSync() documentation to note indeterminancy
+- Improve inflateSync() documentation to note indeterminacy
 - Add deflatePending() function to return the amount of pending output
 - Correct the spelling of "specification" in FAQ [Randers-Pehrson]
 - Add a check in configure for stdarg.h, use for gzprintf()
 - Check that pointers fit in ints when gzprint() compiled old style
 - Add dummy name before $(SHAREDLIBV) in Makefile [Bar-Lev, Bowler]
 - Delete line in configure that adds -L. libz.a to LDFLAGS [Weigelt]
-- Add debug records in assmebler code [Londer]
+- Add debug records in assembler code [Londer]
 - Update RFC references to use http://tools.ietf.org/html/... [Li]
 - Add --archs option, use of libtool to configure for Mac OS X [Borstel]
 
@@ -511,7 +586,7 @@ 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 +760,7 @@ 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 +796,7 @@ 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 +867,7 @@ 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
@@ -970,7 +1045,7 @@ Changes in 1.2.0.1 (17 March 2003)
     - Include additional header file on VMS for off_t typedef
 - Try to use _vsnprintf where it supplants vsprintf [Vollant]
 - Add some casts in inffast.c
-- Enchance comments in zlib.h on what happens if gzprintf() tries to
+- Enhance comments in zlib.h on what happens if gzprintf() tries to
   write more than 4095 bytes before compression
 - Remove unused state from inflateBackEnd()
 - Remove exit(0) from minigzip.c, example.c
@@ -1036,14 +1111,14 @@ 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 +1192,7 @@ 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)
@@ -1148,7 +1223,7 @@ Changes in 1.0.9 (17 Feb 1998)
 - Avoid gcc 2.8.0 comparison bug a little differently than zlib 1.0.8
 - in inftrees.c, avoid cc -O bug on HP (Farshid Elahi)
 - in zconf.h move the ZLIB_DLL stuff earlier to avoid problems with
-  the declaration of FAR (Gilles VOllant)
+  the declaration of FAR (Gilles Vollant)
 - install libz.so* with mode 755 (executable) instead of 644 (Marc Lehmann)
 - read_buf buf parameter of type Bytef* instead of charf*
 - zmemcpy parameters are of type Bytef*, not charf* (Joseph Strout)
@@ -1162,7 +1237,7 @@ 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 +1276,12 @@ 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 +1293,7 @@ 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 +1301,7 @@ 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 +1310,8 @@ 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 +1324,7 @@ 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 +1334,7 @@ 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 +1355,7 @@ 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 +1385,7 @@ 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 +1406,7 @@ 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 +1448,30 @@ 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 +1480,12 @@ 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 +1504,7 @@ 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 +1522,7 @@ 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 +1531,7 @@ 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 +1541,50 @@ 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
+- simplified 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/LICENSE

@@ -0,0 +1,22 @@
+Copyright notice:
+
+ (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
+  arising from the use of this software.
+
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+
+  Jean-loup Gailly        Mark Adler
+  jloup@gzip.org          madler@alumni.caltech.edu

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 1.2.13 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 1.2.13 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/compress.c

@@ -19,7 +19,7 @@
    memory, Z_BUF_ERROR if there was not enough room in the output buffer,
    Z_STREAM_ERROR if the level parameter is invalid.
 */
-int ZEXPORT compress2 (dest, destLen, source, sourceLen, level)
+int ZEXPORT compress2(dest, destLen, source, sourceLen, level)
     Bytef *dest;
     uLongf *destLen;
     const Bytef *source;
@@ -65,7 +65,7 @@ int ZEXPORT compress2 (dest, destLen, source, sourceLen, level)
 
 /* ===========================================================================
  */
-int ZEXPORT compress (dest, destLen, source, sourceLen)
+int ZEXPORT compress(dest, destLen, source, sourceLen)
     Bytef *dest;
     uLongf *destLen;
     const Bytef *source;
@@ -78,7 +78,7 @@ int ZEXPORT compress (dest, destLen, source, sourceLen)
      If the default memLevel or windowBits for deflateInit() is changed, then
    this function needs to be updated.
  */
-uLong ZEXPORT compressBound (sourceLen)
+uLong ZEXPORT compressBound(sourceLen)
     uLong sourceLen;
 {
     return sourceLen + (sourceLen >> 12) + (sourceLen >> 14) +

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 1.2.13 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
@@ -87,13 +87,7 @@ local void lm_init        OF((deflate_state *s));
 local void putShortMSB    OF((deflate_state *s, uInt b));
 local void flush_pending  OF((z_streamp strm));
 local unsigned read_buf   OF((z_streamp strm, Bytef *buf, unsigned size));
-#ifdef ASMV
-#  pragma message("Assembler code may have bugs -- use at your own risk")
-      void match_init OF((void)); /* asm code initialization */
-      uInt longest_match  OF((deflate_state *s, IPos cur_match));
-#else
 local uInt longest_match  OF((deflate_state *s, IPos cur_match));
-#endif
 
 #ifdef ZLIB_DEBUG
 local  void check_match OF((deflate_state *s, IPos start, IPos match,
@@ -160,7 +154,7 @@ local const config configuration_table[10] = {
  *    characters, so that a running hash key can be computed from the previous
  *    key instead of complete recalculation each time.
  */
-#define UPDATE_HASH(s,h,c) (h = (((h)<<s->hash_shift) ^ (c)) & s->hash_mask)
+#define UPDATE_HASH(s,h,c) (h = (((h) << s->hash_shift) ^ (c)) & s->hash_mask)
 
 
 /* ===========================================================================
@@ -190,8 +184,11 @@ 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 +249,6 @@ 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;
@@ -287,6 +279,8 @@ int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
 
     if (windowBits < 0) { /* suppress zlib wrapper */
         wrap = 0;
+        if (windowBits < -15)
+            return Z_STREAM_ERROR;
         windowBits = -windowBits;
     }
 #ifdef GZIP
@@ -316,7 +310,7 @@ int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
     s->hash_bits = (uInt)memLevel + 7;
     s->hash_size = 1 << s->hash_bits;
     s->hash_mask = s->hash_size - 1;
-    s->hash_shift =  ((s->hash_bits+MIN_MATCH-1)/MIN_MATCH);
+    s->hash_shift =  ((s->hash_bits + MIN_MATCH-1) / MIN_MATCH);
 
     s->window = (Bytef *) ZALLOC(strm, s->w_size, 2*sizeof(Byte));
     s->prev   = (Posf *)  ZALLOC(strm, s->w_size, sizeof(Pos));
@@ -326,9 +320,47 @@ 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 +369,12 @@ 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;
@@ -350,7 +386,7 @@ int ZEXPORT deflateInit2_(strm, level, method, windowBits, memLevel, strategy,
 /* =========================================================================
  * Check for a valid deflate stream state. Return 0 if ok, 1 if not.
  */
-local int deflateStateCheck (strm)
+local int deflateStateCheck(strm)
     z_streamp strm;
 {
     deflate_state *s;
@@ -373,7 +409,7 @@ local int deflateStateCheck (strm)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflateSetDictionary (strm, dictionary, dictLength)
+int ZEXPORT deflateSetDictionary(strm, dictionary, dictLength)
     z_streamp strm;
     const Bytef *dictionary;
     uInt  dictLength;
@@ -442,7 +478,7 @@ int ZEXPORT deflateSetDictionary (strm, dictionary, dictLength)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflateGetDictionary (strm, dictionary, dictLength)
+int ZEXPORT deflateGetDictionary(strm, dictionary, dictLength)
     z_streamp strm;
     Bytef *dictionary;
     uInt  *dictLength;
@@ -464,7 +500,7 @@ int ZEXPORT deflateGetDictionary (strm, dictionary, dictLength)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflateResetKeep (strm)
+int ZEXPORT deflateResetKeep(strm)
     z_streamp strm;
 {
     deflate_state *s;
@@ -488,13 +524,13 @@ 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);
 
@@ -502,7 +538,7 @@ int ZEXPORT deflateResetKeep (strm)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflateReset (strm)
+int ZEXPORT deflateReset(strm)
     z_streamp strm;
 {
     int ret;
@@ -514,7 +550,7 @@ int ZEXPORT deflateReset (strm)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflateSetHeader (strm, head)
+int ZEXPORT deflateSetHeader(strm, head)
     z_streamp strm;
     gz_headerp head;
 {
@@ -525,7 +561,7 @@ int ZEXPORT deflateSetHeader (strm, head)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflatePending (strm, pending, bits)
+int ZEXPORT deflatePending(strm, pending, bits)
     unsigned *pending;
     int *bits;
     z_streamp strm;
@@ -539,7 +575,7 @@ int ZEXPORT deflatePending (strm, pending, bits)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflatePrime (strm, bits, value)
+int ZEXPORT deflatePrime(strm, bits, value)
     z_streamp strm;
     int bits;
     int value;
@@ -549,7 +585,8 @@ 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 +624,12 @@ 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) {
@@ -633,36 +670,50 @@ int ZEXPORT deflateTune(strm, good_length, max_lazy, nice_length, max_chain)
 }
 
 /* =========================================================================
- * For the default windowBits of 15 and memLevel of 8, this function returns
- * a close to exact, as well as small, upper bound on the compressed size.
- * They are coded as constants here for a reason--if the #define's are
- * changed, then this function needs to be changed as well.  The return
- * value for 15 and 8 only works for those exact settings.
+ * For the default windowBits of 15 and memLevel of 8, this function returns a
+ * close to exact, as well as small, upper bound on the compressed size. This
+ * is an expansion of ~0.03%, plus a small constant.
  *
- * For any setting other than those defaults for windowBits and memLevel,
- * the value returned is a conservative worst case for the maximum expansion
- * resulting from using fixed blocks instead of stored blocks, which deflate
- * can emit on compressed data for some combinations of the parameters.
+ * For any setting other than those defaults for windowBits and memLevel, one
+ * of two worst case bounds is returned. This is at most an expansion of ~4% or
+ * ~13%, plus a small constant.
  *
- * This function could be more sophisticated to provide closer upper bounds for
- * every combination of windowBits and memLevel.  But even the conservative
- * upper bound of about 14% expansion does not seem onerous for output buffer
- * allocation.
+ * Both the 0.03% and 4% derive from the overhead of stored blocks. The first
+ * one is for stored blocks of 16383 bytes (memLevel == 8), whereas the second
+ * is for stored blocks of 127 bytes (the worst case memLevel == 1). The
+ * expansion results from five bytes of header for each stored block.
+ *
+ * The larger expansion of 13% results from a window size less than or equal to
+ * the symbols buffer size (windowBits <= memLevel + 7). In that case some of
+ * the data being compressed may have slid out of the sliding window, impeding
+ * a stored block from being emitted. Then the only choice is a fixed or
+ * dynamic block, where a fixed block limits the maximum expansion to 9 bits
+ * per 8-bit byte, plus 10 bits for every block. The smallest block size for
+ * which this can occur is 255 (memLevel == 2).
+ *
+ * Shifts are used to approximate divisions, for speed.
  */
 uLong ZEXPORT deflateBound(strm, sourceLen)
     z_streamp strm;
     uLong sourceLen;
 {
     deflate_state *s;
-    uLong complen, wraplen;
+    uLong fixedlen, storelen, wraplen;
 
-    /* conservative upper bound for compressed data */
-    complen = sourceLen +
-              ((sourceLen + 7) >> 3) + ((sourceLen + 63) >> 6) + 5;
+    /* upper bound for fixed blocks with 9-bit literals and length 255
+       (memLevel == 2, which is the lowest that may not use stored blocks) --
+       ~13% overhead plus a small constant */
+    fixedlen = sourceLen + (sourceLen >> 3) + (sourceLen >> 8) +
+               (sourceLen >> 9) + 4;
 
-    /* if can't get parameters, return conservative bound plus zlib wrapper */
+    /* upper bound for stored blocks with length 127 (memLevel == 1) --
+       ~4% overhead plus a small constant */
+    storelen = sourceLen + (sourceLen >> 5) + (sourceLen >> 7) +
+               (sourceLen >> 11) + 7;
+
+    /* if can't get parameters, return larger bound plus a zlib wrapper */
     if (deflateStateCheck(strm))
-        return complen + 6;
+        return (fixedlen > storelen ? fixedlen : storelen) + 6;
 
     /* compute wrapper length */
     s = strm->state;
@@ -699,11 +750,12 @@ uLong ZEXPORT deflateBound(strm, sourceLen)
         wraplen = 6;
     }
 
-    /* if not default parameters, return conservative bound */
+    /* if not default parameters, return one of the conservative bounds */
     if (s->w_bits != 15 || s->hash_bits != 8 + 7)
-        return complen + wraplen;
+        return (s->w_bits <= s->hash_bits ? fixedlen : storelen) + wraplen;
 
-    /* default settings: return tight bound for that case */
+    /* default settings: return tight bound for that case -- ~0.03% overhead
+       plus a small constant */
     return sourceLen + (sourceLen >> 12) + (sourceLen >> 14) +
            (sourceLen >> 25) + 13 - 6 + wraplen;
 }
@@ -713,7 +765,7 @@ uLong ZEXPORT deflateBound(strm, sourceLen)
  * IN assertion: the stream state is correct and there is enough room in
  * pending_buf.
  */
-local void putShortMSB (s, b)
+local void putShortMSB(s, b)
     deflate_state *s;
     uInt b;
 {
@@ -760,7 +812,7 @@ local void flush_pending(strm)
     } while (0)
 
 /* ========================================================================= */
-int ZEXPORT deflate (strm, flush)
+int ZEXPORT deflate(strm, flush)
     z_streamp strm;
     int flush;
 {
@@ -811,9 +863,11 @@ 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;
+        uInt header = (Z_DEFLATED + ((s->w_bits - 8) << 4)) << 8;
         uInt level_flags;
 
         if (s->strategy >= Z_HUFFMAN_ONLY || s->level < 2)
@@ -1073,7 +1127,7 @@ int ZEXPORT deflate (strm, flush)
 }
 
 /* ========================================================================= */
-int ZEXPORT deflateEnd (strm)
+int ZEXPORT deflateEnd(strm)
     z_streamp strm;
 {
     int status;
@@ -1099,7 +1153,7 @@ int ZEXPORT deflateEnd (strm)
  * To simplify the source, this is not supported for 16-bit MSDOS (which
  * doesn't have enough memory anyway to duplicate compression states).
  */
-int ZEXPORT deflateCopy (dest, source)
+int ZEXPORT deflateCopy(dest, source)
     z_streamp dest;
     z_streamp source;
 {
@@ -1108,7 +1162,6 @@ int ZEXPORT deflateCopy (dest, source)
 #else
     deflate_state *ds;
     deflate_state *ss;
-    ushf *overlay;
 
 
     if (deflateStateCheck(source) || dest == Z_NULL) {
@@ -1128,8 +1181,7 @@ 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 +1195,7 @@ 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;
@@ -1191,7 +1242,7 @@ local unsigned read_buf(strm, buf, size)
 /* ===========================================================================
  * Initialize the "longest match" routines for a new zlib stream
  */
-local void lm_init (s)
+local void lm_init(s)
     deflate_state *s;
 {
     s->window_size = (ulg)2L*s->w_size;
@@ -1212,11 +1263,6 @@ local void lm_init (s)
     s->match_length = s->prev_length = MIN_MATCH-1;
     s->match_available = 0;
     s->ins_h = 0;
-#ifndef FASTEST
-#ifdef ASMV
-    match_init(); /* initialize the asm code */
-#endif
-#endif
 }
 
 #ifndef FASTEST
@@ -1229,10 +1275,6 @@ local void lm_init (s)
  *   string (strstart) and its distance is <= MAX_DIST, and prev_length >= 1
  * OUT assertion: the match length is not greater than s->lookahead.
  */
-#ifndef ASMV
-/* For 80x86 and 680x0, an optimized version will be provided in match.asm or
- * match.S. The code will be functionally equivalent.
- */
 local uInt longest_match(s, cur_match)
     deflate_state *s;
     IPos cur_match;                             /* current match */
@@ -1257,10 +1299,10 @@ local uInt longest_match(s, cur_match)
      */
     register Bytef *strend = s->window + s->strstart + MAX_MATCH - 1;
     register ush scan_start = *(ushf*)scan;
-    register ush scan_end   = *(ushf*)(scan+best_len-1);
+    register ush scan_end   = *(ushf*)(scan + best_len - 1);
 #else
     register Bytef *strend = s->window + s->strstart + MAX_MATCH;
-    register Byte scan_end1  = scan[best_len-1];
+    register Byte scan_end1  = scan[best_len - 1];
     register Byte scan_end   = scan[best_len];
 #endif
 
@@ -1278,7 +1320,8 @@ local uInt longest_match(s, cur_match)
      */
     if ((uInt)nice_match > s->lookahead) nice_match = (int)s->lookahead;
 
-    Assert((ulg)s->strstart <= s->window_size-MIN_LOOKAHEAD, "need lookahead");
+    Assert((ulg)s->strstart <= s->window_size - MIN_LOOKAHEAD,
+           "need lookahead");
 
     do {
         Assert(cur_match < s->strstart, "no future");
@@ -1296,43 +1339,44 @@ local uInt longest_match(s, cur_match)
         /* This code assumes sizeof(unsigned short) == 2. Do not use
          * UNALIGNED_OK if your compiler uses a different size.
          */
-        if (*(ushf*)(match+best_len-1) != scan_end ||
+        if (*(ushf*)(match + best_len - 1) != scan_end ||
             *(ushf*)match != scan_start) continue;
 
         /* It is not necessary to compare scan[2] and match[2] since they are
          * always equal when the other bytes match, given that the hash keys
          * are equal and that HASH_BITS >= 8. Compare 2 bytes at a time at
-         * strstart+3, +5, ... up to strstart+257. We check for insufficient
+         * strstart + 3, + 5, up to strstart + 257. We check for insufficient
          * lookahead only every 4th comparison; the 128th check will be made
-         * at strstart+257. If MAX_MATCH-2 is not a multiple of 8, it is
+         * at strstart + 257. If MAX_MATCH-2 is not a multiple of 8, it is
          * necessary to put more guard bytes at the end of the window, or
          * to check more often for insufficient lookahead.
          */
         Assert(scan[2] == match[2], "scan[2]?");
         scan++, match++;
         do {
-        } while (*(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
-                 *(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
-                 *(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
-                 *(ushf*)(scan+=2) == *(ushf*)(match+=2) &&
+        } while (*(ushf*)(scan += 2) == *(ushf*)(match += 2) &&
+                 *(ushf*)(scan += 2) == *(ushf*)(match += 2) &&
+                 *(ushf*)(scan += 2) == *(ushf*)(match += 2) &&
+                 *(ushf*)(scan += 2) == *(ushf*)(match += 2) &&
                  scan < strend);
         /* The funny "do {}" generates better code on most compilers */
 
-        /* Here, scan <= window+strstart+257 */
-        Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+        /* Here, scan <= window + strstart + 257 */
+        Assert(scan <= s->window + (unsigned)(s->window_size - 1),
+               "wild scan");
         if (*scan == *match) scan++;
 
-        len = (MAX_MATCH - 1) - (int)(strend-scan);
+        len = (MAX_MATCH - 1) - (int)(strend - scan);
         scan = strend - (MAX_MATCH-1);
 
 #else /* UNALIGNED_OK */
 
-        if (match[best_len]   != scan_end  ||
-            match[best_len-1] != scan_end1 ||
-            *match            != *scan     ||
-            *++match          != scan[1])      continue;
+        if (match[best_len]     != scan_end  ||
+            match[best_len - 1] != scan_end1 ||
+            *match              != *scan     ||
+            *++match            != scan[1])      continue;
 
-        /* The check at best_len-1 can be removed because it will be made
+        /* The check at best_len - 1 can be removed because it will be made
          * again later. (This heuristic is not always a win.)
          * It is not necessary to compare scan[2] and match[2] since they
          * are always equal when the other bytes match, given that
@@ -1342,7 +1386,7 @@ local uInt longest_match(s, cur_match)
         Assert(*scan == *match, "match[2]?");
 
         /* We check for insufficient lookahead only every 8th comparison;
-         * the 256th check will be made at strstart+258.
+         * the 256th check will be made at strstart + 258.
          */
         do {
         } while (*++scan == *++match && *++scan == *++match &&
@@ -1351,7 +1395,8 @@ local uInt longest_match(s, cur_match)
                  *++scan == *++match && *++scan == *++match &&
                  scan < strend);
 
-        Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+        Assert(scan <= s->window + (unsigned)(s->window_size - 1),
+               "wild scan");
 
         len = MAX_MATCH - (int)(strend - scan);
         scan = strend - MAX_MATCH;
@@ -1363,9 +1408,9 @@ local uInt longest_match(s, cur_match)
             best_len = len;
             if (len >= nice_match) break;
 #ifdef UNALIGNED_OK
-            scan_end = *(ushf*)(scan+best_len-1);
+            scan_end = *(ushf*)(scan + best_len - 1);
 #else
-            scan_end1  = scan[best_len-1];
+            scan_end1  = scan[best_len - 1];
             scan_end   = scan[best_len];
 #endif
         }
@@ -1375,7 +1420,6 @@ local uInt longest_match(s, cur_match)
     if ((uInt)best_len <= s->lookahead) return (uInt)best_len;
     return s->lookahead;
 }
-#endif /* ASMV */
 
