OpenCV version++

2.4.13.7

.gitignore

@@ -1,9 +1,10 @@
+# ignore dot files/directories
+.*
+!.gitignore
+
 *.autosave
 *.pyc
 *.user
 *~
-.*.swp
-.DS_Store
-.sw[a-z]
 tags
 tegra/

3rdparty/libjasper/CMakeLists.txt

@@ -25,7 +25,7 @@ endif(WIN32 AND NOT MINGW)
 
 ocv_warnings_disable(CMAKE_C_FLAGS -Wno-implicit-function-declaration -Wno-uninitialized -Wmissing-prototypes
                                    -Wno-unused-but-set-parameter -Wmissing-declarations -Wunused -Wshadow -Wsign-compare)
-ocv_warnings_disable(CMAKE_C_FLAGS -Wunused-parameter) # clang
+ocv_warnings_disable(CMAKE_C_FLAGS -Wunused-parameter -Wstrict-prototypes) # clang
 ocv_warnings_disable(CMAKE_C_FLAGS /wd4013 /wd4018 /wd4101 /wd4244 /wd4267 /wd4715) # vs2005
 
 if(UNIX)

3rdparty/libpng/CMakeLists.txt

@@ -3,7 +3,7 @@
 #
 # ----------------------------------------------------------------------------
 
-if(ARM AND ENABLE_NEON AND NOT AARCH64)
+if(ARM AND ENABLE_NEON AND NOT AARCH64 AND NOT IOS)
   project(${PNG_LIBRARY} ASM)
 else()
   project(${PNG_LIBRARY})
@@ -14,7 +14,7 @@ ocv_include_directories("${CMAKE_CURRENT_SOURCE_DIR}" ${ZLIB_INCLUDE_DIR})
 file(GLOB lib_srcs *.c)
 file(GLOB lib_hdrs *.h)
 
-if(ARM AND ENABLE_NEON AND NOT AARCH64)
+if(ARM AND ENABLE_NEON AND NOT AARCH64 AND NOT IOS)
   list(APPEND lib_srcs arm/filter_neon.S arm/arm_init.c)
   add_definitions(-DPNG_ARM_NEON_OPT=2)
 else()

3rdparty/tbb/CMakeLists.txt

@@ -187,7 +187,7 @@ if (HAVE_LIBPTHREAD)
   add_definitions(-DUSE_PTHREAD) #required for Unix
 endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX)
+if(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_COMPILER_IS_CLANGCXX)
   add_definitions(-DTBB_USE_GCC_BUILTINS=1) #required for ARM GCC
 endif()
 

CMakeLists.txt

@@ -4,11 +4,16 @@
 #    From the off-tree build directory, invoke:
 #      $ cmake <PATH_TO_OPENCV_ROOT>
 #
-#
-#   - OCT-2008: Initial version <joseluisblancoc@gmail.com>
-#
 # ----------------------------------------------------------------------------
 
+# Disable in-source builds to prevent source tree corruption.
+if(" ${CMAKE_SOURCE_DIR}" STREQUAL " ${CMAKE_BINARY_DIR}")
+  message(FATAL_ERROR "
+FATAL: In-source builds are not allowed.
+       You should create a separate directory for build files.
+")
+endif()
+
 set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
 
 # Following block can broke build in case of cross-compilng
@@ -32,24 +37,15 @@ endif(NOT CMAKE_TOOLCHAIN_FILE)
 # Top level OpenCV project
 # --------------------------------------------------------------
 if(CMAKE_GENERATOR MATCHES Xcode AND XCODE_VERSION VERSION_GREATER 4.3)
-  cmake_minimum_required(VERSION 2.8.8)
+  cmake_minimum_required(VERSION 3.0)
 elseif(IOS)
-  cmake_minimum_required(VERSION 2.8.0)
+  cmake_minimum_required(VERSION 3.0)
 else()
-  cmake_minimum_required(VERSION 2.6.3)
+  cmake_minimum_required(VERSION 2.8.12.2)
-endif()
-
-if(POLICY CMP0017)
-  cmake_policy(SET CMP0017 NEW)
-endif()
-
-if(POLICY CMP0022)
-  cmake_policy(SET CMP0022 OLD)
 endif()
 