 #else /* FASTEST */
 
@@ -1396,7 +1440,8 @@ local uInt longest_match(s, cur_match)
      */
     Assert(s->hash_bits >= 8 && MAX_MATCH == 258, "Code too clever");
 
-    Assert((ulg)s->strstart <= s->window_size-MIN_LOOKAHEAD, "need lookahead");
+    Assert((ulg)s->strstart <= s->window_size - MIN_LOOKAHEAD,
+           "need lookahead");
 
     Assert(cur_match < s->strstart, "no future");
 
@@ -1406,7 +1451,7 @@ local uInt longest_match(s, cur_match)
      */
     if (match[0] != scan[0] || match[1] != scan[1]) return MIN_MATCH-1;
 
-    /* The check at best_len-1 can be removed because it will be made
+    /* The check at best_len - 1 can be removed because it will be made
      * again later. (This heuristic is not always a win.)
      * It is not necessary to compare scan[2] and match[2] since they
      * are always equal when the other bytes match, given that
@@ -1416,7 +1461,7 @@ local uInt longest_match(s, cur_match)
     Assert(*scan == *match, "match[2]?");
 
     /* We check for insufficient lookahead only every 8th comparison;
-     * the 256th check will be made at strstart+258.
+     * the 256th check will be made at strstart + 258.
      */
     do {
     } while (*++scan == *++match && *++scan == *++match &&
@@ -1425,7 +1470,7 @@ local uInt longest_match(s, cur_match)
              *++scan == *++match && *++scan == *++match &&
              scan < strend);
 
-    Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+    Assert(scan <= s->window + (unsigned)(s->window_size - 1), "wild scan");
 
     len = MAX_MATCH - (int)(strend - scan);
 
@@ -1461,7 +1506,7 @@ local void check_match(s, start, match, length)
         z_error("invalid match");
     }
     if (z_verbose > 1) {
-        fprintf(stderr,"\\[%d,%d]", start-match, length);
+        fprintf(stderr,"\\[%d,%d]", start - match, length);
         do { putc(s->window[start++], stderr); } while (--length != 0);
     }
 }
@@ -1507,12 +1552,14 @@ local void fill_window(s)
         /* If the window is almost full and there is insufficient lookahead,
          * move the upper half to the lower one to make room in the upper half.
          */
-        if (s->strstart >= wsize+MAX_DIST(s)) {
+        if (s->strstart >= wsize + MAX_DIST(s)) {
 
-            zmemcpy(s->window, s->window+wsize, (unsigned)wsize - more);
+            zmemcpy(s->window, s->window + wsize, (unsigned)wsize - more);
             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;
         }
@@ -1638,7 +1685,7 @@ local void fill_window(s)
  *
  * deflate_stored() is written to minimize the number of times an input byte is
  * copied. It is most efficient with large input and output buffers, which
- * maximizes the opportunites to have a single copy from next_in to next_out.
+ * maximizes the opportunities to have a single copy from next_in to next_out.
  */
 local block_state deflate_stored(s, flush)
     deflate_state *s;
@@ -1742,6 +1789,7 @@ 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 +1798,14 @@ 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 +1820,7 @@ 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 +1829,15 @@ 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;
@@ -1842,7 +1895,7 @@ local block_state deflate_fast(s, flush)
             if (s->lookahead == 0) break; /* flush the current block */
         }
 
-        /* Insert the string window[strstart .. strstart+2] in the
+        /* Insert the string window[strstart .. strstart + 2] in the
          * dictionary, and set hash_head to the head of the hash chain:
          */
         hash_head = NIL;
@@ -1890,7 +1943,7 @@ local block_state deflate_fast(s, flush)
                 s->strstart += s->match_length;
                 s->match_length = 0;
                 s->ins_h = s->window[s->strstart];
-                UPDATE_HASH(s, s->ins_h, s->window[s->strstart+1]);
+                UPDATE_HASH(s, s->ins_h, s->window[s->strstart + 1]);
 #if MIN_MATCH != 3
                 Call UPDATE_HASH() MIN_MATCH-3 more times
 #endif
@@ -1901,7 +1954,7 @@ local block_state deflate_fast(s, flush)
         } else {
             /* No match, output a literal byte */
             Tracevv((stderr,"%c", s->window[s->strstart]));
-            _tr_tally_lit (s, s->window[s->strstart], bflush);
+            _tr_tally_lit(s, s->window[s->strstart], bflush);
             s->lookahead--;
             s->strstart++;
         }
@@ -1912,7 +1965,7 @@ 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;
 }
@@ -1945,7 +1998,7 @@ local block_state deflate_slow(s, flush)
             if (s->lookahead == 0) break; /* flush the current block */
         }
 
-        /* Insert the string window[strstart .. strstart+2] in the
+        /* Insert the string window[strstart .. strstart + 2] in the
          * dictionary, and set hash_head to the head of the hash chain:
          */
         hash_head = NIL;
@@ -1987,17 +2040,17 @@ local block_state deflate_slow(s, flush)
             uInt max_insert = s->strstart + s->lookahead - MIN_MATCH;
             /* Do not insert strings in hash table beyond this. */
 
-            check_match(s, s->strstart-1, s->prev_match, s->prev_length);
+            check_match(s, s->strstart - 1, s->prev_match, s->prev_length);
 
-            _tr_tally_dist(s, s->strstart -1 - s->prev_match,
+            _tr_tally_dist(s, s->strstart - 1 - s->prev_match,
                            s->prev_length - MIN_MATCH, bflush);
 
             /* Insert in hash table all strings up to the end of the match.
-             * strstart-1 and strstart are already inserted. If there is not
+             * strstart - 1 and strstart are already inserted. If there is not
              * enough lookahead, the last two strings are not inserted in
              * the hash table.
              */
-            s->lookahead -= s->prev_length-1;
+            s->lookahead -= s->prev_length - 1;
             s->prev_length -= 2;
             do {
                 if (++s->strstart <= max_insert) {
@@ -2015,8 +2068,8 @@ local block_state deflate_slow(s, flush)
              * single literal. If there was a match but the current match
              * is longer, truncate the previous match to a single literal.
              */
-            Tracevv((stderr,"%c", s->window[s->strstart-1]));
-            _tr_tally_lit(s, s->window[s->strstart-1], bflush);
+            Tracevv((stderr,"%c", s->window[s->strstart - 1]));
+            _tr_tally_lit(s, s->window[s->strstart - 1], bflush);
             if (bflush) {
                 FLUSH_BLOCK_ONLY(s, 0);
             }
@@ -2034,8 +2087,8 @@ local block_state deflate_slow(s, flush)
     }
     Assert (flush != Z_NO_FLUSH, "no flush?");
     if (s->match_available) {
-        Tracevv((stderr,"%c", s->window[s->strstart-1]));
-        _tr_tally_lit(s, s->window[s->strstart-1], bflush);
+        Tracevv((stderr,"%c", s->window[s->strstart - 1]));
+        _tr_tally_lit(s, s->window[s->strstart - 1], bflush);
         s->match_available = 0;
     }
     s->insert = s->strstart < MIN_MATCH-1 ? s->strstart : MIN_MATCH-1;
@@ -2043,7 +2096,7 @@ 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;
 }
@@ -2092,7 +2145,8 @@ local block_state deflate_rle(s, flush)
                 if (s->match_length > s->lookahead)
                     s->match_length = s->lookahead;
             }
-            Assert(scan <= s->window+(uInt)(s->window_size-1), "wild scan");
+            Assert(scan <= s->window + (uInt)(s->window_size - 1),
+                   "wild scan");
         }
 
         /* Emit match if have run of MIN_MATCH or longer, else emit literal */
@@ -2107,7 +2161,7 @@ local block_state deflate_rle(s, flush)
         } else {
             /* No match, output a literal byte */
             Tracevv((stderr,"%c", s->window[s->strstart]));
-            _tr_tally_lit (s, s->window[s->strstart], bflush);
+            _tr_tally_lit(s, s->window[s->strstart], bflush);
             s->lookahead--;
             s->strstart++;
         }
@@ -2118,7 +2172,7 @@ 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;
 }
@@ -2147,7 +2201,7 @@ local block_state deflate_huff(s, flush)
         /* Output a literal byte */
         s->match_length = 0;
         Tracevv((stderr,"%c", s->window[s->strstart]));
-        _tr_tally_lit (s, s->window[s->strstart], bflush);
+        _tr_tally_lit(s, s->window[s->strstart], bflush);
         s->lookahead--;
         s->strstart++;
         if (bflush) FLUSH_BLOCK(s, 0);
@@ -2157,7 +2211,7 @@ 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++] = (uch)dist; \
+    s->sym_buf[s->sym_next++] = (uch)(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
@@ -30,7 +30,7 @@ local gzFile gz_open OF((const void *, int, const char *));
 
    The gz_strwinerror function does not change the current setting of
    GetLastError. */
-char ZLIB_INTERNAL *gz_strwinerror (error)
+char ZLIB_INTERNAL *gz_strwinerror(error)
      DWORD error;
 {
     static char buf[1024];
@@ -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
  */
 
@@ -157,11 +157,9 @@ local int gz_look(state)
        the output buffer is larger than the input buffer, which also assures
        space for gzungetc() */
     state->x.next = state->out;
-    if (strm->avail_in) {
-        memcpy(state->x.next, strm->next_in, strm->avail_in);
-        state->x.have = strm->avail_in;
-        strm->avail_in = 0;
-    }
+    memcpy(state->x.next, strm->next_in, strm->avail_in);
+    state->x.have = strm->avail_in;
+    strm->avail_in = 0;
     state->how = COPY;
     state->direct = 1;
     return 0;
@@ -314,9 +312,9 @@ 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 +395,7 @@ 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 +445,6 @@ 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 +466,7 @@ 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;
     }
@@ -462,7 +474,7 @@ int ZEXPORTVA gzprintf(gzFile file, const char *format, ...)
 #else /* !STDC && !Z_HAVE_STDARG_H */
 
 /* -- see zlib.h -- */
-int ZEXPORTVA gzprintf (file, format, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10,
+int ZEXPORTVA gzprintf(file, format, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10,
                        a11, a12, a13, a14, a15, a16, a17, a18, a19, a20)
     gzFile file;
     const char *format;
@@ -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
  */
 
@@ -66,6 +66,7 @@ int stream_size;
     state->window = window;
     state->wnext = 0;
     state->whave = 0;
+    state->sane = 1;
     return Z_OK;
 }
 
@@ -477,6 +478,7 @@ 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 */
@@ -604,25 +606,27 @@ void FAR *out_desc;
             break;
 
         case DONE:
-            /* inflate stream terminated properly -- write leftover output */
+            /* inflate stream terminated properly */
             ret = Z_STREAM_END;
-            if (left < state->wsize) {
-                if (out(out_desc, state->window, state->wsize - left))
-                    ret = Z_BUF_ERROR;
-            }
             goto inf_leave;
 
         case BAD:
             ret = Z_DATA_ERROR;
             goto inf_leave;
 
-        default:                /* can't happen, but makes compilers happy */
+        default:
+            /* can't happen, but makes compilers happy */
             ret = Z_STREAM_ERROR;
             goto inf_leave;
         }
 
-    /* Return unused input */
+    /* Write leftover output and return unused input */
   inf_leave:
+    if (left < state->wsize) {
+        if (out(out_desc, state->window, state->wsize - left) &&
+            ret == Z_STREAM_END)
+            ret = Z_BUF_ERROR;
+    }
     strm->next_in = next;
     strm->avail_in = have;
     return ret;

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;
@@ -167,6 +168,8 @@ int windowBits;
 
     /* extract wrap request from windowBits parameter */
     if (windowBits < 0) {
+        if (windowBits < -15)
+            return Z_STREAM_ERROR;
         wrap = 0;
         windowBits = -windowBits;
     }
@@ -448,10 +451,10 @@ 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 +674,6 @@ 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 +700,7 @@ 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 +726,7 @@ int flush;
                 CRC2(state->check, hold);
             INITBITS();
             state->mode = TIME;
+                /* fallthrough */
         case TIME:
             NEEDBITS(32);
             if (state->head != Z_NULL)
@@ -731,6 +735,7 @@ int flush;
                 CRC4(state->check, hold);
             INITBITS();
             state->mode = OS;
+                /* fallthrough */
         case OS:
             NEEDBITS(16);
             if (state->head != Z_NULL) {
@@ -741,6 +746,7 @@ int flush;
                 CRC2(state->check, hold);
             INITBITS();
             state->mode = EXLEN;
+                /* fallthrough */
         case EXLEN:
             if (state->flags & 0x0400) {
                 NEEDBITS(16);
@@ -754,14 +760,16 @@ 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;
                 if (copy > have) copy = have;
                 if (copy) {
                     if (state->head != Z_NULL &&
-                        state->head->extra != Z_NULL) {
-                        len = state->head->extra_len - state->length;
+                        state->head->extra != Z_NULL &&
+                        (len = state->head->extra_len - state->length) <
+                            state->head->extra_max) {
                         zmemcpy(state->head->extra + len, next,
                                 len + copy > state->head->extra_max ?
                                 state->head->extra_max - len : copy);
@@ -776,6 +784,7 @@ int flush;
             }
             state->length = 0;
             state->mode = NAME;
+                /* fallthrough */
         case NAME:
             if (state->flags & 0x0800) {
                 if (have == 0) goto inf_leave;
@@ -797,6 +806,7 @@ 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 +827,7 @@ 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 +851,7 @@ int flush;
             strm->adler = state->check = ZSWAP32(hold);
             INITBITS();
             state->mode = DICT;
+                /* fallthrough */
         case DICT:
             if (state->havedict == 0) {
                 RESTORE();
@@ -847,8 +859,10 @@ 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 +913,10 @@ 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 +952,7 @@ 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 +974,7 @@ 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 +1058,10 @@ 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 +1111,7 @@ int flush;
             }
             state->extra = (unsigned)(here.op) & 15;
             state->mode = LENEXT;
+                /* fallthrough */
         case LENEXT:
             if (state->extra) {
                 NEEDBITS(state->extra);
@@ -1101,6 +1122,7 @@ 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 +1150,7 @@ 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 +1167,7 @@ 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 +1227,7 @@ 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 +1243,11 @@ 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 +1257,7 @@ int flush;
             }
 #endif
             state->mode = DONE;
+                /* fallthrough */
         case DONE:
             ret = Z_STREAM_END;
             goto inf_leave;
@@ -1241,6 +1267,7 @@ int flush;
         case MEM:
             return Z_MEM_ERROR;
         case SYNC:
+                /* fallthrough */
         default:
             return Z_STREAM_ERROR;
         }
@@ -1266,7 +1293,7 @@ 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 +1429,7 @@ 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 +1462,15 @@ 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 +1566,7 @@ 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 1.2.13 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, 194, 65};
     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/inftrees.h

@@ -38,7 +38,7 @@ typedef struct {
 /* Maximum size of the dynamic table.  The maximum number of code structures is
    1444, which is the sum of 852 for literal/length codes and 592 for distance
    codes.  These values were found by exhaustive searches using the program
-   examples/enough.c found in the zlib distribtution.  The arguments to that
+   examples/enough.c found in the zlib distribution.  The arguments to that
    program are the number of symbols, the initial root table size, and the
    maximum bit length of a code.  "enough 286 9 15" for literal/length codes
    returns returns 852, and "enough 30 6 15" for distance codes returns 592.

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));
 
@@ -193,7 +193,7 @@ local void send_bits(s, value, length)
     s->bits_sent += (ulg)length;
 
     /* If not enough room in bi_buf, use (valid) bits from bi_buf and
-     * (16 - bi_valid) bits from value, leaving (width - (16-bi_valid))
+     * (16 - bi_valid) bits from value, leaving (width - (16 - bi_valid))
      * unused bits in value.
      */
     if (s->bi_valid > (int)Buf_size - length) {
@@ -256,7 +256,7 @@ local void tr_static_init()
     length = 0;
     for (code = 0; code < LENGTH_CODES-1; code++) {
         base_length[code] = length;
-        for (n = 0; n < (1<<extra_lbits[code]); n++) {
+        for (n = 0; n < (1 << extra_lbits[code]); n++) {
             _length_code[length++] = (uch)code;
         }
     }
@@ -265,13 +265,13 @@ local void tr_static_init()
      * in two different ways: code 284 + 5 bits or code 285, so we
      * overwrite length_code[255] to use the best encoding:
      */
-    _length_code[length-1] = (uch)code;
+    _length_code[length - 1] = (uch)code;
 
     /* Initialize the mapping dist (0..32K) -> dist code (0..29) */
     dist = 0;
     for (code = 0 ; code < 16; code++) {
         base_dist[code] = dist;
-        for (n = 0; n < (1<<extra_dbits[code]); n++) {
+        for (n = 0; n < (1 << extra_dbits[code]); n++) {
             _dist_code[dist++] = (uch)code;
         }
     }
@@ -279,11 +279,11 @@ local void tr_static_init()
     dist >>= 7; /* from now on, all distances are divided by 128 */
     for ( ; code < D_CODES; code++) {
         base_dist[code] = dist << 7;
-        for (n = 0; n < (1<<(extra_dbits[code]-7)); n++) {
+        for (n = 0; n < (1 << (extra_dbits[code] - 7)); n++) {
             _dist_code[256 + dist++] = (uch)code;
         }
     }
-    Assert (dist == 256, "tr_static_init: 256+dist != 512");
+    Assert (dist == 256, "tr_static_init: 256 + dist != 512");
 
     /* Construct the codes of the static literal tree */
     for (bits = 0; bits <= MAX_BITS; bits++) bl_count[bits] = 0;
@@ -312,7 +312,7 @@ local void tr_static_init()
 }
 
 /* ===========================================================================
- * Genererate the file trees.h describing the static trees.
+ * Generate the file trees.h describing the static trees.
  */
 #ifdef GEN_TREES_H
 #  ifndef ZLIB_DEBUG
@@ -321,7 +321,7 @@ local void tr_static_init()
 
 #  define SEPARATOR(i, last, width) \
       ((i) == (last)? "\n};\n\n" :    \
-       ((i) % (width) == (width)-1 ? ",\n" : ", "))
+       ((i) % (width) == (width) - 1 ? ",\n" : ", "))
 
 void gen_trees_header()
 {
@@ -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
@@ -458,7 +458,7 @@ local void pqdownheap(s, tree, k)
     while (j <= s->heap_len) {
         /* Set j to the smallest of the two sons: */
         if (j < s->heap_len &&
-            smaller(tree, s->heap[j+1], s->heap[j], s->depth)) {
+            smaller(tree, s->heap[j + 1], s->heap[j], s->depth)) {
             j++;
         }
         /* Exit if v is smaller than both sons */
@@ -507,7 +507,7 @@ local void gen_bitlen(s, desc)
      */
     tree[s->heap[s->heap_max]].Len = 0; /* root of the heap */
 
-    for (h = s->heap_max+1; h < HEAP_SIZE; h++) {
+    for (h = s->heap_max + 1; h < HEAP_SIZE; h++) {
         n = s->heap[h];
         bits = tree[tree[n].Dad].Len + 1;
         if (bits > max_length) bits = max_length, overflow++;
@@ -518,7 +518,7 @@ local void gen_bitlen(s, desc)
 
         s->bl_count[bits]++;
         xbits = 0;
-        if (n >= base) xbits = extra[n-base];
+        if (n >= base) xbits = extra[n - base];
         f = tree[n].Freq;
         s->opt_len += (ulg)f * (unsigned)(bits + xbits);
         if (stree) s->static_len += (ulg)f * (unsigned)(stree[n].Len + xbits);
@@ -530,10 +530,10 @@ local void gen_bitlen(s, desc)
 
     /* Find the first bit length which could increase: */
     do {
-        bits = max_length-1;
+        bits = max_length - 1;
         while (s->bl_count[bits] == 0) bits--;
-        s->bl_count[bits]--;      /* move one leaf down the tree */
-        s->bl_count[bits+1] += 2; /* move one overflow item as its brother */
+        s->bl_count[bits]--;        /* move one leaf down the tree */
+        s->bl_count[bits + 1] += 2; /* move one overflow item as its brother */
         s->bl_count[max_length]--;
         /* The brother of the overflow item also moves one step up,
          * but this does not affect bl_count[max_length]
@@ -569,7 +569,7 @@ local void gen_bitlen(s, desc)
  * OUT assertion: the field code is set for all tree elements of non
  *     zero code length.
  */
-local void gen_codes (tree, max_code, bl_count)
+local void gen_codes(tree, max_code, bl_count)
     ct_data *tree;             /* the tree to decorate */
     int max_code;              /* largest code with non zero frequency */
     ushf *bl_count;            /* number of codes at each bit length */
@@ -583,13 +583,13 @@ local void gen_codes (tree, max_code, bl_count)
      * without bit reversal.
      */
     for (bits = 1; bits <= MAX_BITS; bits++) {
-        code = (code + bl_count[bits-1]) << 1;
+        code = (code + bl_count[bits - 1]) << 1;
         next_code[bits] = (ush)code;
     }
     /* Check that the bit counts in bl_count are consistent. The last code
      * must be all ones.
      */
-    Assert (code + bl_count[MAX_BITS]-1 == (1<<MAX_BITS)-1,
+    Assert (code + bl_count[MAX_BITS] - 1 == (1 << MAX_BITS) - 1,
             "inconsistent bit counts");
     Tracev((stderr,"\ngen_codes: max_code %d ", max_code));
 
@@ -600,7 +600,7 @@ local void gen_codes (tree, max_code, bl_count)
         tree[n].Code = (ush)bi_reverse(next_code[len]++, len);
 
         Tracecv(tree != static_ltree, (stderr,"\nn %3d %c l %2d c %4x (%x) ",
-             n, (isgraph(n) ? n : ' '), len, tree[n].Code, next_code[len]-1));
+            n, (isgraph(n) ? n : ' '), len, tree[n].Code, next_code[len] - 1));
     }
 }
 
@@ -624,7 +624,7 @@ local void build_tree(s, desc)
     int node;          /* new node being created */
 
     /* Construct the initial heap, with least frequent element in
-     * heap[SMALLEST]. The sons of heap[n] are heap[2*n] and heap[2*n+1].
+     * heap[SMALLEST]. The sons of heap[n] are heap[2*n] and heap[2*n + 1].
      * heap[0] is not used.
      */
     s->heap_len = 0, s->heap_max = HEAP_SIZE;
@@ -652,7 +652,7 @@ local void build_tree(s, desc)
     }
     desc->max_code = max_code;
 
-    /* The elements heap[heap_len/2+1 .. heap_len] are leaves of the tree,
+    /* The elements heap[heap_len/2 + 1 .. heap_len] are leaves of the tree,
      * establish sub-heaps of increasing lengths:
      */
     for (n = s->heap_len/2; n >= 1; n--) pqdownheap(s, tree, n);
@@ -700,7 +700,7 @@ local void build_tree(s, desc)
  * Scan a literal or distance tree to determine the frequencies of the codes
  * in the bit length tree.
  */
-local void scan_tree (s, tree, max_code)
+local void scan_tree(s, tree, max_code)
     deflate_state *s;
     ct_data *tree;   /* the tree to be scanned */
     int max_code;    /* and its largest code of non zero frequency */
@@ -714,10 +714,10 @@ local void scan_tree (s, tree, max_code)
     int min_count = 4;         /* min repeat count */
 
     if (nextlen == 0) max_count = 138, min_count = 3;
-    tree[max_code+1].Len = (ush)0xffff; /* guard */
+    tree[max_code + 1].Len = (ush)0xffff; /* guard */
 
     for (n = 0; n <= max_code; n++) {
-        curlen = nextlen; nextlen = tree[n+1].Len;
+        curlen = nextlen; nextlen = tree[n + 1].Len;
         if (++count < max_count && curlen == nextlen) {
             continue;
         } else if (count < min_count) {
@@ -745,7 +745,7 @@ local void scan_tree (s, tree, max_code)
  * Send a literal or distance tree in compressed form, using the codes in
  * bl_tree.
  */
-local void send_tree (s, tree, max_code)
+local void send_tree(s, tree, max_code)
     deflate_state *s;
     ct_data *tree; /* the tree to be scanned */
     int max_code;       /* and its largest code of non zero frequency */
@@ -758,11 +758,11 @@ local void send_tree (s, tree, max_code)
     int max_count = 7;         /* max repeat count */
     int min_count = 4;         /* min repeat count */
 
-    /* tree[max_code+1].Len = -1; */  /* guard already set */
+    /* tree[max_code + 1].Len = -1; */  /* guard already set */
     if (nextlen == 0) max_count = 138, min_count = 3;
 
     for (n = 0; n <= max_code; n++) {
-        curlen = nextlen; nextlen = tree[n+1].Len;
+        curlen = nextlen; nextlen = tree[n + 1].Len;
         if (++count < max_count && curlen == nextlen) {
             continue;
         } else if (count < min_count) {
@@ -773,13 +773,13 @@ local void send_tree (s, tree, max_code)
                 send_code(s, curlen, s->bl_tree); count--;
             }
             Assert(count >= 3 && count <= 6, " 3_6?");
-            send_code(s, REP_3_6, s->bl_tree); send_bits(s, count-3, 2);
+            send_code(s, REP_3_6, s->bl_tree); send_bits(s, count - 3, 2);
 
         } else if (count <= 10) {
-            send_code(s, REPZ_3_10, s->bl_tree); send_bits(s, count-3, 3);
+            send_code(s, REPZ_3_10, s->bl_tree); send_bits(s, count - 3, 3);
 
         } else {
-            send_code(s, REPZ_11_138, s->bl_tree); send_bits(s, count-11, 7);
+            send_code(s, REPZ_11_138, s->bl_tree); send_bits(s, count - 11, 7);
         }
         count = 0; prevlen = curlen;
         if (nextlen == 0) {
@@ -807,8 +807,8 @@ local int build_bl_tree(s)
 
     /* Build the bit length tree: */
     build_tree(s, (tree_desc *)(&(s->bl_desc)));
-    /* opt_len now includes the length of the tree representations, except
-     * the lengths of the bit lengths codes and the 5+5+4 bits for the counts.
+    /* opt_len now includes the length of the tree representations, except the
+     * lengths of the bit lengths codes and the 5 + 5 + 4 bits for the counts.
      */
 
     /* Determine the number of bit length codes to send. The pkzip format
@@ -819,7 +819,7 @@ local int build_bl_tree(s)
         if (s->bl_tree[bl_order[max_blindex]].Len != 0) break;
     }
     /* Update opt_len to include the bit length tree and counts */
-    s->opt_len += 3*((ulg)max_blindex+1) + 5+5+4;
+    s->opt_len += 3*((ulg)max_blindex + 1) + 5 + 5 + 4;
     Tracev((stderr, "\ndyn trees: dyn %ld, stat %ld",
             s->opt_len, s->static_len));
 
@@ -841,19 +841,19 @@ local void send_all_trees(s, lcodes, dcodes, blcodes)
     Assert (lcodes <= L_CODES && dcodes <= D_CODES && blcodes <= BL_CODES,
             "too many codes");
     Tracev((stderr, "\nbl counts: "));
-    send_bits(s, lcodes-257, 5); /* not +255 as stated in appnote.txt */
-    send_bits(s, dcodes-1,   5);
-    send_bits(s, blcodes-4,  4); /* not -3 as stated in appnote.txt */
+    send_bits(s, lcodes - 257, 5);  /* not +255 as stated in appnote.txt */
+    send_bits(s, dcodes - 1,   5);
+    send_bits(s, blcodes - 4,  4);  /* not -3 as stated in appnote.txt */
     for (rank = 0; rank < blcodes; rank++) {
         Tracev((stderr, "\nbl code %2d ", bl_order[rank]));
         send_bits(s, s->bl_tree[bl_order[rank]].Len, 3);
     }
     Tracev((stderr, "\nbl tree: sent %ld", s->bits_sent));
 
-    send_tree(s, (ct_data *)s->dyn_ltree, lcodes-1); /* literal tree */
+    send_tree(s, (ct_data *)s->dyn_ltree, lcodes - 1);  /* literal tree */
     Tracev((stderr, "\nlit tree: sent %ld", s->bits_sent));
 
-    send_tree(s, (ct_data *)s->dyn_dtree, dcodes-1); /* distance tree */
+    send_tree(s, (ct_data *)s->dyn_dtree, dcodes - 1);  /* distance tree */
     Tracev((stderr, "\ndist tree: sent %ld", s->bits_sent));
 }
 
@@ -866,17 +866,18 @@ void ZLIB_INTERNAL _tr_stored_block(s, buf, stored_len, last)
     ulg stored_len;   /* length of input block */
     int last;         /* one if this is the last block for a file */
 {
-    send_bits(s, (STORED_BLOCK<<1)+last, 3);    /* send block type */
+    send_bits(s, (STORED_BLOCK<<1) + last, 3);  /* send block type */
     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;
     s->compressed_len += (stored_len + 4) << 3;
     s->bits_sent += 2*16;
-    s->bits_sent += stored_len<<3;
+    s->bits_sent += stored_len << 3;
 #endif
 }
 
@@ -942,14 +943,17 @@ void ZLIB_INTERNAL _tr_flush_block(s, buf, stored_len, last)
         max_blindex = build_bl_tree(s);
 
         /* Determine the best encoding. Compute the block lengths in bytes. */
-        opt_lenb = (s->opt_len+3+7)>>3;
-        static_lenb = (s->static_len+3+7)>>3;
+        opt_lenb = (s->opt_len + 3 + 7) >> 3;
+        static_lenb = (s->static_len + 3 + 7) >> 3;
 
         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;
+#ifndef FORCE_STATIC
+        if (static_lenb <= opt_lenb || s->strategy == Z_FIXED)
+#endif
+            opt_lenb = static_lenb;
 
     } else {
         Assert(buf != (char*)0, "lost buf");
@@ -959,7 +963,7 @@ void ZLIB_INTERNAL _tr_flush_block(s, buf, stored_len, last)
 #ifdef FORCE_STORED
     if (buf != (char*)0) { /* force stored block */
 #else
-    if (stored_len+4 <= opt_lenb && buf != (char*)0) {
+    if (stored_len + 4 <= opt_lenb && buf != (char*)0) {
                        /* 4: two words for the lengths */
 #endif
         /* The test buf != NULL is only necessary if LIT_BUFSIZE > WSIZE.
@@ -970,21 +974,17 @@ void ZLIB_INTERNAL _tr_flush_block(s, buf, stored_len, last)
          */
         _tr_stored_block(s, buf, stored_len, last);
 
-#ifdef FORCE_STATIC
-    } else if (static_lenb >= 0) { /* force static trees */
-#else
-    } else if (s->strategy == Z_FIXED || static_lenb == opt_lenb) {
-#endif
-        send_bits(s, (STATIC_TREES<<1)+last, 3);
+    } else if (static_lenb == opt_lenb) {
+        send_bits(s, (STATIC_TREES<<1) + last, 3);
         compress_block(s, (const ct_data *)static_ltree,
                        (const ct_data *)static_dtree);
 #ifdef ZLIB_DEBUG
         s->compressed_len += 3 + s->static_len;
 #endif
     } else {
-        send_bits(s, (DYN_TREES<<1)+last, 3);
-        send_all_trees(s, s->l_desc.max_code+1, s->d_desc.max_code+1,
-                       max_blindex+1);
+        send_bits(s, (DYN_TREES<<1) + last, 3);
+        send_all_trees(s, s->l_desc.max_code + 1, s->d_desc.max_code + 1,
+                       max_blindex + 1);
         compress_block(s, (const ct_data *)s->dyn_ltree,
                        (const ct_data *)s->dyn_dtree);
 #ifdef ZLIB_DEBUG
@@ -1003,21 +1003,22 @@ void ZLIB_INTERNAL _tr_flush_block(s, buf, stored_len, last)
         s->compressed_len += 7;  /* align on byte boundary */
 #endif
     }
-    Tracev((stderr,"\ncomprlen %lu(%lu) ", s->compressed_len>>3,
-           s->compressed_len-7*last));
+    Tracev((stderr,"\ncomprlen %lu(%lu) ", s->compressed_len >> 3,
+           s->compressed_len - 7*last));
 }
 
 /* ===========================================================================
  * Save the match info and tally the frequency counts. Return true if
  * the current block must be flushed.
  */
-int ZLIB_INTERNAL _tr_tally (s, dist, lc)
+int ZLIB_INTERNAL _tr_tally(s, dist, lc)
     deflate_state *s;
     unsigned dist;  /* distance of matched string */
-    unsigned lc;    /* match length-MIN_MATCH or unmatched char (if dist==0) */
+    unsigned lc;    /* match length - MIN_MATCH or unmatched char (dist==0) */
 {
-    s->d_buf[s->last_lit] = (ush)dist;
-    s->l_buf[s->last_lit++] = (uch)lc;
+    s->sym_buf[s->sym_next++] = (uch)dist;
+    s->sym_buf[s->sym_next++] = (uch)(dist >> 8);
+    s->sym_buf[s->sym_next++] = (uch)lc;
     if (dist == 0) {
         /* lc is the unmatched char */
         s->dyn_ltree[lc].Freq++;
@@ -1029,33 +1030,10 @@ int ZLIB_INTERNAL _tr_tally (s, dist, lc)
                (ush)lc <= (ush)(MAX_MATCH-MIN_MATCH) &&
                (ush)d_code(dist) < (ush)D_CODES,  "_tr_tally: bad match");
 
-        s->dyn_ltree[_length_code[lc]+LITERALS+1].Freq++;
+        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);
 }
 
 /* ===========================================================================
@@ -1068,20 +1046,21 @@ 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));
         } else {
             /* Here, lc is the match length - MIN_MATCH */
             code = _length_code[lc];
-            send_code(s, code+LITERALS+1, ltree); /* send the length code */
+            send_code(s, code + LITERALS + 1, ltree);   /* send length code */
             extra = extra_lbits[code];
             if (extra != 0) {
                 lc -= base_length[code];
@@ -1099,11 +1078,10 @@ 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 +1090,9 @@ 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 +1102,19 @@ 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 +1122,7 @@ 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;
@@ -1198,6 +1176,6 @@ local void bi_windup(s)
     s->bi_buf = 0;
     s->bi_valid = 0;
 #ifdef ZLIB_DEBUG
-    s->bits_sent = (s->bits_sent+7) & ~7;
+    s->bits_sent = (s->bits_sent + 7) & ~7;
 #endif
 }

3rdparty/zlib/uncompr.c

@@ -24,7 +24,7 @@
    Z_DATA_ERROR if the input data was corrupted, including if the input data is
    an incomplete zlib stream.
 */
-int ZEXPORT uncompress2 (dest, destLen, source, sourceLen)
+int ZEXPORT uncompress2(dest, destLen, source, sourceLen)
     Bytef *dest;
     uLongf *destLen;
     const Bytef *source;
@@ -83,7 +83,7 @@ int ZEXPORT uncompress2 (dest, destLen, source, sourceLen)
            err;
 }
 
-int ZEXPORT uncompress (dest, destLen, source, sourceLen)
+int ZEXPORT uncompress(dest, destLen, source, sourceLen)
     Bytef *dest;
     uLongf *destLen;
     const Bytef *source;

3rdparty/zlib/zconf.h

@@ -38,6 +38,9 @@
 #  define crc32                 z_crc32
 #  define crc32_combine         z_crc32_combine
 #  define crc32_combine64       z_crc32_combine64
+#  define crc32_combine_gen     z_crc32_combine_gen
+#  define crc32_combine_gen64   z_crc32_combine_gen64
+#  define crc32_combine_op      z_crc32_combine_op
 #  define crc32_z               z_crc32_z
 #  define deflate               z_deflate
 #  define deflateBound          z_deflateBound
@@ -349,6 +352,9 @@
 #    ifdef FAR
 #      undef FAR
 #    endif
+#    ifndef WIN32_LEAN_AND_MEAN
+#      define WIN32_LEAN_AND_MEAN
+#    endif
 #    include <windows.h>
      /* No need for _export, use ZLIB.DEF instead. */
      /* For complete Windows compatibility, use WINAPI, not __stdcall. */
@@ -467,11 +473,18 @@ typedef uLong FAR uLongf;
 #  undef _LARGEFILE64_SOURCE
 #endif
 
-#if defined(__WATCOMC__) && !defined(Z_HAVE_UNISTD_H)
-#  define Z_HAVE_UNISTD_H
+#ifndef Z_HAVE_UNISTD_H
+#  ifdef __WATCOMC__
+#    define Z_HAVE_UNISTD_H
+#  endif
+#endif
+#ifndef Z_HAVE_UNISTD_H
+#  if defined(_LARGEFILE64_SOURCE) && !defined(_WIN32)
+#    define Z_HAVE_UNISTD_H
+#  endif
 #endif
 #ifndef Z_SOLO
-#  if defined(Z_HAVE_UNISTD_H) || defined(_LARGEFILE64_SOURCE)
+#  if defined(Z_HAVE_UNISTD_H)
 #    include <unistd.h>         /* for SEEK_*, off_t, and _LFS64_LARGEFILE */
 #    ifdef VMS
 #      include <unixio.h>       /* for off_t */

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 1.2.13, October 13th, 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 "1.2.13"
+#define ZLIB_VERNUM 0x12d0
 #define ZLIB_VER_MAJOR 1
 #define ZLIB_VER_MINOR 2
-#define ZLIB_VER_REVISION 11
+#define ZLIB_VER_REVISION 13
 #define ZLIB_VER_SUBREVISION 0
 
 /*
@@ -276,7 +276,7 @@ ZEXTERN int ZEXPORT deflate OF((z_streamp strm, int flush));
   == 0), or after each call of deflate().  If deflate returns Z_OK and with
   zero avail_out, it must be called again after making room in the output
   buffer because there might be more output pending. See deflatePending(),
-  which can be used if desired to determine whether or not there is more ouput
+  which can be used if desired to determine whether or not there is more output
   in that case.
 
     Normally the parameter flush is set to Z_NO_FLUSH, which allows deflate to
@@ -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.
@@ -661,7 +660,7 @@ ZEXTERN int ZEXPORT deflateGetDictionary OF((z_streamp strm,
    to dictionary.  dictionary must have enough space, where 32768 bytes is
    always enough.  If deflateGetDictionary() is called with dictionary equal to
    Z_NULL, then only the dictionary length is returned, and nothing is copied.
-   Similary, if dictLength is Z_NULL, then it is not set.
+   Similarly, if dictLength is Z_NULL, then it is not set.
 
      deflateGetDictionary() may return a length less than the window size, even
    when more than the window size in input has been provided. It may return up
@@ -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
@@ -913,7 +915,7 @@ ZEXTERN int ZEXPORT inflateGetDictionary OF((z_streamp strm,
    to dictionary.  dictionary must have enough space, where 32768 bytes is
    always enough.  If inflateGetDictionary() is called with dictionary equal to
    Z_NULL, then only the dictionary length is returned, and nothing is copied.
-   Similary, if dictLength is Z_NULL, then it is not set.
+   Similarly, if dictLength is Z_NULL, then it is not set.
 
      inflateGetDictionary returns Z_OK on success, or Z_STREAM_ERROR if the
    stream state is inconsistent.
@@ -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
@@ -1435,26 +1437,24 @@ ZEXTERN z_size_t ZEXPORT gzfread OF((voidp buf, z_size_t size, z_size_t nitems,
 
      In the event that the end of file is reached and only a partial item is
    available at the end, i.e. the remaining uncompressed data length is not a
-   multiple of size, then the final partial item is nevetheless read into buf
+   multiple of size, then the final partial item is nevertheless read into buf
    and the end-of-file flag is set.  The length of the partial item read is not
    provided, but could be inferred from the result of gztell().  This behavior
    is the same as the behavior of fread() implementations in common libraries,
    but it prevents the direct use of gzfread() to read a concurrently written
-   file, reseting and retrying on end-of-file, when size is not 1.
+   file, resetting 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 */
 
@@ -1890,10 +1913,10 @@ ZEXTERN int            ZEXPORT inflateSyncPoint OF((z_streamp));
 ZEXTERN const z_crc_t FAR * ZEXPORT get_crc_table    OF((void));
 ZEXTERN int            ZEXPORT inflateUndermine OF((z_streamp, int));
 ZEXTERN int            ZEXPORT inflateValidate OF((z_streamp, int));
-ZEXTERN unsigned long  ZEXPORT inflateCodesUsed OF ((z_streamp));
+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

@@ -61,9 +61,11 @@ uLong ZEXPORT zlibCompileFlags()
 #ifdef ZLIB_DEBUG
     flags += 1 << 8;
 #endif
+    /*
 #if defined(ASMV) || defined(ASMINF)
     flags += 1 << 9;
 #endif
+     */
 #ifdef ZLIB_WINAPI
     flags += 1 << 10;
 #endif
@@ -119,7 +121,7 @@ uLong ZEXPORT zlibCompileFlags()
 #  endif
 int ZLIB_INTERNAL z_verbose = verbose;
 
-void ZLIB_INTERNAL z_error (m)
+void ZLIB_INTERNAL z_error(m)
     char *m;
 {
     fprintf(stderr, "%s\n", m);
@@ -137,7 +139,7 @@ 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.
      */
@@ -214,7 +216,7 @@ local ptr_table table[MAX_PTR];
  * a protected system like OS/2. Use Microsoft C instead.
  */
 
-voidpf ZLIB_INTERNAL zcalloc (voidpf opaque, unsigned items, unsigned size)
+voidpf ZLIB_INTERNAL zcalloc(voidpf opaque, unsigned items, unsigned size)
 {
     voidpf buf;
     ulg bsize = (ulg)items*size;
@@ -240,7 +242,7 @@ voidpf ZLIB_INTERNAL zcalloc (voidpf opaque, unsigned items, unsigned size)
     return buf;
 }
 
-void ZLIB_INTERNAL zcfree (voidpf opaque, voidpf ptr)
+void ZLIB_INTERNAL zcfree(voidpf opaque, voidpf ptr)
 {
     int n;
 
@@ -277,13 +279,13 @@ void ZLIB_INTERNAL zcfree (voidpf opaque, voidpf ptr)
 #  define _hfree   hfree
 #endif
 
-voidpf ZLIB_INTERNAL zcalloc (voidpf opaque, uInt items, uInt size)
+voidpf ZLIB_INTERNAL zcalloc(voidpf opaque, uInt items, uInt size)
 {
     (void)opaque;
     return _halloc((long)items, size);
 }
 
-void ZLIB_INTERNAL zcfree (voidpf opaque, voidpf ptr)
+void ZLIB_INTERNAL zcfree(voidpf opaque, voidpf ptr)
 {
     (void)opaque;
     _hfree(ptr);
@@ -302,7 +304,7 @@ extern voidp  calloc OF((uInt items, uInt size));
 extern void   free   OF((voidpf ptr));
 #endif
 
-voidpf ZLIB_INTERNAL zcalloc (opaque, items, size)
+voidpf ZLIB_INTERNAL zcalloc(opaque, items, size)
     voidpf opaque;
     unsigned items;
     unsigned size;
@@ -312,7 +314,7 @@ voidpf ZLIB_INTERNAL zcalloc (opaque, items, size)
                               (voidpf)calloc(items, size);
 }
 
-void ZLIB_INTERNAL zcfree (opaque, ptr)
+void ZLIB_INTERNAL zcfree(opaque, ptr)
     voidpf opaque;
     voidpf ptr;
 {

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
@@ -192,6 +193,7 @@ extern z_const char * const z_errmsg[10]; /* indexed by 2-zlib_error */
     (!defined(_LARGEFILE64_SOURCE) || _LFS64_LARGEFILE-0 == 0)
     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
 
         /* common defaults */

CMakeLists.txt

@@ -244,7 +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
@@ -291,12 +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)
@@ -764,7 +762,7 @@ if(WITH_HALIDE)
 endif()
 
 # --- Inference Engine ---
-if(WITH_INF_ENGINE)
+if(WITH_INF_ENGINE OR WITH_OPENVINO)
   include(cmake/OpenCVDetectInferenceEngine.cmake)
 endif()
 
@@ -1524,54 +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 );

apps/visualisation/opencv_visualisation.cpp

@@ -86,6 +86,9 @@ int main( int argc, const char** argv )
         "{ image i        |      | (required) path to reference image }"
         "{ model m        |      | (required) path to cascade xml file }"
         "{ data d         |      | (optional) path to video output folder }"
+        "{ ext            | avi  | (optional) output video file extension e.g. avi (default) or mp4 }"
+        "{ fourcc         | XVID | (optional) output video file's 4-character codec e.g. XVID (default) or H264 }"
+        "{ fps            |   15 | (optional) output video file's frames-per-second rate }"
     );
     // Read in the input arguments
     if (parser.has("help")){
@@ -96,7 +99,9 @@ int main( int argc, const char** argv )
     string model(parser.get<string>("model"));
     string output_folder(parser.get<string>("data"));
     string image_ref = (parser.get<string>("image"));
-    if (model.empty() || image_ref.empty()){
+    string fourcc = (parser.get<string>("fourcc"));
+    int fps = parser.get<int>("fps");
+    if (model.empty() || image_ref.empty() || fourcc.size()!=4 || fps<1){
         parser.printMessage();
         printLimits();
         return -1;
@@ -166,11 +171,19 @@ int main( int argc, const char** argv )
     // each stage, containing all weak classifiers for that stage.
     bool draw_planes = false;
     stringstream output_video;
-    output_video << output_folder << "model_visualization.avi";
+    output_video << output_folder << "model_visualization." << parser.get<string>("ext");
     VideoWriter result_video;
     if( output_folder.compare("") != 0 ){
         draw_planes = true;
-        result_video.open(output_video.str(), VideoWriter::fourcc('X','V','I','D'), 15, Size(reference_image.cols * resize_factor, reference_image.rows * resize_factor), false);
+        result_video.open(output_video.str(), VideoWriter::fourcc(fourcc[0],fourcc[1],fourcc[2],fourcc[3]), fps, visualization.size(), false);
+        if (!result_video.isOpened()){
+            cerr << "the output video '" << output_video.str() << "' could not be opened."
+                 << " fourcc=" << fourcc
+                 << " fps=" << fps
+                 << " frameSize=" << visualization.size()
+                 << endl;
+            return -1;
+        }
     }
 
     if(haar){

cmake/OpenCVCompilerOptimizations.cmake

@@ -46,7 +46,7 @@
 
 set(CPU_ALL_OPTIMIZATIONS "SSE;SSE2;SSE3;SSSE3;SSE4_1;SSE4_2;POPCNT;AVX;FP16;AVX2;FMA3;AVX_512F")
 list(APPEND CPU_ALL_OPTIMIZATIONS "AVX512_COMMON;AVX512_KNL;AVX512_KNM;AVX512_SKX;AVX512_CNL;AVX512_CLX;AVX512_ICL")
-list(APPEND CPU_ALL_OPTIMIZATIONS NEON VFPV3 FP16)
+list(APPEND CPU_ALL_OPTIMIZATIONS NEON VFPV3 FP16 NEON_DOTPROD)
 list(APPEND CPU_ALL_OPTIMIZATIONS MSA)
 list(APPEND CPU_ALL_OPTIMIZATIONS VSX VSX3)
 list(REMOVE_DUPLICATES CPU_ALL_OPTIMIZATIONS)
@@ -326,6 +326,7 @@ if(X86 OR X86_64)
 elseif(ARM OR AARCH64)
   ocv_update(CPU_NEON_TEST_FILE "${OpenCV_SOURCE_DIR}/cmake/checks/cpu_neon.cpp")
   ocv_update(CPU_FP16_TEST_FILE "${OpenCV_SOURCE_DIR}/cmake/checks/cpu_fp16.cpp")
+  ocv_update(CPU_NEON_DOTPROD_TEST_FILE "${OpenCV_SOURCE_DIR}/cmake/checks/cpu_dotprod.cpp")
   if(NOT AARCH64)
     ocv_update(CPU_KNOWN_OPTIMIZATIONS "VFPV3;NEON;FP16")
     if(NOT MSVC)
@@ -337,9 +338,11 @@ elseif(ARM OR AARCH64)
     endif()
     ocv_update(CPU_FP16_IMPLIES "NEON")
   else()
-    ocv_update(CPU_KNOWN_OPTIMIZATIONS "NEON;FP16")
+    ocv_update(CPU_KNOWN_OPTIMIZATIONS "NEON;FP16;NEON_DOTPROD")
     ocv_update(CPU_NEON_FLAGS_ON "")
     ocv_update(CPU_FP16_IMPLIES "NEON")
+    ocv_update(CPU_NEON_DOTPROD_FLAGS_ON "-march=armv8.2-a+dotprod")
+    ocv_update(CPU_NEON_DOTPROD_IMPLIES "NEON")
     set(CPU_BASELINE "NEON;FP16" CACHE STRING "${HELP_CPU_BASELINE}")
   endif()
 elseif(MIPS)
@@ -677,7 +680,7 @@ macro(ocv_compiler_optimization_process_sources SOURCES_VAR_NAME LIBS_VAR_NAME T
           if(fname_LOWER MATCHES "\\.${OPT_LOWER}\\.cpp$")
 #message("${fname} BASELINE-${OPT}")
             set(__opt_found 1)
-            list(APPEND __result "${fname}")
+            list(APPEND __result_${OPT} "${fname}")
             break()
           endif()
         endforeach()
@@ -711,7 +714,7 @@ macro(ocv_compiler_optimization_process_sources SOURCES_VAR_NAME LIBS_VAR_NAME T
     endif()
   endforeach()
 
-  foreach(OPT ${CPU_DISPATCH_FINAL})
+  foreach(OPT ${CPU_BASELINE_FINAL} ${CPU_DISPATCH_FINAL})
     if(__result_${OPT})
 #message("${OPT}: ${__result_${OPT}}")
       if(CMAKE_GENERATOR MATCHES "^Visual"

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)
@@ -134,7 +134,7 @@ if(CV_GCC OR CV_CLANG)
   add_extra_compiler_option(-Wshadow)
   add_extra_compiler_option(-Wsign-promo)
   add_extra_compiler_option(-Wuninitialized)
-  if(CV_GCC AND (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 6.0) AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0))
+  if(CV_GCC AND (CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 6.0) AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0 OR ARM))
     add_extra_compiler_option(-Wno-psabi)
   endif()
   if(HAVE_CXX11)
@@ -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}")
@@ -410,6 +426,7 @@ if(MSVC)
     ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4275) # non dll-interface class 'std::exception' used as base for dll-interface class 'cv::Exception'
     ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4512) # Assignment operator could not be generated
     ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4589) # Constructor of abstract class 'cv::ORB' ignores initializer for virtual base class 'cv::Algorithm'
+    ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4819) # Symbols like delta or epsilon cannot be represented
   endif()
 
   if(CV_ICC AND NOT ENABLE_NOISY_WARNINGS)

cmake/OpenCVDetectCUDA.cmake

@@ -243,12 +243,13 @@ if(CUDA_FOUND)
       endif()
       if(NOT _nvcc_res EQUAL 0)
         message(STATUS "Automatic detection of CUDA generation failed. Going to build for all known architectures.")
-        # TX1 (5.3) TX2 (6.2) Xavier (7.2) V100 (7.0)
+        # TX1 (5.3) TX2 (6.2) Xavier (7.2) V100 (7.0) Orin (8.7)
         ocv_filter_available_architecture(__cuda_arch_bin
             5.3
             6.2
             7.2
             7.0
+            8.7
         )
       else()
         set(__cuda_arch_bin "${_nvcc_out}")

cmake/OpenCVDetectHalide.cmake

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION ${MIN_VER_CMAKE})
 
 if(" ${HALIDE_ROOT_DIR}" STREQUAL " ")
   unset(HALIDE_ROOT_DIR CACHE)

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()
 
@@ -119,47 +44,19 @@ elseif(DEFINED 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/OpenCVUtils.cmake

@@ -866,7 +866,10 @@ macro(ocv_check_modules define)
       foreach(flag ${${define}_LDFLAGS})
         if(flag MATCHES "^-L(.*)")
           list(APPEND _libs_paths ${CMAKE_MATCH_1})
-        elseif(IS_ABSOLUTE "${flag}")
+        elseif(IS_ABSOLUTE "${flag}"
+            OR flag STREQUAL "-lstdc++"
+            OR flag STREQUAL "-latomic"
+        )
           list(APPEND _libs "${flag}")
         elseif(flag MATCHES "^-l(.*)")
           set(_lib "${CMAKE_MATCH_1}")
@@ -1580,6 +1583,60 @@ 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

cmake/checks/cpu_dotprod.cpp

@@ -0,0 +1,24 @@
+#include <stdio.h>
+
+#if defined __GNUC__ && (defined __arm__ || defined __aarch64__)
+#include "arm_neon.h"
+int test()
+{
+    const unsigned int src[] = { 0, 0, 0, 0 };
+    unsigned int dst[4];
+    uint32x4_t v_src = *(uint32x4_t*)src;
+    uint8x16_t v_m0 = *(uint8x16_t*)src;
+    uint8x16_t v_m1 = *(uint8x16_t*)src;
+    uint32x4_t v_dst = vdotq_u32(v_src, v_m0, v_m1);
+    *(uint32x4_t*)dst = v_dst;
+    return (int)dst[0];
+}
+#else
+#error "DOTPROD is not supported"
+#endif
+
+int main()
+{
+  printf("%d\n", test());
+  return 0;
+}

doc/js_tutorials/js_imgproc/js_gradients/js_gradients.markdown

@@ -15,7 +15,7 @@ We will see each one of them.
 
 ### 1. Sobel and Scharr Derivatives
 
-Sobel operators is a joint Gausssian smoothing plus differentiation operation, so it is more
+Sobel operators is a joint Gaussian smoothing plus differentiation operation, so it is more
 resistant to noise. You can specify the direction of derivatives to be taken, vertical or horizontal
 (by the arguments, yorder and xorder respectively). You can also specify the size of kernel by the
 argument ksize. If ksize = -1, a 3x3 Scharr filter is used which gives better results than 3x3 Sobel
@@ -97,4 +97,4 @@ Try it
 <iframe src="../../js_gradients_absSobel.html" width="100%"
         onload="this.style.height=this.contentDocument.body.scrollHeight +'px';">
 </iframe>
-\endhtmlonly
+\endhtmlonly

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 ###
 
@@ -232,7 +232,7 @@ The following is an adaptation of @ref tutorial_js_face_detection.
 @code{.js}
 const { Canvas, createCanvas, Image, ImageData, loadImage } = require('canvas');
 const { JSDOM } = require('jsdom');
-const { writeFileSync, readFileSync } = require('fs');
+const { writeFileSync, existsSync, mkdirSync } = require('fs');
 
 (async () => {
   await loadOpenCV();

doc/js_tutorials/js_setup/js_usage/js_usage.markdown

@@ -122,11 +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/opencv.bib

@@ -8,14 +8,18 @@
   url = {https://www.doc.ic.ac.uk/~ajd/Publications/alcantarilla_etal_eccv2012.pdf}
 }
 @article{ANB13,
-  author = {Alcantarilla, Pablo F and Nuevo, Jes{\'u}s and Bartoli, Adrien},
+  author = {Pablo Fern{\'{a}}ndez Alcantarilla and Jes{\'{u}}s Nuevo and Adrien Bartoli},
+  editor = {Tilo Burghardt and Dima Damen and Walterio W. Mayol{-}Cuevas and Majid Mirmehdi},
   title = {Fast Explicit Diffusion for Accelerated Features in Nonlinear Scale Spaces},
-  year = {2011},
-  pages = {1281--1298},
-  journal = {Trans. Pattern Anal. Machine Intell},
-  volume = {34},
-  number = {7},
-  url = {http://www.bmva.org/bmvc/2013/Papers/paper0013/paper0013.pdf}
+  booktitle = {British Machine Vision Conference, {BMVC} 2013, Bristol, UK, September 9-13, 2013},
+  pages = {13.1--13.11},
+  publisher = {{BMVA} Press},
+  year = {2013},
+  url = {https://doi.org/10.5244/C.27.13},
+  doi = {10.5244/C.27.13},
+  timestamp = {Sat, 09 Apr 2022 12:44:13 +0200},
+  biburl = {https://dblp.org/rec/conf/bmvc/AlcantarillaNB13.bib},
+  bibsource = {dblp computer science bibliography, https://dblp.org}
 }
 @inproceedings{Andreff99,
   author = {Andreff, Nicolas and Horaud, Radu and Espiau, Bernard},
@@ -543,7 +547,7 @@
   title = {Multiple view geometry in computer vision},
   year = {2003},
   publisher = {Cambridge university press},
-  url = {http://cds.cern.ch/record/1598612/files/0521540518_TOC.pdf}
+  url = {https://www.robots.ox.ac.uk/~vgg/hzbook/}
 }
 @article{Horaud95,
   author = {Horaud, Radu and Dornaika, Fadi},
@@ -745,10 +749,17 @@
   isbn = {0387008934},
   publisher = {Springer}
 }
-@article{Malis,
-  author = {Malis, Ezio and Vargas, Manuel and others},
-  title = {Deeper understanding of the homography decomposition for vision-based control},
-  year = {2007}
+@article{Malis2007,
+  author = {Malis, Ezio and Vargas, Manuel},
+  title = {{Deeper understanding of the homography decomposition for vision-based control}},
+  year = {2007},
+  url = {https://hal.inria.fr/inria-00174036},
+  type = {Research Report},
+  number = {RR-6303},
+  pages = {90},
+  institution = {{INRIA}},
+  keywords = {Visual servoing ; planar objects ; homography ; decomposition ; camera calibration errors ; structure from motion ; Euclidean},
+  pdf = {https://hal.inria.fr/inria-00174036v3/file/RR-6303.pdf},
 }
 @article{Marchand16,
   author = {Marchand, Eric and Uchiyama, Hideaki and Spindler, Fabien},
@@ -905,7 +916,8 @@
   author = {Szeliski, Richard},
   title = {Computer vision: algorithms and applications},
   year = {2010},
-  publisher = {Springer}
+  publisher = {Springer},
+  url = {https://szeliski.org/Book/}
 }
 @article{Rafael12,
   author = {von Gioi, Rafael Grompone and Jakubowicz, J{\'e}r{\'e}mie and Morel, Jean-Michel and Randall, Gregory},
@@ -1292,3 +1304,13 @@
   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_calib3d/py_calibration/py_calibration.markdown

@@ -127,7 +127,7 @@ for fname in images:
         objpoints.append(objp)
 
         corners2 = cv.cornerSubPix(gray,corners, (11,11), (-1,-1), criteria)
-        imgpoints.append(corners)
+        imgpoints.append(corners2)
 
         # Draw and display the corners
         cv.drawChessboardCorners(img, (7,6), corners2, ret)

doc/py_tutorials/py_core/py_optimization/py_optimization.markdown

@@ -14,7 +14,7 @@ So in this chapter, you will learn:
 Apart from OpenCV, Python also provides a module **time** which is helpful in measuring the time of
 execution. Another module **profile** helps to get a detailed report on the code, like how much time
 each function in the code took, how many times the function was called, etc. But, if you are using
-IPython, all these features are integrated in an user-friendly manner. We will see some important
+IPython, all these features are integrated in a user-friendly manner. We will see some important
 ones, and for more details, check links in the **Additional Resources** section.
 
 Measuring Performance with OpenCV

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

doc/py_tutorials/py_imgproc/py_gradients/py_gradients.markdown

@@ -17,7 +17,7 @@ We will see each one of them.
 
 ### 1. Sobel and Scharr Derivatives
 
-Sobel operators is a joint Gausssian smoothing plus differentiation operation, so it is more
+Sobel operators is a joint Gaussian smoothing plus differentiation operation, so it is more
 resistant to noise. You can specify the direction of derivatives to be taken, vertical or horizontal
 (by the arguments, yorder and xorder respectively). You can also specify the size of kernel by the
 argument ksize. If ksize = -1, a 3x3 Scharr filter is used which gives better results than 3x3 Sobel

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/tutorials/features2d/homography/homography.markdown

@@ -10,9 +10,11 @@ Introduction {#tutorial_homography_Introduction}
 
 This tutorial will demonstrate the basic concepts of the homography with some codes.
 For detailed explanations about the theory, please refer to a computer vision course or a computer vision book, e.g.:
-*   Multiple View Geometry in Computer Vision, @cite HartleyZ00.
-*   An Invitation to 3-D Vision: From Images to Geometric Models, @cite Ma:2003:IVI
-*   Computer Vision: Algorithms and Applications, @cite RS10
+*   Multiple View Geometry in Computer Vision, Richard Hartley and Andrew Zisserman, @cite HartleyZ00 (some sample chapters are available [here](https://www.robots.ox.ac.uk/~vgg/hzbook/), CVPR Tutorials are available [here](https://www.robots.ox.ac.uk/~az/tutorials/))
+*   An Invitation to 3-D Vision: From Images to Geometric Models, Yi Ma, Stefano Soatto, Jana Kosecka, and S. Shankar Sastry, @cite Ma:2003:IVI (a computer vision book handout is available [here](https://cs.gmu.edu/%7Ekosecka/cs685/VisionBookHandout.pdf))
+*   Computer Vision: Algorithms and Applications, Richard Szeliski, @cite RS10 (an electronic version is available [here](https://szeliski.org/Book/))
+*   Deeper understanding of the homography decomposition for vision-based control, Ezio Malis, Manuel Vargas, @cite Malis2007 (open access [here](https://hal.inria.fr/inria-00174036))
+*   Pose Estimation for Augmented Reality: A Hands-On Survey, Eric Marchand, Hideaki Uchiyama, Fabien Spindler, @cite Marchand16 (open access [here](https://hal.inria.fr/hal-01246370))
 
 The tutorial code can be found here [C++](https://github.com/opencv/opencv/tree/3.4/samples/cpp/tutorial_code/features2D/Homography),
 [Python](https://github.com/opencv/opencv/tree/3.4/samples/python/tutorial_code/features2D/Homography),
@@ -32,7 +34,7 @@ Briefly, the planar homography relates the transformation between two planes (up
   x^{'} \\
   y^{'} \\
   1
-  \end{bmatrix} = H
+  \end{bmatrix} = \mathbf{H}
   \begin{bmatrix}
   x \\
   y \\
@@ -123,22 +125,22 @@ A quick solution to retrieve the pose from the homography matrix is (see \ref po
 
 \f[
   \begin{align*}
-  \boldsymbol{X} &= \left( X, Y, 0, 1 \right ) \\
-  \boldsymbol{x} &= \boldsymbol{P}\boldsymbol{X} \\
-                 &= \boldsymbol{K} \left[ \boldsymbol{r_1} \hspace{0.5em} \boldsymbol{r_2} \hspace{0.5em} \boldsymbol{r_3} \hspace{0.5em} \boldsymbol{t} \right ]
+  \mathbf{X} &= \left( X, Y, 0, 1 \right ) \\
+  \mathbf{x} &= \mathbf{P}\mathbf{X} \\
+                 &= \mathbf{K} \left[ \mathbf{r_1} \hspace{0.5em} \mathbf{r_2} \hspace{0.5em} \mathbf{r_3} \hspace{0.5em} \mathbf{t} \right ]
   \begin{pmatrix}
   X \\
   Y \\
   0 \\
   1
   \end{pmatrix} \\
-             &= \boldsymbol{K} \left[ \boldsymbol{r_1} \hspace{0.5em} \boldsymbol{r_2} \hspace{0.5em} \boldsymbol{t} \right ]
+             &= \mathbf{K} \left[ \mathbf{r_1} \hspace{0.5em} \mathbf{r_2} \hspace{0.5em} \mathbf{t} \right ]
   \begin{pmatrix}
   X \\
   Y \\
   1
   \end{pmatrix} \\
-  &= \boldsymbol{H}
+  &= \mathbf{H}
   \begin{pmatrix}
   X \\
   Y \\
@@ -149,16 +151,16 @@ A quick solution to retrieve the pose from the homography matrix is (see \ref po
 
 \f[
   \begin{align*}
-  \boldsymbol{H} &= \lambda \boldsymbol{K} \left[ \boldsymbol{r_1} \hspace{0.5em} \boldsymbol{r_2} \hspace{0.5em} \boldsymbol{t} \right ] \\
-  \boldsymbol{K}^{-1} \boldsymbol{H} &= \lambda \left[ \boldsymbol{r_1} \hspace{0.5em} \boldsymbol{r_2} \hspace{0.5em} \boldsymbol{t} \right ] \\
-  \boldsymbol{P} &= \boldsymbol{K} \left[ \boldsymbol{r_1} \hspace{0.5em} \boldsymbol{r_2} \hspace{0.5em} \left( \boldsymbol{r_1} \times \boldsymbol{r_2} \right ) \hspace{0.5em} \boldsymbol{t} \right ]
+  \mathbf{H} &= \lambda \mathbf{K} \left[ \mathbf{r_1} \hspace{0.5em} \mathbf{r_2} \hspace{0.5em} \mathbf{t} \right ] \\
+  \mathbf{K}^{-1} \mathbf{H} &= \lambda \left[ \mathbf{r_1} \hspace{0.5em} \mathbf{r_2} \hspace{0.5em} \mathbf{t} \right ] \\
+  \mathbf{P} &= \mathbf{K} \left[ \mathbf{r_1} \hspace{0.5em} \mathbf{r_2} \hspace{0.5em} \left( \mathbf{r_1} \times \mathbf{r_2} \right ) \hspace{0.5em} \mathbf{t} \right ]
   \end{align*}
 \f]
 
 This is a quick solution (see also \ref projective_transformations "2") as this does not ensure that the resulting rotation matrix will be orthogonal and the scale is estimated roughly by normalize the first column to 1.
 
-A solution to have a proper rotation matrix (with the properties of a rotation matrix) consists to apply a polar decomposition
-(see \ref polar_decomposition "6" or \ref polar_decomposition_svd "7" for some information):
+A solution to have a proper rotation matrix (with the properties of a rotation matrix) consists to apply a polar decomposition, or orthogonalization of the rotation matrix
+(see \ref polar_decomposition "6" or \ref polar_decomposition_svd "7" or \ref polar_decomposition_svd_2 "8" or \ref Kabsch_algorithm "9" for some information):
 
 @snippet pose_from_homography.cpp polar-decomposition-of-the-rotation-matrix
 
@@ -239,7 +241,7 @@ To check the correctness of the calculation, the matching lines are displayed:
 
 ### Demo 3: Homography from the camera displacement {#tutorial_homography_Demo3}
 
-The homography relates the transformation between two planes and it is possible to retrieve the corresponding camera displacement that allows to go from the first to the second plane view (see @cite Malis for more information).
+The homography relates the transformation between two planes and it is possible to retrieve the corresponding camera displacement that allows to go from the first to the second plane view (see @cite Malis2007 for more information).
 Before going into the details that allow to compute the homography from the camera displacement, some recalls about camera pose and homogeneous transformation.
 
 The function @ref cv::solvePnP allows to compute the camera pose from the correspondences 3D object points (points expressed in the object frame) and the projected 2D image points (object points viewed in the image).
@@ -269,7 +271,7 @@ The intrinsic parameters and the distortion coefficients are required (see the c
   Z_o \\
   1
   \end{bmatrix} \\
-  &= \boldsymbol{K} \hspace{0.2em} ^{c}\textrm{M}_o
+  &= \mathbf{K} \hspace{0.2em} ^{c}\mathbf{M}_o
   \begin{bmatrix}
   X_o \\
   Y_o \\
@@ -279,9 +281,9 @@ The intrinsic parameters and the distortion coefficients are required (see the c
   \end{align*}
 \f]
 
-\f$ \boldsymbol{K} \f$ is the intrinsic matrix and \f$ ^{c}\textrm{M}_o \f$ is the camera pose. The output of @ref cv::solvePnP is exactly this: `rvec` is the Rodrigues rotation vector and `tvec` the translation vector.
+\f$ \mathbf{K} \f$ is the intrinsic matrix and \f$ ^{c}\mathbf{M}_o \f$ is the camera pose. The output of @ref cv::solvePnP is exactly this: `rvec` is the Rodrigues rotation vector and `tvec` the translation vector.
 
-\f$ ^{c}\textrm{M}_o \f$ can be represented in a homogeneous form and allows to transform a point expressed in the object frame into the camera frame:
+\f$ ^{c}\mathbf{M}_o \f$ can be represented in a homogeneous form and allows to transform a point expressed in the object frame into the camera frame:
 
 \f[
   \begin{align*}
@@ -291,7 +293,7 @@ The intrinsic parameters and the distortion coefficients are required (see the c
   Z_c \\
   1
   \end{bmatrix} &=
-  \hspace{0.2em} ^{c}\textrm{M}_o
+  \hspace{0.2em} ^{c}\mathbf{M}_o
   \begin{bmatrix}
   X_o \\
   Y_o \\
@@ -300,7 +302,7 @@ The intrinsic parameters and the distortion coefficients are required (see the c
   \end{bmatrix} \\
   &=
   \begin{bmatrix}
-  ^{c}\textrm{R}_o & ^{c}\textrm{t}_o \\
+  ^{c}\mathbf{R}_o & ^{c}\mathbf{t}_o \\
   0_{1\times3} & 1
   \end{bmatrix}
   \begin{bmatrix}
@@ -327,19 +329,19 @@ The intrinsic parameters and the distortion coefficients are required (see the c
 
 Transform a point expressed in one frame to another frame can be easily done with matrix multiplication:
 
-*   \f$ ^{c_1}\textrm{M}_o \f$ is the camera pose for the camera 1
-*   \f$ ^{c_2}\textrm{M}_o \f$ is the camera pose for the camera 2
+*   \f$ ^{c_1}\mathbf{M}_o \f$ is the camera pose for the camera 1
+*   \f$ ^{c_2}\mathbf{M}_o \f$ is the camera pose for the camera 2
 
 To transform a 3D point expressed in the camera 1 frame to the camera 2 frame:
 
 \f[
-  ^{c_2}\textrm{M}_{c_1} = \hspace{0.2em} ^{c_2}\textrm{M}_{o} \cdot \hspace{0.1em} ^{o}\textrm{M}_{c_1} = \hspace{0.2em} ^{c_2}\textrm{M}_{o} \cdot \hspace{0.1em} \left( ^{c_1}\textrm{M}_{o} \right )^{-1} =
+  ^{c_2}\mathbf{M}_{c_1} = \hspace{0.2em} ^{c_2}\mathbf{M}_{o} \cdot \hspace{0.1em} ^{o}\mathbf{M}_{c_1} = \hspace{0.2em} ^{c_2}\mathbf{M}_{o} \cdot \hspace{0.1em} \left( ^{c_1}\mathbf{M}_{o} \right )^{-1} =
   \begin{bmatrix}
-  ^{c_2}\textrm{R}_{o} & ^{c_2}\textrm{t}_{o} \\
+  ^{c_2}\mathbf{R}_{o} & ^{c_2}\mathbf{t}_{o} \\
   0_{3 \times 1} & 1
   \end{bmatrix} \cdot
   \begin{bmatrix}
-  ^{c_1}\textrm{R}_{o}^T & - \hspace{0.2em} ^{c_1}\textrm{R}_{o}^T \cdot \hspace{0.2em} ^{c_1}\textrm{t}_{o} \\
+  ^{c_1}\mathbf{R}_{o}^T & - \hspace{0.2em} ^{c_1}\mathbf{R}_{o}^T \cdot \hspace{0.2em} ^{c_1}\mathbf{t}_{o} \\
   0_{1 \times 3} & 1
   \end{bmatrix}
 \f]
@@ -362,11 +364,11 @@ On this figure, `n` is the normal vector of the plane and `d` the distance betwe
 The [equation](https://en.wikipedia.org/wiki/Homography_(computer_vision)#3D_plane_to_plane_equation) to compute the homography from the camera displacement is:
 
 \f[
-  ^{2}\textrm{H}_{1} = \hspace{0.2em} ^{2}\textrm{R}_{1} - \hspace{0.1em} \frac{^{2}\textrm{t}_{1} \cdot n^T}{d}
+  ^{2}\mathbf{H}_{1} = \hspace{0.2em} ^{2}\mathbf{R}_{1} - \hspace{0.1em} \frac{^{2}\mathbf{t}_{1} \cdot \hspace{0.1em} ^{1}\mathbf{n}^\top}{^1d}
 \f]
 
-Where \f$ ^{2}\textrm{H}_{1} \f$ is the homography matrix that maps the points in the first camera frame to the corresponding points in the second camera frame, \f$ ^{2}\textrm{R}_{1} = \hspace{0.2em} ^{c_2}\textrm{R}_{o} \cdot \hspace{0.1em} ^{c_1}\textrm{R}_{o}^{T} \f$
-is the rotation matrix that represents the rotation between the two camera frames and \f$ ^{2}\textrm{t}_{1} = \hspace{0.2em} ^{c_2}\textrm{R}_{o} \cdot \left( - \hspace{0.1em} ^{c_1}\textrm{R}_{o}^{T} \cdot \hspace{0.1em} ^{c_1}\textrm{t}_{o} \right ) + \hspace{0.1em} ^{c_2}\textrm{t}_{o} \f$
+Where \f$ ^{2}\mathbf{H}_{1} \f$ is the homography matrix that maps the points in the first camera frame to the corresponding points in the second camera frame, \f$ ^{2}\mathbf{R}_{1} = \hspace{0.2em} ^{c_2}\mathbf{R}_{o} \cdot \hspace{0.1em} ^{c_1}\mathbf{R}_{o}^{\top} \f$
+is the rotation matrix that represents the rotation between the two camera frames and \f$ ^{2}\mathbf{t}_{1} = \hspace{0.2em} ^{c_2}\mathbf{R}_{o} \cdot \left( - \hspace{0.1em} ^{c_1}\mathbf{R}_{o}^{\top} \cdot \hspace{0.1em} ^{c_1}\mathbf{t}_{o} \right ) + \hspace{0.1em} ^{c_2}\mathbf{t}_{o} \f$
 the translation vector between the two camera frames.
 
 Here the normal vector `n` is the plane normal expressed in the camera frame 1 and can be computed as the cross product of 2 vectors (using 3 non collinear points that lie on the plane) or in our case directly with:
@@ -377,7 +379,7 @@ The distance `d` can be computed as the dot product between the plane normal and
 
 @snippet homography_from_camera_displacement.cpp compute-plane-distance-to-the-camera-frame-1
 
-The projective homography matrix \f$ \textbf{G} \f$ can be computed from the Euclidean homography \f$ \textbf{H} \f$ using the intrinsic matrix \f$ \textbf{K} \f$ (see @cite Malis), here assuming the same camera between the two plane views:
+The projective homography matrix \f$ \textbf{G} \f$ can be computed from the Euclidean homography \f$ \textbf{H} \f$ using the intrinsic matrix \f$ \textbf{K} \f$ (see @cite Malis2007), here assuming the same camera between the two plane views:
 
 \f[
   \textbf{G} = \gamma \textbf{K} \textbf{H} \textbf{K}^{-1}
@@ -388,7 +390,7 @@ The projective homography matrix \f$ \textbf{G} \f$ can be computed from the Euc
 In our case, the Z-axis of the chessboard goes inside the object whereas in the homography figure it goes outside. This is just a matter of sign:
 
 \f[
-  ^{2}\textrm{H}_{1} = \hspace{0.2em} ^{2}\textrm{R}_{1} + \hspace{0.1em} \frac{^{2}\textrm{t}_{1} \cdot n^T}{d}
+  ^{2}\mathbf{H}_{1} = \hspace{0.2em} ^{2}\mathbf{R}_{1} + \hspace{0.1em} \frac{^{2}\mathbf{t}_{1} \cdot \hspace{0.1em} ^{1}\mathbf{n}^\top}{^1d}
 \f]
 
 @snippet homography_from_camera_displacement.cpp compute-homography-from-camera-displacement
@@ -410,10 +412,18 @@ homography from camera displacement:
 
 The homography matrices are similar. If we compare the image 1 warped using both homography matrices:
 
-![Left: image warped using the homography estimated. Right: using the homography computed from the camera displacement](images/homography_camera_displacement_compare.jpg)
+![Left: image warped using the estimated homography. Right: using the homography computed from the camera displacement.](images/homography_camera_displacement_compare.jpg)
 
 Visually, it is hard to distinguish a difference between the result image from the homography computed from the camera displacement and the one estimated with @ref cv::findHomography function.
 
+#### Exercise
+
+This demo shows you how to compute the homography transformation from two camera poses. Try to perform the same operations, but by computing N inter homography this time. Instead of computing one homography to directly warp the source image to the desired camera viewpoint, perform N warping operations to see the different transformations operating.
+
+You should get something similar to the following:
+
+![The first three images show the source image warped at three different interpolated camera viewpoints. The 4th image shows the "error image" between the warped source image at the final camera viewpoint and the desired image.](images/homography_camera_poses_interpolation.jpg)
+
 ### Demo 4: Decompose the homography matrix {#tutorial_homography_Demo4}
 
 OpenCV 3 contains the function @ref cv::decomposeHomographyMat which allows to decompose the homography matrix to a set of rotations, translations and plane normals.
@@ -466,8 +476,8 @@ As you can see, there is one solution that matches almost perfectly with the com
 At least two of the solutions may further be invalidated if point correspondences are available by applying positive depth constraint (all points must be in front of the camera).
 ```
 
-As the result of the decomposition is a camera displacement, if we have the initial camera pose \f$ ^{c_1}\textrm{M}_{o} \f$, we can compute the current camera pose
-\f$ ^{c_2}\textrm{M}_{o} = \hspace{0.2em} ^{c_2}\textrm{M}_{c_1} \cdot \hspace{0.1em} ^{c_1}\textrm{M}_{o} \f$ and test if the 3D object points that belong to the plane are projected in front of the camera or not.
+As the result of the decomposition is a camera displacement, if we have the initial camera pose \f$ ^{c_1}\mathbf{M}_{o} \f$, we can compute the current camera pose
+\f$ ^{c_2}\mathbf{M}_{o} = \hspace{0.2em} ^{c_2}\mathbf{M}_{c_1} \cdot \hspace{0.1em} ^{c_1}\mathbf{M}_{o} \f$ and test if the 3D object points that belong to the plane are projected in front of the camera or not.
 Another solution could be to retain the solution with the closest normal if we know the plane normal expressed at the camera 1 pose.
 
 The same thing but with the homography matrix estimated with @ref cv::findHomography
@@ -516,7 +526,7 @@ The [stitching module](@ref stitching) provides a complete pipeline to stitch im
 The homography transformation applies only for planar structure. But in the case of a rotating camera (pure rotation around the camera axis of projection, no translation), an arbitrary world can be considered
 ([see previously](@ref tutorial_homography_What_is_the_homography_matrix)).
 
-The homography can then be computed using the rotation transformation and the camera intrinsic parameters as (see for instance \ref homography_course "8"):
+The homography can then be computed using the rotation transformation and the camera intrinsic parameters as (see for instance \ref homography_course "10"):
 
 \f[
   s
@@ -534,7 +544,7 @@ The homography can then be computed using the rotation transformation and the ca
 \f]
 
 To illustrate, we used Blender, a free and open-source 3D computer graphics software, to generate two camera views with only a rotation transformation between each other.
-More information about how to retrieve the camera intrinsic parameters and the `3x4` extrinsic matrix with respect to the world can be found in \ref answer_blender "9" (an additional transformation
+More information about how to retrieve the camera intrinsic parameters and the `3x4` extrinsic matrix with respect to the world can be found in \ref answer_blender "11" (an additional transformation
 is needed to get the transformation between the camera and the object frames) with Blender.
 
 The figure below shows the two generated views of the Suzanne model, with only a rotation transformation:
@@ -603,11 +613,13 @@ Additional references {#tutorial_homography_Additional_references}
 ---------------------
 
 *   \anchor lecture_16 1. [Lecture 16: Planar Homographies](http://www.cse.psu.edu/~rtc12/CSE486/lecture16.pdf), Robert Collins
-*   \anchor projective_transformations 2. [2D projective transformations (homographies)](https://ags.cs.uni-kl.de/fileadmin/inf_ags/3dcv-ws11-12/3DCV_WS11-12_lec04.pdf), Christiano Gava, Gabriele Bleser
-*   \anchor szeliski 3. [Computer Vision: Algorithms and Applications](http://szeliski.org/Book/drafts/SzeliskiBook_20100903_draft.pdf), Richard Szeliski
+*   \anchor projective_transformations 2. [2D projective transformations (homographies)](https://web.archive.org/web/20171226115739/https://ags.cs.uni-kl.de/fileadmin/inf_ags/3dcv-ws11-12/3DCV_WS11-12_lec04.pdf), Christiano Gava, Gabriele Bleser
+*   \anchor szeliski 3. [Computer Vision: Algorithms and Applications](https://szeliski.org/Book/), Richard Szeliski
 *   \anchor answer_dsp 4. [Step by Step Camera Pose Estimation for Visual Tracking and Planar Markers](https://dsp.stackexchange.com/a/2737)
-*   \anchor pose_ar 5. [Pose from homography estimation](https://team.inria.fr/lagadic/camera_localization/tutorial-pose-dlt-planar-opencv.html)
+*   \anchor pose_ar 5. [Pose from homography estimation](https://visp-doc.inria.fr/doxygen/camera_localization/tutorial-pose-dlt-planar-opencv.html)
 *   \anchor polar_decomposition 6. [Polar Decomposition (in Continuum Mechanics)](http://www.continuummechanics.org/polardecomposition.html)
-*   \anchor polar_decomposition_svd 7. [A Personal Interview with the Singular Value Decomposition](https://web.stanford.edu/~gavish/documents/SVD_ans_you.pdf), Matan Gavish
-*   \anchor homography_course 8. [Homography](http://people.scs.carleton.ca/~c_shu/Courses/comp4900d/notes/homography.pdf), Dr. Gerhard Roth
-*   \anchor answer_blender 9. [3x4 camera matrix from blender camera](https://blender.stackexchange.com/a/38210)
+*   \anchor polar_decomposition_svd 7. [Chapter 3 - 3.1.2 From matrices to rotations - Theorem 3.1 (Least-squares estimation of a rotation from a matrix K)](https://www-sop.inria.fr/asclepios/cours/MVA/Rotations.pdf)
+*   \anchor polar_decomposition_svd_2 8. [A Personal Interview with the Singular Value Decomposition](https://web.stanford.edu/~gavish/documents/SVD_ans_you.pdf), Matan Gavish
+*   \anchor Kabsch_algorithm 9. [Kabsch algorithm, Computation of the optimal rotation matrix](https://en.wikipedia.org/wiki/Kabsch_algorithm#Computation_of_the_optimal_rotation_matrix)
+*   \anchor homography_course 10. [Homography](http://people.scs.carleton.ca/~c_shu/Courses/comp4900d/notes/homography.pdf), Dr. Gerhard Roth
+*   \anchor answer_blender 11. [3x4 camera matrix from blender camera](https://blender.stackexchange.com/a/38210)

doc/tutorials/imgproc/generalized_hough_ballard_guil/generalized_hough_ballard_guil.markdown

@@ -0,0 +1,92 @@
+Object detection with Generalized Ballard and Guil Hough Transform {#tutorial_generalized_hough_ballard_guil}
+==================================================================
+
+@tableofcontents
+
+@prev_tutorial{tutorial_hough_circle}
+@next_tutorial{tutorial_remap}
+
+Goal
+----
+
+In this tutorial you will learn how to:
+
+- Use @ref cv::GeneralizedHoughBallard and @ref cv::GeneralizedHoughGuil to detect an object
+
+Example
+-------
+
+### What does this program do?
+
+1. Load the image and template
+
+![image](images/generalized_hough_mini_image.jpg)
+![template](images/generalized_hough_mini_template.jpg)
+
+2. Instantiate @ref cv::GeneralizedHoughBallard with the help of `createGeneralizedHoughBallard()`
+3. Instantiate @ref cv::GeneralizedHoughGuil with the help of `createGeneralizedHoughGuil()`
+4. Set the required parameters for both GeneralizedHough variants
+5. Detect and show found results
+
+@note
+- Both variants can't be instantiated directly. Using the create methods is required.
+- Guil Hough is very slow. Calculating the results for the "mini" files used in this tutorial
+  takes only a few seconds. With image and template in a higher resolution, as shown below,
+  my notebook requires about 5 minutes to calculate a result.
+
+![image](images/generalized_hough_image.jpg)
+![template](images/generalized_hough_template.jpg)
+
+### Code
+
+The complete code for this tutorial is shown below.
+@include samples/cpp/tutorial_code/ImgTrans/generalizedHoughTransform.cpp
+
+Explanation
+-----------
+
+### Load image, template and setup variables
+
+@snippet samples/cpp/tutorial_code/ImgTrans/generalizedHoughTransform.cpp generalized-hough-transform-load-and-setup
+
+The position vectors will contain the matches the detectors will find.
+Every entry contains four floating point values:
+position vector
+
+- *[0]*: x coordinate of center point
+- *[1]*: y coordinate of center point
+- *[2]*: scale of detected object compared to template
+- *[3]*: rotation of detected object in degree in relation to template
+
+An example could look as follows: `[200, 100, 0.9, 120]`
+
+### Setup parameters
+
+@snippet samples/cpp/tutorial_code/ImgTrans/generalizedHoughTransform.cpp generalized-hough-transform-setup-parameters
+
+Finding the optimal values can end up in trial and error and depends on many factors, such as the image resolution.
+
+### Run detection
+
+@snippet samples/cpp/tutorial_code/ImgTrans/generalizedHoughTransform.cpp generalized-hough-transform-run
+
+As mentioned above, this step will take some time, especially with larger images and when using Guil.
+
+### Draw results and show image
+
+@snippet samples/cpp/tutorial_code/ImgTrans/generalizedHoughTransform.cpp generalized-hough-transform-draw-results
+
+Result
+------
+
+![result image](images/generalized_hough_result_img.jpg)
+
+The blue rectangle shows the result of @ref cv::GeneralizedHoughBallard and the green rectangles the results of @ref
+cv::GeneralizedHoughGuil.
+
+Getting perfect results like in this example is unlikely if the parameters are not perfectly adapted to the sample.
+An example with less perfect parameters is shown below.
+For the Ballard variant, only the center of the result is marked as a black dot on this image. The rectangle would be
+the same as on the previous image.
+
+![less perfect result](images/generalized_hough_less_perfect_result_img.jpg)

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

@@ -2,7 +2,7 @@ Hough Circle Transform {#tutorial_hough_circle}
 ======================
 
 @prev_tutorial{tutorial_hough_lines}
-@next_tutorial{tutorial_remap}
+@next_tutorial{tutorial_generalized_hough_ballard_guil}
 
 Goal
 ----
@@ -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/imgtrans/remap/remap.markdown

@@ -1,7 +1,7 @@
 Remapping {#tutorial_remap}
 =========
 
-@prev_tutorial{tutorial_hough_circle}
+@prev_tutorial{tutorial_generalized_hough_ballard_guil}
 @next_tutorial{tutorial_warp_affine}
 
 Goal

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/table_of_content_imgproc.markdown

@@ -173,6 +173,16 @@ In this section you will learn about the image processing (manipulation) functio
 
     Where we learn how to detect circles
 
+-   @subpage tutorial_generalized_hough_ballard_guil
+
+    *Languages:* C++
+
+    *Compatibility:* \>= OpenCV 3.4
+
+    *Author:* Markus Heck
+
+    Detect an object in a picture with the help of GeneralizedHoughBallard and GeneralizedHoughGuil.
+
 -   @subpage tutorial_remap
 
     *Languages:* C++, Java, Python

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/3.4.17
+TAGFILES = ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.19
 @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/3.4.17
+           ./docs/doxygen-tags/opencv.tag=http://docs.opencv.org/3.4.19
 @endcode
 
 Doxygen can now use the information from the tag file to link to the OpenCV

doc/tutorials/objdetect/traincascade.markdown

@@ -3,6 +3,7 @@ Cascade Classifier Training {#tutorial_traincascade}
 
 @prev_tutorial{tutorial_cascade_classifier}
 
+
 Introduction
 ------------
 

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
 
   @}
@@ -574,7 +577,7 @@ a vector\<Point2f\> .
 -   @ref RHO - PROSAC-based robust method
 @param ransacReprojThreshold Maximum allowed reprojection error to treat a point pair as an inlier
 (used in the RANSAC and RHO methods only). That is, if
-\f[\| \texttt{dstPoints} _i -  \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|_2  >  \texttt{ransacReprojThreshold}\f]
+\f[\| \texttt{dstPoints} _i -  \texttt{convertPointsHomogeneous} ( \texttt{H} \cdot \texttt{srcPoints} _i) \|_2  >  \texttt{ransacReprojThreshold}\f]
 then the point \f$i\f$ is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
 it usually makes sense to set this parameter somewhere in the range of 1 to 10.
 @param mask Optional output mask set by a robust method ( RANSAC or LMeDS ). Note that the input
@@ -639,7 +642,7 @@ CV_EXPORTS Mat findHomography( InputArray srcPoints, InputArray dstPoints,
 @param Qz Optional output 3x3 rotation matrix around z-axis.
 
 The function computes a RQ decomposition using the given rotations. This function is used in
-decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
+#decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
 and a rotation matrix.
 
 It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
@@ -673,7 +676,7 @@ be used in OpenGL. Note, there is always more than one sequence of rotations abo
 principal axes that results in the same orientation of an object, e.g. see @cite Slabaugh . Returned
 tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
 
-The function is based on RQDecomp3x3 .
+The function is based on #RQDecomp3x3 .
  */
 CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix,
                                              OutputArray rotMatrix, OutputArray transVect,
@@ -693,7 +696,7 @@ CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray
 
 The function computes partial derivatives of the elements of the matrix product \f$A*B\f$ with regard to
 the elements of each of the two input matrices. The function is used to compute the Jacobian
-matrices in stereoCalibrate but can also be used in any other similar optimization function.
+matrices in #stereoCalibrate but can also be used in any other similar optimization function.
  */
 CV_EXPORTS_W void matMulDeriv( InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB );
 
@@ -719,10 +722,10 @@ The functions compute:
 \f[\begin{array}{l} \texttt{rvec3} =  \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} )  \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right )  \\ \texttt{tvec3} =  \mathrm{rodrigues} ( \texttt{rvec2} )  \cdot \texttt{tvec1} +  \texttt{tvec2} \end{array} ,\f]
 
 where \f$\mathrm{rodrigues}\f$ denotes a rotation vector to a rotation matrix transformation, and
-\f$\mathrm{rodrigues}^{-1}\f$ denotes the inverse transformation. See Rodrigues for details.
+\f$\mathrm{rodrigues}^{-1}\f$ denotes the inverse transformation. See #Rodrigues for details.
 
 Also, the functions can compute the derivatives of the output vectors with regards to the input
-vectors (see matMulDeriv ). The functions are used inside stereoCalibrate but can also be used in
+vectors (see #matMulDeriv ). The functions are used inside #stereoCalibrate but can also be used in
 your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
 function that contains a matrix multiplication.
  */
@@ -1081,7 +1084,7 @@ calibrateCamera for details.
 old interface all the per-view vectors are concatenated.
 @param imageSize Image size in pixels used to initialize the principal point.
 @param aspectRatio If it is zero or negative, both \f$f_x\f$ and \f$f_y\f$ are estimated independently.
-Otherwise, \f$f_x = f_y * \texttt{aspectRatio}\f$ .
+Otherwise, \f$f_x = f_y \cdot \texttt{aspectRatio}\f$ .
 
 The function estimates and returns an initial camera intrinsic matrix for the camera calibration process.
 Currently, the function only supports planar calibration patterns, which are patterns where each
@@ -1095,12 +1098,12 @@ CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,
 
 @param image Source chessboard view. It must be an 8-bit grayscale or color image.
 @param patternSize Number of inner corners per a chessboard row and column
-( patternSize = cvSize(points_per_row,points_per_colum) = cvSize(columns,rows) ).
+( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).
 @param corners Output array of detected corners.
 @param flags Various operation flags that can be zero or a combination of the following values:
 -   @ref CALIB_CB_ADAPTIVE_THRESH Use adaptive thresholding to convert the image to black
 and white, rather than a fixed threshold level (computed from the average image brightness).
--   @ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with equalizeHist before
+-   @ref CALIB_CB_NORMALIZE_IMAGE Normalize the image gamma with #equalizeHist before
 applying fixed or adaptive thresholding.
 -   @ref CALIB_CB_FILTER_QUADS Use additional criteria (like contour area, perimeter,
 square-like shape) to filter out false quads extracted at the contour retrieval stage.
@@ -1114,7 +1117,7 @@ are found and they are placed in a certain order (row by row, left to right in e
 Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example,
 a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black
 squares touch each other. The detected coordinates are approximate, and to determine their positions
-more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with
+more accurately, the function calls #cornerSubPix. You also may use the function #cornerSubPix with
 different parameters if returned coordinates are not accurate enough.
 
 Sample usage of detecting and drawing chessboard corners: :
@@ -1151,9 +1154,9 @@ CV_EXPORTS_W bool find4QuadCornerSubpix( InputArray img, InputOutputArray corner
 @param image Destination image. It must be an 8-bit color image.
 @param patternSize Number of inner corners per a chessboard row and column
 (patternSize = cv::Size(points_per_row,points_per_column)).
-@param corners Array of detected corners, the output of findChessboardCorners.
+@param corners Array of detected corners, the output of #findChessboardCorners.
 @param patternWasFound Parameter indicating whether the complete board was found or not. The
-return value of findChessboardCorners should be passed here.
+return value of #findChessboardCorners should be passed here.
 
 The function draws individual chessboard corners detected either as red circles if the board was not
 found, or as colored corners connected with lines if the board was found.
@@ -1539,7 +1542,7 @@ Besides the stereo-related information, the function can also perform a full cal
 the two cameras. However, due to the high dimensionality of the parameter space and noise in the
 input data, the function can diverge from the correct solution. If the intrinsic parameters can be
 estimated with high accuracy for each of the cameras individually (for example, using
-calibrateCamera ), you are recommended to do so and then pass @ref CALIB_FIX_INTRINSIC flag to the
+#calibrateCamera ), you are recommended to do so and then pass @ref CALIB_FIX_INTRINSIC flag to the
 function along with the computed intrinsic parameters. Otherwise, if all the parameters are
 estimated at once, it makes sense to restrict some parameters, for example, pass
  @ref CALIB_SAME_FOCAL_LENGTH and @ref CALIB_ZERO_TANGENT_DIST flags, which is usually a
@@ -1605,7 +1608,7 @@ pixels from the original images from the cameras are retained in the rectified i
 image pixels are lost). Any intermediate value yields an intermediate result between
 those two extreme cases.
 @param newImageSize New image resolution after rectification. The same size should be passed to
-initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
+#initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
 is passed (default), it is set to the original imageSize . Setting it to a larger value can help you
 preserve details in the original image, especially when there is a big radial distortion.
 @param validPixROI1 Optional output rectangles inside the rectified images where all the pixels
@@ -1617,7 +1620,7 @@ are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are lik
 
 The function computes the rotation matrices for each camera that (virtually) make both camera image
 planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
-the dense stereo correspondence problem. The function takes the matrices computed by stereoCalibrate
+the dense stereo correspondence problem. The function takes the matrices computed by #stereoCalibrate
 as input. As output, it provides two rotation matrices and also two projection matrices in the new
 coordinates. The function distinguishes the following two cases:
 
@@ -1633,11 +1636,18 @@ coordinates. The function distinguishes the following two cases:
                      \end{bmatrix}\f]
 
     \f[\texttt{P2} = \begin{bmatrix}
-                        f & 0 & cx_2 & T_x*f \\
+                        f & 0 & cx_2 & T_x \cdot f \\
                         0 & f & cy & 0 \\
                         0 & 0 & 1 & 0
                      \end{bmatrix} ,\f]
 
+    \f[\texttt{Q} = \begin{bmatrix}
+                        1 & 0 & 0 & -cx_1 \\
+                        0 & 1 & 0 & -cy \\
+                        0 & 0 & 0 & f \\
+                        0 & 0 & -\frac{1}{T_x} & \frac{cx_1 - cx_2}{T_x}
+                    \end{bmatrix} \f]
+
     where \f$T_x\f$ is a horizontal shift between the cameras and \f$cx_1=cx_2\f$ if
     @ref CALIB_ZERO_DISPARITY is set.
 
@@ -1653,15 +1663,22 @@ coordinates. The function distinguishes the following two cases:
 
     \f[\texttt{P2} = \begin{bmatrix}
                         f & 0 & cx & 0 \\
-                        0 & f & cy_2 & T_y*f \\
+                        0 & f & cy_2 & T_y \cdot f \\
                         0 & 0 & 1 & 0
                      \end{bmatrix},\f]
 
+    \f[\texttt{Q} = \begin{bmatrix}
+                        1 & 0 & 0 & -cx \\
+                        0 & 1 & 0 & -cy_1 \\
+                        0 & 0 & 0 & f \\
+                        0 & 0 & -\frac{1}{T_y} & \frac{cy_1 - cy_2}{T_y}
+                    \end{bmatrix} \f]
+
     where \f$T_y\f$ is a vertical shift between the cameras and \f$cy_1=cy_2\f$ if
     @ref CALIB_ZERO_DISPARITY is set.
 
 As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
-matrices. The matrices, together with R1 and R2 , can then be passed to initUndistortRectifyMap to
+matrices. The matrices, together with R1 and R2 , can then be passed to #initUndistortRectifyMap to
 initialize the rectification map for each camera.
 
 See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
@@ -1684,20 +1701,20 @@ CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs
 
 @param points1 Array of feature points in the first image.
 @param points2 The corresponding points in the second image. The same formats as in
-findFundamentalMat are supported.
+#findFundamentalMat are supported.
 @param F Input fundamental matrix. It can be computed from the same set of point pairs using
-findFundamentalMat .
+#findFundamentalMat .
 @param imgSize Size of the image.
 @param H1 Output rectification homography matrix for the first image.
 @param H2 Output rectification homography matrix for the second image.
 @param threshold Optional threshold used to filter out the outliers. If the parameter is greater
 than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
-for which \f$|\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|>\texttt{threshold}\f$ ) are
-rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
+for which \f$|\texttt{points2[i]}^T \cdot \texttt{F} \cdot \texttt{points1[i]}|>\texttt{threshold}\f$ )
+are rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
 
 The function computes the rectification transformations without knowing intrinsic parameters of the
 cameras and their relative position in the space, which explains the suffix "uncalibrated". Another
-related difference from stereoRectify is that the function outputs not the rectification
+related difference from #stereoRectify is that the function outputs not the rectification
 transformations in the object (3D) space, but the planar perspective transformations encoded by the
 homography matrices H1 and H2 . The function implements the algorithm @cite Hartley99 .
 
@@ -1706,8 +1723,8 @@ homography matrices H1 and H2 . The function implements the algorithm @cite Hart
     depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion,
     it would be better to correct it before computing the fundamental matrix and calling this
     function. For example, distortion coefficients can be estimated for each head of stereo camera
-    separately by using calibrateCamera . Then, the images can be corrected using undistort , or
-    just the point coordinates can be corrected with undistortPoints .
+    separately by using #calibrateCamera . Then, the images can be corrected using #undistort , or
+    just the point coordinates can be corrected with #undistortPoints .
  */
 CV_EXPORTS_W bool stereoRectifyUncalibrated( InputArray points1, InputArray points2,
                                              InputArray F, Size imgSize,
@@ -1735,10 +1752,10 @@ assumed.
 @param imageSize Original image size.
 @param alpha Free scaling parameter between 0 (when all the pixels in the undistorted image are
 valid) and 1 (when all the source image pixels are retained in the undistorted image). See
-stereoRectify for details.
+#stereoRectify for details.
 @param newImgSize Image size after rectification. By default, it is set to imageSize .
 @param validPixROI Optional output rectangle that outlines all-good-pixels region in the
-undistorted image. See roi1, roi2 description in stereoRectify .
+undistorted image. See roi1, roi2 description in #stereoRectify .
 @param centerPrincipalPoint Optional flag that indicates whether in the new camera intrinsic matrix the
 principal point should be at the image center or not. By default, the principal point is chosen to
 best fit a subset of the source image (determined by alpha) to the corrected image.
@@ -1750,7 +1767,7 @@ image pixels if there is valuable information in the corners alpha=1 , or get so
 When alpha\>0 , the undistorted result is likely to have some black pixels corresponding to
 "virtual" pixels outside of the captured distorted image. The original camera intrinsic matrix, distortion
 coefficients, the computed new camera intrinsic matrix, and newImageSize should be passed to
-initUndistortRectifyMap to produce the maps for remap .
+#initUndistortRectifyMap to produce the maps for #remap .
  */
 CV_EXPORTS_W Mat getOptimalNewCameraMatrix( InputArray cameraMatrix, InputArray distCoeffs,
                                             Size imageSize, double alpha, Size newImgSize = Size(),
@@ -1917,7 +1934,7 @@ CV_EXPORTS_W void convertPointsFromHomogeneous( InputArray src, OutputArray dst
 @param dst Output vector of 2D, 3D, or 4D points.
 
 The function converts 2D or 3D points from/to homogeneous coordinates by calling either
-convertPointsToHomogeneous or convertPointsFromHomogeneous.
+#convertPointsToHomogeneous or #convertPointsFromHomogeneous.
 
 @note The function is obsolete. Use one of the previous two functions instead.
  */
@@ -1954,9 +1971,9 @@ the found fundamental matrix. Normally just one matrix is found. But in case of
 algorithm, the function may return up to 3 solutions ( \f$9 \times 3\f$ matrix that stores all 3
 matrices sequentially).
 
-The calculated fundamental matrix may be passed further to computeCorrespondEpilines that finds the
+The calculated fundamental matrix may be passed further to #computeCorrespondEpilines that finds the
 epipolar lines corresponding to the specified points. It can also be passed to
-stereoRectifyUncalibrated to compute the rectification transformation. :
+#stereoRectifyUncalibrated to compute the rectification transformation. :
 @code
     // Example. Estimation of fundamental matrix using the RANSAC algorithm
     int point_count = 100;
@@ -2020,7 +2037,7 @@ This function estimates essential matrix based on the five-point algorithm solve
 
 where \f$E\f$ is an essential matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding points in the first and the
 second images, respectively. The result of this function may be passed further to
-decomposeEssentialMat or recoverPose to recover the relative pose between cameras.
+#decomposeEssentialMat or #recoverPose to recover the relative pose between cameras.
  */
 CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
                                  InputArray cameraMatrix, int method,
@@ -2096,7 +2113,7 @@ unit length.
 CV_EXPORTS_W void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
 
 /** @brief Recovers the relative camera rotation and the translation from an estimated essential
-matrix and the corresponding points in two images, using cheirality check. Returns the number of
+matrix and the corresponding points in two images, using chirality check. Returns the number of
 inliers that pass the check.
 
 @param E The input essential matrix.
@@ -2114,11 +2131,11 @@ described below.
 therefore is only known up to scale, i.e. t is the direction of the translation vector and has unit
 length.
 @param mask Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
-inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
-recover pose. In the output mask only inliers which pass the cheirality check.
+inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
+recover pose. In the output mask only inliers which pass the chirality check.
 
 This function decomposes an essential matrix using @ref decomposeEssentialMat and then verifies
-possible pose hypotheses by doing cheirality check. The cheirality check means that the
+possible pose hypotheses by doing chirality check. The chirality check means that the
 triangulated 3D points should have positive depth. Some details can be found in @cite Nister03.
 
 This function can be used to process the output E and mask from @ref findEssentialMat. In this
@@ -2165,8 +2182,8 @@ length.
 are feature points from cameras with same focal length and principal point.
 @param pp principal point of the camera.
 @param mask Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
-inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
-recover pose. In the output mask only inliers which pass the cheirality check.
+inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
+recover pose. In the output mask only inliers which pass the chirality check.
 
 This function differs from the one above that it computes camera intrinsic matrix from focal length and
 principal point:
@@ -2201,12 +2218,12 @@ length.
 @param distanceThresh threshold distance which is used to filter out far away points (i.e. infinite
 points).
 @param mask Input/output mask for inliers in points1 and points2. If it is not empty, then it marks
-inliers in points1 and points2 for then given essential matrix E. Only these inliers will be used to
-recover pose. In the output mask only inliers which pass the cheirality check.
+inliers in points1 and points2 for the given essential matrix E. Only these inliers will be used to
+recover pose. In the output mask only inliers which pass the chirality check.
 @param triangulatedPoints 3D points which were reconstructed by triangulation.
 
 This function differs from the one above that it outputs the triangulated 3D point that are used for
-the cheirality check.
+the chirality check.
  */
 CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
                             InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask = noArray(),
@@ -2217,14 +2234,14 @@ CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray point
 @param points Input points. \f$N \times 1\f$ or \f$1 \times N\f$ matrix of type CV_32FC2 or
 vector\<Point2f\> .
 @param whichImage Index of the image (1 or 2) that contains the points .
-@param F Fundamental matrix that can be estimated using findFundamentalMat or stereoRectify .
+@param F Fundamental matrix that can be estimated using #findFundamentalMat or #stereoRectify .
 @param lines Output vector of the epipolar lines corresponding to the points in the other image.
 Each line \f$ax + by + c=0\f$ is encoded by 3 numbers \f$(a, b, c)\f$ .
 
 For every point in one of the two images of a stereo pair, the function finds the equation of the
 corresponding epipolar line in the other image.
 
-From the fundamental matrix definition (see findFundamentalMat ), line \f$l^{(2)}_i\f$ in the second
+From the fundamental matrix definition (see #findFundamentalMat ), line \f$l^{(2)}_i\f$ in the second
 image for the point \f$p^{(1)}_i\f$ in the first image (when whichImage=1 ) is computed as:
 
 \f[l^{(2)}_i = F p^{(1)}_i\f]
@@ -2274,12 +2291,12 @@ CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
 @param newPoints1 The optimized points1.
 @param newPoints2 The optimized points2.
 
-The function implements the Optimal Triangulation Method (see Multiple View Geometry for details).
+The function implements the Optimal Triangulation Method (see Multiple View Geometry @cite HartleyZ00 for details).
 For each given point correspondence points1[i] \<-\> points2[i], and a fundamental matrix F, it
 computes the corrected correspondences newPoints1[i] \<-\> newPoints2[i] that minimize the geometric
 error \f$d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2\f$ (where \f$d(a,b)\f$ is the
 geometric distance between points \f$a\f$ and \f$b\f$ ) subject to the epipolar constraint
-\f$newPoints2^T * F * newPoints1 = 0\f$ .
+\f$newPoints2^T \cdot F \cdot newPoints1 = 0\f$ .
  */
 CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2,
                                   OutputArray newPoints1, OutputArray newPoints2 );
@@ -2556,7 +2573,7 @@ Check @ref tutorial_homography "the corresponding tutorial" for more details.
 
 This function extracts relative camera motion between two views of a planar object and returns up to
 four mathematical solution tuples of rotation, translation, and plane normal. The decomposition of
-the homography matrix H is described in detail in @cite Malis.
+the homography matrix H is described in detail in @cite Malis2007.
 
 If the homography H, induced by the plane, gives the constraint
 \f[s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\f] on the source image points
@@ -2581,10 +2598,10 @@ CV_EXPORTS_W int decomposeHomographyMat(InputArray H,
 @param beforePoints Vector of (rectified) visible reference points before the homography is applied
 @param afterPoints Vector of (rectified) visible reference points after the homography is applied
 @param possibleSolutions Vector of int indices representing the viable solution set after filtering
-@param pointsMask optional Mat/Vector of 8u type representing the mask for the inliers as given by the findHomography function
+@param pointsMask optional Mat/Vector of 8u type representing the mask for the inliers as given by the #findHomography function
 
-This function is intended to filter the output of the decomposeHomographyMat based on additional
-information as described in @cite Malis . The summary of the method: the decomposeHomographyMat function
+This function is intended to filter the output of the #decomposeHomographyMat based on additional
+information as described in @cite Malis2007 . The summary of the method: the #decomposeHomographyMat function
 returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the
 sets of points visible in the camera frame before and after the homography transformation is applied,
 we can determine which are the true potential solutions and which are the opposites by verifying which
@@ -2921,7 +2938,7 @@ 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.
@@ -2974,14 +2991,14 @@ optimization. It stays at the center or at a different location specified when @
     camera.
     @param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
     camera.
-    @param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
+    @param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see #reprojectImageTo3D ).
     @param flags Operation flags that may be zero or @ref fisheye::CALIB_ZERO_DISPARITY . If the flag is set,
     the function makes the principal points of each camera have the same pixel coordinates in the
     rectified views. And if the flag is not set, the function may still shift the images in the
     horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
     useful image area.
     @param newImageSize New image resolution after rectification. The same size should be passed to
-    initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
+    #initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
     is passed (default), it is set to the original imageSize . Setting it to larger value can help you
     preserve details in the original image, especially when there is a big radial distortion.
     @param balance Sets the new focal length in range between the min focal length and the max focal

modules/calib3d/misc/java/test/Calib3dTest.java

@@ -699,10 +699,10 @@ public class Calib3dTest extends OpenCVTestCase {
         D.put(2,0,-0.021509225493198905);
         D.put(3,0,0.0043378096628297145);
 
-        K_new_truth.put(0,0, 387.4809086880343);
-        K_new_truth.put(0,2, 1036.669802754649);
-        K_new_truth.put(1,1, 373.6375700303157);
-        K_new_truth.put(1,2, 538.8373261247601);
+        K_new_truth.put(0,0, 387.5118215642316);
+        K_new_truth.put(0,2, 1033.936556777084);
+        K_new_truth.put(1,1, 373.6673784974842);
+        K_new_truth.put(1,2, 538.794152656429);
 
         Calib3d.fisheye_estimateNewCameraMatrixForUndistortRectify(K,D,new Size(1920,1080),
                     new Mat().eye(3, 3, CvType.CV_64F), K_new, 0.0, new Size(1920,1080));

modules/calib3d/src/calibinit.cpp

@@ -1232,7 +1232,7 @@ int ChessBoardDetector::cleanFoundConnectedQuads(std::vector<ChessBoardQuad*>& q
         centers[i] = ci;
         center += ci;
     }
-    center.x *= (1.0f / quad_count);
+    center *= (1.0f / quad_count);
 
     // If we still have more quadrangles than we should,
     // we try to eliminate bad ones based on minimizing the bounding box.
@@ -1256,7 +1256,7 @@ int ChessBoardDetector::cleanFoundConnectedQuads(std::vector<ChessBoardQuad*>& q
             Mat points(1, quad_count, CV_32FC2, &centers[0]);
             cv::convexHull(points, hull, true);
             centers[skip] = temp;
-            double hull_area = contourArea(hull, true);
+            double hull_area = contourArea(hull, false);
 
             // remember smallest box area
             if (hull_area < min_box_area)
@@ -1298,6 +1298,7 @@ int ChessBoardDetector::cleanFoundConnectedQuads(std::vector<ChessBoardQuad*>& q
         quad_group[min_box_area_index] = quad_group[quad_count];
         centers[min_box_area_index] = centers[quad_count];
     }
+    quad_group.resize(quad_count);
 
     return quad_count;
 }

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/fisheye.cpp

@@ -388,7 +388,7 @@ void cv::fisheye::undistortPoints( InputArray distorted, OutputArray undistorted
 
         if (theta_d > 1e-8)
         {
-            // compensate distortion iteratively
+            // compensate distortion iteratively using Newton method
             double theta = theta_d;
 
             const double EPS = 1e-8; // or std::numeric_limits<double>::epsilon();
@@ -572,7 +572,7 @@ void cv::fisheye::estimateNewCameraMatrixForUndistortRectify(InputArray K, Input
                                                 : K.getMat().at<double>(0,0)/K.getMat().at<double>(1,1);
 
     // convert to identity ratio
-    cn[0] *= aspect_ratio;
+    cn[1] *= aspect_ratio;
     for(size_t i = 0; i < points.total(); ++i)
         pptr[i][1] *= aspect_ratio;
 

modules/calib3d/src/five-point.cpp

@@ -520,7 +520,7 @@ int cv::recoverPose( InputArray E, InputArray _points1, InputArray _points2,
     P3(Range::all(), Range(0, 3)) = R1 * 1.0; P3.col(3) = -t * 1.0;
     P4(Range::all(), Range(0, 3)) = R2 * 1.0; P4.col(3) = -t * 1.0;
 
-    // Do the cheirality check.
+    // Do the chirality check.
     // Notice here a threshold dist is used to filter
     // out far away points (i.e. infinite points) since
     // their depth may vary between positive and negative.

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)
@@ -149,12 +149,13 @@ public:
     int runKernel( InputArray _m1, InputArray _m2, OutputArray _model ) const CV_OVERRIDE
     {
         Mat opoints = _m1.getMat(), ipoints = _m2.getMat();
-
+        Mat iter_rvec = rvec.clone();
+        Mat iter_tvec = tvec.clone();
         bool correspondence = solvePnP( _m1, _m2, cameraMatrix, distCoeffs,
-                                            rvec, tvec, useExtrinsicGuess, flags );
+                                            iter_rvec, iter_tvec, useExtrinsicGuess, flags );
 
         Mat _local_model;
-        hconcat(rvec, tvec, _local_model);
+        hconcat(iter_rvec, iter_tvec, _local_model);
         _local_model.copyTo(_model);
 
         return correspondence;
@@ -298,8 +299,8 @@ 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);
@@ -313,7 +314,13 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     ipoints_inliers.resize(npoints1);
     try
     {
-        result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
+       if (flags == SOLVEPNP_ITERATIVE && !useExtrinsicGuess)
+       {
+          rvec = _local_model.col(0).clone();
+          tvec = _local_model.col(1).clone();
+          useExtrinsicGuess = true;
+       }
+       result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix,
                           distCoeffs, rvec, tvec, useExtrinsicGuess,
                           (flags == SOLVEPNP_P3P || flags == SOLVEPNP_AP3P) ? SOLVEPNP_EPNP : flags) ? 1 : -1;
     }
@@ -420,7 +427,7 @@ 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 +717,7 @@ 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 +811,7 @@ 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 +836,7 @@ 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 +1089,7 @@ 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/src/sqpnp.hpp

@@ -111,7 +111,7 @@ private:
     static double det3x3(const cv::Matx<double, 9, 1>& e);
 
     /*
-    * @brief                Tests the cheirality for a given solution.
+    * @brief                Tests the chirality for a given solution.
     * @param solution       The solution to evaluate.
     */
     inline bool positiveDepth(const SQPSolution& solution) const;

modules/calib3d/test/test_fisheye.cpp

@@ -101,6 +101,15 @@ TEST_F(fisheyeTest, projectPoints)
     EXPECT_MAT_NEAR(distorted0, distorted2, 1e-10);
 }
 
+// we use it to reduce patch size for images in testdata
+static void throwAwayHalf(Mat img)
+{
+    int whalf = img.cols / 2, hhalf = img.rows / 2;
+    Rect tl(0, 0, whalf, hhalf), br(whalf, hhalf, whalf, hhalf);
+    img(tl) = 0;
+    img(br) = 0;
+};
+
 TEST_F(fisheyeTest, undistortImage)
 {
     cv::Matx33d theK = this->K;
@@ -112,32 +121,41 @@ TEST_F(fisheyeTest, undistortImage)
         newK(0, 0) = 100;
         newK(1, 1) = 100;
         cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
-        cv::Mat correct = cv::imread(combine(datasets_repository_path, "new_f_100.png"));
-        if (correct.empty())
-            CV_Assert(cv::imwrite(combine(datasets_repository_path, "new_f_100.png"), undistorted));
-        else
-            EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
+        std::string imageFilename = combine(datasets_repository_path, "new_f_100.png");
+        cv::Mat correct = cv::imread(imageFilename);
+        ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
+
+        throwAwayHalf(correct);
+        throwAwayHalf(undistorted);
+
+        EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
     }
     {
         double balance = 1.0;
         cv::fisheye::estimateNewCameraMatrixForUndistortRectify(theK, theD, distorted.size(), cv::noArray(), newK, balance);
         cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
-        cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_1.0.png"));
-        if (correct.empty())
-            CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_1.0.png"), undistorted));
-        else
-            EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
+        std::string imageFilename = combine(datasets_repository_path, "balance_1.0.png");
+        cv::Mat correct = cv::imread(imageFilename);
+        ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
+
+        throwAwayHalf(correct);
+        throwAwayHalf(undistorted);
+
+        EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
     }
 
     {
         double balance = 0.0;
         cv::fisheye::estimateNewCameraMatrixForUndistortRectify(theK, theD, distorted.size(), cv::noArray(), newK, balance);
         cv::fisheye::undistortImage(distorted, undistorted, theK, theD, newK);
-        cv::Mat correct = cv::imread(combine(datasets_repository_path, "balance_0.0.png"));
-        if (correct.empty())
-            CV_Assert(cv::imwrite(combine(datasets_repository_path, "balance_0.0.png"), undistorted));
-        else
-            EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
+        std::string imageFilename = combine(datasets_repository_path, "balance_0.0.png");
+        cv::Mat correct = cv::imread(imageFilename);
+        ASSERT_FALSE(correct.empty()) << "Correct image " << imageFilename.c_str() << " can not be read" << std::endl;
+
+        throwAwayHalf(correct);
+        throwAwayHalf(undistorted);
+
+        EXPECT_MAT_NEAR(correct, undistorted, 1e-10);
     }
 }
 
@@ -422,19 +440,19 @@ TEST_F(fisheyeTest, stereoRectify)
         0.002076471801477729, 0.006463478587068991, 0.9999769555891836
     );
     cv::Matx34d P1_ref(
-        420.8551870450913, 0, 586.501617798451, 0,
-        0, 420.8551870450913, 374.7667511986098, 0,
+        420.9684016542647, 0, 586.3059567784627, 0,
+        0, 420.9684016542647, 374.8571836462291, 0,
         0, 0, 1, 0
     );
     cv::Matx34d P2_ref(
-        420.8551870450913, 0, 586.501617798451, -41.77758076597302,
-        0, 420.8551870450913, 374.7667511986098, 0,
+        420.9684016542647, 0, 586.3059567784627, -41.78881938824554,
+        0, 420.9684016542647, 374.8571836462291, 0,
         0, 0, 1, 0
     );
     cv::Matx44d Q_ref(
-        1, 0, 0, -586.501617798451,
-        0, 1, 0, -374.7667511986098,
-        0, 0, 0, 420.8551870450913,
+        1, 0, 0, -586.3059567784627,
+        0, 1, 0, -374.8571836462291,
+        0, 0, 0, 420.9684016542647,
         0, 0, 10.07370889670733, -0
     );
 
@@ -489,7 +507,9 @@ TEST_F(fisheyeTest, stereoRectify)
         cv::Mat rectification;
         merge4(l, r, lundist, rundist, rectification);
 
-        cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
+        // Add the "--test_debug" to arguments for file output
+        if (cvtest::debugLevel > 0)
+            cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
     }
 }
 
@@ -683,13 +703,13 @@ TEST_F(fisheyeTest, estimateNewCameraMatrixForUndistortRectify)
 
     cv::Mat K_new_truth(3, 3, cv::DataType<double>::type);
 
-    K_new_truth.at<double>(0, 0) = 387.4809086880343;
+    K_new_truth.at<double>(0, 0) = 387.5118215642316;
     K_new_truth.at<double>(0, 1) = 0.0;
-    K_new_truth.at<double>(0, 2) = 1036.669802754649;
+    K_new_truth.at<double>(0, 2) = 1033.936556777084;
 
     K_new_truth.at<double>(1, 0) = 0.0;
-    K_new_truth.at<double>(1, 1) = 373.6375700303157;
-    K_new_truth.at<double>(1, 2) = 538.8373261247601;
+    K_new_truth.at<double>(1, 1) = 373.6673784974842;
+    K_new_truth.at<double>(1, 2) = 538.794152656429;
 
     K_new_truth.at<double>(2, 0) = 0.0;
     K_new_truth.at<double>(2, 1) = 0.0;

modules/core/CMakeLists.txt

@@ -6,7 +6,7 @@ ocv_add_dispatched_file(arithm SSE2 SSE4_1 AVX2 VSX3)
 ocv_add_dispatched_file(convert SSE2 AVX2 VSX3)
 ocv_add_dispatched_file(convert_scale SSE2 AVX2)
 ocv_add_dispatched_file(count_non_zero SSE2 AVX2)
-ocv_add_dispatched_file(matmul SSE2 SSE4_1 AVX2 AVX512_SKX)
+ocv_add_dispatched_file(matmul SSE2 SSE4_1 AVX2 AVX512_SKX NEON_DOTPROD)
 ocv_add_dispatched_file(mean SSE2 AVX2)
 ocv_add_dispatched_file(merge SSE2 AVX2)
 ocv_add_dispatched_file(split SSE2 AVX2)

modules/core/doc/intro.markdown

@@ -71,7 +71,7 @@ data sharing. A destructor decrements the reference counter associated with the
 The buffer is deallocated if and only if the reference counter reaches zero, that is, when no other
 structures refer to the same buffer. Similarly, when a Mat instance is copied, no actual data is
 really copied. Instead, the reference counter is incremented to memorize that there is another owner
-of the same data. There is also the Mat::clone method that creates a full copy of the matrix data.
+of the same data. There is also the cv::Mat::clone method that creates a full copy of the matrix data.
 See the example below:
 ```.cpp
     // create a big 8Mb matrix
@@ -159,11 +159,11 @@ grayscale conversion. Note that frame and edges are allocated only once during t
 of the loop body since all the next video frames have the same resolution. If you somehow change the
 video resolution, the arrays are automatically reallocated.
 
-The key component of this technology is the Mat::create method. It takes the desired array size and
-type. If the array already has the specified size and type, the method does nothing. Otherwise, it
-releases the previously allocated data, if any (this part involves decrementing the reference
+The key component of this technology is the cv::Mat::create method. It takes the desired array size
+and type. If the array already has the specified size and type, the method does nothing. Otherwise,
+it releases the previously allocated data, if any (this part involves decrementing the reference
 counter and comparing it with zero), and then allocates a new buffer of the required size. Most
-functions call the Mat::create method for each output array, and so the automatic output data
+functions call the cv::Mat::create method for each output array, and so the automatic output data
 allocation is implemented.
 
 Some notable exceptions from this scheme are cv::mixChannels, cv::RNG::fill, and a few other
@@ -247,9 +247,9 @@ Examples:
                                // matrix (10-element complex vector)
     Mat img(Size(1920, 1080), CV_8UC3); // make a 3-channel (color) image
                                         // of 1920 columns and 1080 rows.
-    Mat grayscale(image.size(), CV_MAKETYPE(image.depth(), 1)); // make a 1-channel image of
-                                                                // the same size and same
-                                                                // channel type as img
+    Mat grayscale(img.size(), CV_MAKETYPE(img.depth(), 1)); // make a 1-channel image of
+                                                            // the same size and same
+                                                            // channel type as img
 ```
 Arrays with more complex elements cannot be constructed or processed using OpenCV. Furthermore, each
 function or method can handle only a subset of all possible array types. Usually, the more complex
@@ -269,14 +269,14 @@ extended in future based on user requests.
 ### InputArray and OutputArray
 
 Many OpenCV functions process dense 2-dimensional or multi-dimensional numerical arrays. Usually,
-such functions take cppMat as parameters, but in some cases it's more convenient to use
+such functions take `cv::Mat` as parameters, but in some cases it's more convenient to use
 `std::vector<>` (for a point set, for example) or `cv::Matx<>` (for 3x3 homography matrix and such). To
 avoid many duplicates in the API, special "proxy" classes have been introduced. The base "proxy"
 class is cv::InputArray. It is used for passing read-only arrays on a function input. The derived from
 InputArray class cv::OutputArray is used to specify an output array for a function. Normally, you should
 not care of those intermediate types (and you should not declare variables of those types
 explicitly) - it will all just work automatically. You can assume that instead of
-InputArray/OutputArray you can always use `Mat`, `std::vector<>`, `cv::Matx<>`, `cv::Vec<>` or `cv::Scalar`. When a
+InputArray/OutputArray you can always use `cv::Mat`, `std::vector<>`, `cv::Matx<>`, `cv::Vec<>` or `cv::Scalar`. When a
 function has an optional input or output array, and you do not have or do not want one, pass
 cv::noArray().
 
@@ -288,7 +288,7 @@ the optimization algorithm did not converge), it returns a special error code (t
 boolean variable).
 
 The exceptions can be instances of the cv::Exception class or its derivatives. In its turn,
-cv::Exception is a derivative of std::exception. So it can be gracefully handled in the code using
+cv::Exception is a derivative of `std::exception`. So it can be gracefully handled in the code using
 other standard C++ library components.
 
 The exception is typically thrown either using the `#CV_Error(errcode, description)` macro, or its
@@ -297,7 +297,7 @@ printf-like `#CV_Error_(errcode, (printf-spec, printf-args))` variant, or using
 satisfied. For performance-critical code, there is #CV_DbgAssert(condition) that is only retained in
 the Debug configuration. Due to the automatic memory management, all the intermediate buffers are
 automatically deallocated in case of a sudden error. You only need to add a try statement to catch
-exceptions, if needed: :
+exceptions, if needed:
 ```.cpp
     try
     {

modules/core/include/opencv2/core.hpp

@@ -3095,12 +3095,16 @@ public:
 
     /** @brief Stores algorithm parameters in a file storage
     */
-    virtual void write(FileStorage& fs) const { CV_UNUSED(fs); }
+    CV_WRAP virtual void write(FileStorage& fs) const { CV_UNUSED(fs); }
 
-    /** @brief simplified API for language bindings
+    /**
     * @overload
     */
-    CV_WRAP void write(const Ptr<FileStorage>& fs, const String& name = String()) const;
+    CV_WRAP void write(FileStorage& fs, const String& name) const;
+#if CV_VERSION_MAJOR < 5
+    /** @deprecated */
+    void write(const Ptr<FileStorage>& fs, const String& name = String()) const;
+#endif
 
     /** @brief Reads algorithm parameters from a file storage
     */

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

@@ -297,37 +297,17 @@ 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);
 
-#if defined(__clang__) && defined(_MSC_VER)  // MSVC-Clang
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Winvalid-noreturn"
-#elif defined(__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
 }
 
-#if defined(__clang__) && defined(_MSC_VER)  // MSVC-Clang
-# pragma clang diagnostic pop
-#elif defined(__GNUC__)
-# if defined __clang__ || defined __APPLE__
-#   pragma GCC diagnostic pop
-# endif
-#endif
-
 #ifdef CV_STATIC_ANALYSIS
 
 // In practice, some macro are not processed correctly (noreturn is not detected).

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

@@ -213,6 +213,70 @@ AsyncArray testAsyncException()
     return p.getArrayResult();
 }
 
+struct CV_EXPORTS_W_SIMPLE ClassWithKeywordProperties {
+    CV_PROP_RW int lambda;
+    CV_PROP int except;
+
+    CV_WRAP explicit ClassWithKeywordProperties(int lambda_arg = 24, int except_arg = 42)
+    {
+        lambda = lambda_arg;
+        except = except_arg;
+    }
+};
+
+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/check.hpp

@@ -65,6 +65,7 @@ struct CheckContext {
     static const cv::detail::CheckContext CV__CHECK_LOCATION_VARNAME(id) = \
             { CV__CHECK_FUNCTION, CV__CHECK_FILENAME, __LINE__, testOp, "" message, "" p1_str, "" p2_str }
 
+CV_EXPORTS void CV_NORETURN check_failed_auto(const bool v1, const bool v2, const CheckContext& ctx);
 CV_EXPORTS void CV_NORETURN check_failed_auto(const int v1, const int v2, const CheckContext& ctx);
 CV_EXPORTS void CV_NORETURN check_failed_auto(const size_t v1, const size_t v2, const CheckContext& ctx);
 CV_EXPORTS void CV_NORETURN check_failed_auto(const float v1, const float v2, const CheckContext& ctx);
@@ -74,6 +75,9 @@ CV_EXPORTS void CV_NORETURN check_failed_MatDepth(const int v1, const int v2, co
 CV_EXPORTS void CV_NORETURN check_failed_MatType(const int v1, const int v2, const CheckContext& ctx);
 CV_EXPORTS void CV_NORETURN check_failed_MatChannels(const int v1, const int v2, const CheckContext& ctx);
 
+CV_EXPORTS void CV_NORETURN check_failed_true(const bool v, const CheckContext& ctx);
+CV_EXPORTS void CV_NORETURN check_failed_false(const bool v, const CheckContext& ctx);
+
 CV_EXPORTS void CV_NORETURN check_failed_auto(const int v, const CheckContext& ctx);
 CV_EXPORTS void CV_NORETURN check_failed_auto(const size_t v, const CheckContext& ctx);
 CV_EXPORTS void CV_NORETURN check_failed_auto(const float v, const CheckContext& ctx);
@@ -134,6 +138,12 @@ CV_EXPORTS void CV_NORETURN check_failed_MatChannels(const int v, const CheckCon
 /// Example: v == A || v == B
 #define CV_Check(v, test_expr, msg)  CV__CHECK_CUSTOM_TEST(_, auto, v, (test_expr), #v, #test_expr, msg)
 
+/// Example: v == true
+#define CV_CheckTrue(v, msg)  CV__CHECK_CUSTOM_TEST(_, true, v, v, #v, "", msg)
+
+/// Example: v == false
+#define CV_CheckFalse(v, msg)  CV__CHECK_CUSTOM_TEST(_, false, v, (!(v)), #v, "", msg)
+
 /// Some complex conditions: CV_Check(src2, src2.empty() || (src2.type() == src1.type() && src2.size() == src1.size()), "src2 should have same size/type as src1")
 // TODO define pretty-printers
 

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/cuda.hpp

@@ -488,8 +488,16 @@ public:
     //! Allocates a new GpuMat of given size and type.
     GpuMat getBuffer(int rows, int cols, int type);
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
     //! Allocates a new GpuMat of given size and type.
     GpuMat getBuffer(Size size, int type) { return getBuffer(size.height, size.width, type); }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
     //! Returns the allocator associated with the stream.
     Ptr<GpuMat::Allocator> getAllocator() const { return allocator_; }

modules/core/include/opencv2/core/cuda.inl.hpp

@@ -75,6 +75,11 @@ GpuMat::GpuMat(Size size_, int type_, Allocator* allocator_)
         create(size_.height, size_.width, type_);
 }
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 inline
 GpuMat::GpuMat(int rows_, int cols_, int type_, Scalar s_, Allocator* allocator_)
     : flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0), allocator(allocator_)
@@ -96,6 +101,9 @@ GpuMat::GpuMat(Size size_, int type_, Scalar s_, Allocator* allocator_)
         setTo(s_);
     }
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 inline
 GpuMat::GpuMat(const GpuMat& m)
@@ -158,11 +166,19 @@ GpuMat GpuMat::clone() const
     return m;
 }
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 inline
 void GpuMat::copyTo(OutputArray dst, InputArray mask) const
 {
     copyTo(dst, mask, Stream::Null());
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 inline
 GpuMat& GpuMat::setTo(Scalar s)
@@ -176,6 +192,11 @@ GpuMat& GpuMat::setTo(Scalar s, InputArray mask)
     return setTo(s, mask, Stream::Null());
 }
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 inline
 void GpuMat::convertTo(OutputArray dst, int rtype) const
 {
@@ -187,6 +208,9 @@ void GpuMat::convertTo(OutputArray dst, int rtype, double alpha, double beta) co
 {
     convertTo(dst, rtype, alpha, beta, Stream::Null());
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 inline
 void GpuMat::convertTo(OutputArray dst, int rtype, double alpha, Stream& stream) const
@@ -554,6 +578,11 @@ Event::Event(const Ptr<Impl>& impl)
 // Initialization & Info
 //===================================================================================
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 inline
 bool TargetArchs::has(int major, int minor)
 {
@@ -571,6 +600,9 @@ DeviceInfo::DeviceInfo()
 {
     device_id_ = getDevice();
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 inline
 DeviceInfo::DeviceInfo(int device_id)
@@ -579,6 +611,11 @@ DeviceInfo::DeviceInfo(int device_id)
     device_id_ = device_id;
 }
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 inline
 int DeviceInfo::deviceID() const
 {
@@ -607,6 +644,9 @@ bool DeviceInfo::supports(FeatureSet feature_set) const
     int version = majorVersion() * 10 + minorVersion();
     return version >= feature_set;
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 
 }} // namespace cv { namespace cuda {

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

@@ -79,6 +79,10 @@
 #  endif
 #  define CV_FP16 1
 #endif
+#ifdef CV_CPU_COMPILE_NEON_DOTPROD
+#  include <arm_neon.h>
+#  define CV_NEON_DOT 1
+#endif
 #ifdef CV_CPU_COMPILE_AVX2
 #  include <immintrin.h>
 #  define CV_AVX2 1

modules/core/include/opencv2/core/cv_cpu_helper.h

@@ -420,6 +420,27 @@
 #endif
 #define __CV_CPU_DISPATCH_CHAIN_NEON(fn, args, mode, ...)  CV_CPU_CALL_NEON(fn, args); __CV_EXPAND(__CV_CPU_DISPATCH_CHAIN_ ## mode(fn, args, __VA_ARGS__))
 
+#if !defined CV_DISABLE_OPTIMIZATION && defined CV_ENABLE_INTRINSICS && defined CV_CPU_COMPILE_NEON_DOTPROD
+#  define CV_TRY_NEON_DOTPROD 1
+#  define CV_CPU_FORCE_NEON_DOTPROD 1
+#  define CV_CPU_HAS_SUPPORT_NEON_DOTPROD 1
+#  define CV_CPU_CALL_NEON_DOTPROD(fn, args) return (cpu_baseline::fn args)
+#  define CV_CPU_CALL_NEON_DOTPROD_(fn, args) return (opt_NEON_DOTPROD::fn args)
+#elif !defined CV_DISABLE_OPTIMIZATION && defined CV_ENABLE_INTRINSICS && defined CV_CPU_DISPATCH_COMPILE_NEON_DOTPROD
+#  define CV_TRY_NEON_DOTPROD 1
+#  define CV_CPU_FORCE_NEON_DOTPROD 0
+#  define CV_CPU_HAS_SUPPORT_NEON_DOTPROD (cv::checkHardwareSupport(CV_CPU_NEON_DOTPROD))
+#  define CV_CPU_CALL_NEON_DOTPROD(fn, args) if (CV_CPU_HAS_SUPPORT_NEON_DOTPROD) return (opt_NEON_DOTPROD::fn args)
+#  define CV_CPU_CALL_NEON_DOTPROD_(fn, args) if (CV_CPU_HAS_SUPPORT_NEON_DOTPROD) return (opt_NEON_DOTPROD::fn args)
+#else
+#  define CV_TRY_NEON_DOTPROD 0
+#  define CV_CPU_FORCE_NEON_DOTPROD 0
+#  define CV_CPU_HAS_SUPPORT_NEON_DOTPROD 0
+#  define CV_CPU_CALL_NEON_DOTPROD(fn, args)
+#  define CV_CPU_CALL_NEON_DOTPROD_(fn, args)
+#endif
+#define __CV_CPU_DISPATCH_CHAIN_NEON_DOTPROD(fn, args, mode, ...)  CV_CPU_CALL_NEON_DOTPROD(fn, args); __CV_EXPAND(__CV_CPU_DISPATCH_CHAIN_ ## mode(fn, args, __VA_ARGS__))
+
 #if !defined CV_DISABLE_OPTIMIZATION && defined CV_ENABLE_INTRINSICS && defined CV_CPU_COMPILE_MSA
 #  define CV_TRY_MSA 1
 #  define CV_CPU_FORCE_MSA 1

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

@@ -282,6 +282,7 @@ namespace cv {
 #define CV_CPU_AVX_5124FMAPS    27
 
 #define CV_CPU_NEON             100
+#define CV_CPU_NEON_DOTPROD     101
 
 #define CV_CPU_MSA              150
 
@@ -334,6 +335,7 @@ enum CpuFeatures {
     CPU_AVX_5124FMAPS   = 27,
 
     CPU_NEON            = 100,
+    CPU_NEON_DOTPROD    = 101,
 
     CPU_MSA             = 150,
 
@@ -721,7 +723,7 @@ Cv64suf;
 
 
 
-// Integer types portatibility
+// Integer types portability
 #ifdef OPENCV_STDINT_HEADER
 #include OPENCV_STDINT_HEADER
 #elif defined(__cplusplus)

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

@@ -50,6 +50,12 @@
 #include <stdlib.h>
 #include "opencv2/core/cvdef.h"
 
+#if defined(__GNUC__) && __GNUC__ == 12
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wuninitialized"
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif
+
 #define OPENCV_HAL_ADD(a, b) ((a) + (b))
 #define OPENCV_HAL_AND(a, b) ((a) & (b))
 #define OPENCV_HAL_NOP(a) (a)
@@ -695,4 +701,8 @@ CV_CPU_OPTIMIZATION_HAL_NAMESPACE_END
 
 //! @endcond
 
+#if defined(__GNUC__) && __GNUC__ == 12
+#pragma GCC diagnostic pop
+#endif
+
 #endif

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_neon.hpp

@@ -78,8 +78,6 @@ CV_CPU_OPTIMIZATION_HAL_NAMESPACE_BEGIN
 #define CV_NEON_AARCH64 0
 #endif
 
-// TODO
-#define CV_NEON_DOT 0
 
 //////////// Utils ////////////
 
@@ -667,11 +665,22 @@ inline v_int64x2 v_dotprod(const v_int32x4& a, const v_int32x4& b, const v_int64
 }
 
 // 8 >> 32
+#ifdef CV_NEON_DOT
+#define OPENCV_HAL_IMPL_NEON_DOT_PRODUCT_OP(_Tpvec1, _Tpvec2, suffix) \
+inline _Tpvec1 v_dotprod_expand(const _Tpvec2& a, const _Tpvec2& b)   \
+{ \
+    return _Tpvec1(vdotq_##suffix(vdupq_n_##suffix(0), a.val, b.val));\
+} \
+inline _Tpvec1 v_dotprod_expand(const _Tpvec2& a, const _Tpvec2& b, const _Tpvec1& c) \
+{ \
+    return _Tpvec1(vdotq_##suffix(c.val, a.val, b.val)); \
+}
+
+OPENCV_HAL_IMPL_NEON_DOT_PRODUCT_OP(v_uint32x4, v_uint8x16, u32)
+OPENCV_HAL_IMPL_NEON_DOT_PRODUCT_OP(v_int32x4,  v_int8x16,  s32)
+#else
 inline v_uint32x4 v_dotprod_expand(const v_uint8x16& a, const v_uint8x16& b)
 {
-#if CV_NEON_DOT
-    return v_uint32x4(vdotq_u32(vdupq_n_u32(0), a.val, b.val));
-#else
     const uint8x16_t zero   = vreinterpretq_u8_u32(vdupq_n_u32(0));
     const uint8x16_t mask   = vreinterpretq_u8_u32(vdupq_n_u32(0x00FF00FF));
     const uint16x8_t zero32 = vreinterpretq_u16_u32(vdupq_n_u32(0));
@@ -687,23 +696,15 @@ inline v_uint32x4 v_dotprod_expand(const v_uint8x16& a, const v_uint8x16& b)
     uint32x4_t s1 = vaddq_u32(vshrq_n_u32(vreinterpretq_u32_u16(even), 16),
                               vshrq_n_u32(vreinterpretq_u32_u16(odd),  16));
     return v_uint32x4(vaddq_u32(s0, s1));
-#endif
 }
 inline v_uint32x4 v_dotprod_expand(const v_uint8x16& a, const v_uint8x16& b,
                                    const v_uint32x4& c)
 {
-#if CV_NEON_DOT
-    return v_uint32x4(vdotq_u32(c.val, a.val, b.val));
-#else
     return v_dotprod_expand(a, b) + c;
-#endif
 }
 
 inline v_int32x4 v_dotprod_expand(const v_int8x16& a, const v_int8x16& b)
 {
-#if CV_NEON_DOT
-    return v_int32x4(vdotq_s32(vdupq_n_s32(0), a.val, b.val));
-#else
     int16x8_t p0  = vmull_s8(vget_low_s8(a.val), vget_low_s8(b.val));
     int16x8_t p1  = vmull_s8(vget_high_s8(a.val), vget_high_s8(b.val));
     int16x8_t uzp1, uzp2;
@@ -712,18 +713,13 @@ inline v_int32x4 v_dotprod_expand(const v_int8x16& a, const v_int8x16& b)
     int16x4_t uzpl1, uzpl2;
     _v128_unzip(vget_low_s16(sum), vget_high_s16(sum), uzpl1, uzpl2);
     return v_int32x4(vaddl_s16(uzpl1, uzpl2));
-#endif
 }
 inline v_int32x4 v_dotprod_expand(const v_int8x16& a, const v_int8x16& b,
                                   const v_int32x4& c)
 {
-#if CV_NEON_DOT
-    return v_int32x4(vdotq_s32(c.val, a.val, b.val));
-#else
     return v_dotprod_expand(a, b) + c;
-#endif
 }
-
+#endif
 // 16 >> 64
 inline v_uint64x2 v_dotprod_expand(const v_uint16x8& a, const v_uint16x8& b)
 {
@@ -832,45 +828,44 @@ inline v_int64x2 v_dotprod_fast(const v_int32x4& a, const v_int32x4& b, const v_
 }
 
 // 8 >> 32
+#ifdef CV_NEON_DOT
+#define OPENCV_HAL_IMPL_NEON_DOT_PRODUCT_FAST_OP(_Tpvec1, _Tpvec2, suffix) \
+inline _Tpvec1 v_dotprod_expand_fast(const _Tpvec2& a, const _Tpvec2& b)   \
+{ \
+    return v_dotprod_expand(a, b); \
+} \
+inline _Tpvec1 v_dotprod_expand_fast(const _Tpvec2& a, const _Tpvec2& b, const _Tpvec1& c) \
+{ \
+    return v_dotprod_expand(a, b, c); \
+}
+
+OPENCV_HAL_IMPL_NEON_DOT_PRODUCT_FAST_OP(v_uint32x4, v_uint8x16, u32)
+OPENCV_HAL_IMPL_NEON_DOT_PRODUCT_FAST_OP(v_int32x4,  v_int8x16,  s32)
+#else
 inline v_uint32x4 v_dotprod_expand_fast(const v_uint8x16& a, const v_uint8x16& b)
 {
-#if CV_NEON_DOT
-    return v_uint32x4(vdotq_u32(vdupq_n_u32(0), a.val, b.val));
-#else
     uint16x8_t p0 = vmull_u8(vget_low_u8(a.val), vget_low_u8(b.val));
     uint16x8_t p1 = vmull_u8(vget_high_u8(a.val), vget_high_u8(b.val));
     uint32x4_t s0 = vaddl_u16(vget_low_u16(p0), vget_low_u16(p1));
     uint32x4_t s1 = vaddl_u16(vget_high_u16(p0), vget_high_u16(p1));
     return v_uint32x4(vaddq_u32(s0, s1));
-#endif
 }
 inline v_uint32x4 v_dotprod_expand_fast(const v_uint8x16& a, const v_uint8x16& b, const v_uint32x4& c)
 {
-#if CV_NEON_DOT
-    return v_uint32x4(vdotq_u32(c.val, a.val, b.val));
-#else
     return v_dotprod_expand_fast(a, b) + c;
-#endif
 }
 
 inline v_int32x4 v_dotprod_expand_fast(const v_int8x16& a, const v_int8x16& b)
 {
-#if CV_NEON_DOT
-    return v_int32x4(vdotq_s32(vdupq_n_s32(0), a.val, b.val));
-#else
     int16x8_t prod = vmull_s8(vget_low_s8(a.val), vget_low_s8(b.val));
     prod = vmlal_s8(prod, vget_high_s8(a.val), vget_high_s8(b.val));
     return v_int32x4(vaddl_s16(vget_low_s16(prod), vget_high_s16(prod)));
-#endif
 }
 inline v_int32x4 v_dotprod_expand_fast(const v_int8x16& a, const v_int8x16& b, const v_int32x4& c)
 {
-#if CV_NEON_DOT
-    return v_int32x4(vdotq_s32(c.val, a.val, b.val));
-#else
     return v_dotprod_expand_fast(a, b) + c;
-#endif
 }
+#endif
 
 // 16 >> 64
 inline v_uint64x2 v_dotprod_expand_fast(const v_uint16x8& a, const v_uint16x8& b)

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;

modules/core/include/opencv2/core/matx.hpp

@@ -378,6 +378,14 @@ public:
     Vec(const Vec<_Tp, cn>& v);
 
     static Vec all(_Tp alpha);
+    static Vec ones();
+    static Vec randn(_Tp a, _Tp b);
+    static Vec randu(_Tp a, _Tp b);
+    static Vec zeros();
+#ifdef CV_CXX11
+    static Vec diag(_Tp alpha) = delete;
+    static Vec eye() = delete;
+#endif
 
     //! per-element multiplication
     Vec mul(const Vec<_Tp, cn>& v) const;
@@ -673,11 +681,19 @@ Matx<_Tp,m,n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp
     for(int i = 16; i < channels; i++) val[i] = _Tp(0);
 }
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 template<typename _Tp, int m, int n> inline
 Matx<_Tp, m, n>::Matx(const _Tp* values)
 {
     for( int i = 0; i < channels; i++ ) val[i] = values[i];
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 #ifdef CV_CXX11
 template<typename _Tp, int m, int n> inline
@@ -1063,6 +1079,18 @@ Vec<_Tp, cn> Vec<_Tp, cn>::all(_Tp alpha)
     return v;
 }
 
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::ones()
+{
+    return Vec::all(1);
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::zeros()
+{
+    return Vec::all(0);
+}
+
 template<typename _Tp, int cn> inline
 Vec<_Tp, cn> Vec<_Tp, cn>::mul(const Vec<_Tp, cn>& v) const
 {

modules/core/include/opencv2/core/opengl.hpp

@@ -703,10 +703,18 @@ cv::ogl::Texture2D::Format cv::ogl::Texture2D::format() const
 
 ///////
 
+// WARNING: unreachable code using Ninja
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(push)
+#pragma warning(disable: 4702)
+#endif
 inline
 cv::ogl::Arrays::Arrays() : size_(0)
 {
 }
+#if defined _MSC_VER && _MSC_VER >= 1920
+#pragma warning(pop)
+#endif
 
 inline
 int cv::ogl::Arrays::size() const