 if(POLICY CMP0026)
-  # silence cmake 3.0+ warnings about reading LOCATION attribute
+  cmake_policy(SET CMP0026 NEW)
-  cmake_policy(SET CMP0026 OLD)
 endif()
 
 if (POLICY CMP0042)
@@ -81,8 +77,8 @@ ocv_clear_vars(OpenCVModules_TARGETS)
 # Break in case of popular CMake configuration mistakes
 # ----------------------------------------------------------------------------
 if(NOT CMAKE_SIZEOF_VOID_P GREATER 0)
-  message(FATAL_ERROR "CMake fails to deterimine the bitness of target platform.
+  message(FATAL_ERROR "CMake fails to determine the bitness of the target platform.
-  Please check your CMake and compiler installation. If you are crosscompiling then ensure that your CMake toolchain file correctly sets the compiler details.")
+  Please check your CMake and compiler installation. If you are cross-compiling then ensure that your CMake toolchain file correctly sets the compiler details.")
 endif()
 
 # ----------------------------------------------------------------------------
@@ -193,7 +189,7 @@ OCV_OPTION(BUILD_PACKAGE            "Enables 'make package_source' command"
 OCV_OPTION(BUILD_PERF_TESTS         "Build performance tests"                     ON  IF (NOT IOS) )
 OCV_OPTION(BUILD_TESTS              "Build accuracy & regression tests"           ON  IF (NOT IOS) )
 OCV_OPTION(BUILD_WITH_DEBUG_INFO    "Include debug info into debug libs (not MSCV only)" ON )
-OCV_OPTION(BUILD_WITH_STATIC_CRT    "Enables use of staticaly linked CRT for staticaly linked OpenCV" ON IF MSVC )
+OCV_OPTION(BUILD_WITH_STATIC_CRT    "Enables use of statically linked CRT for staticaly linked OpenCV" ON IF MSVC )
 OCV_OPTION(BUILD_FAT_JAVA_LIB       "Create fat java wrapper containing the whole OpenCV library" ON IF NOT BUILD_SHARED_LIBS AND CMAKE_COMPILER_IS_GNUCXX )
 OCV_OPTION(BUILD_ANDROID_SERVICE    "Build OpenCV Manager for Google Play" OFF IF ANDROID AND ANDROID_SOURCE_TREE )
 OCV_OPTION(BUILD_ANDROID_PACKAGE    "Build platform-specific package for Google Play" OFF IF ANDROID )
@@ -687,6 +683,16 @@ endif()
 # ========================== build platform ==========================
 status("")
 status("  Platform:")
+if(NOT DEFINED OPENCV_TIMESTAMP
+    AND NOT CMAKE_VERSION VERSION_LESS 2.8.11
+    AND NOT BUILD_INFO_SKIP_TIMESTAMP
+)
+  string(TIMESTAMP OPENCV_TIMESTAMP "" UTC)
+  set(OPENCV_TIMESTAMP "${OPENCV_TIMESTAMP}" CACHE STRING "Timestamp of OpenCV build configuration" FORCE)
+endif()
+if(OPENCV_TIMESTAMP)
+  status("    Timestamp:"      ${OPENCV_TIMESTAMP})
+endif()
 status("    Host:"             ${CMAKE_HOST_SYSTEM_NAME} ${CMAKE_HOST_SYSTEM_VERSION} ${CMAKE_HOST_SYSTEM_PROCESSOR})
 if(CMAKE_CROSSCOMPILING)
   status("    Target:"         ${CMAKE_SYSTEM_NAME} ${CMAKE_SYSTEM_VERSION} ${CMAKE_SYSTEM_PROCESSOR})
@@ -707,10 +713,6 @@ endif()
 # ========================== C/C++ options ==========================
 if(CMAKE_CXX_COMPILER_VERSION)
   set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} (ver ${CMAKE_CXX_COMPILER_VERSION})")
-elseif(CMAKE_COMPILER_IS_CLANGCXX)
-  set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} (ver ${CMAKE_CLANG_REGEX_VERSION})")
-elseif(CMAKE_COMPILER_IS_GNUCXX)
-  set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} (ver ${CMAKE_GCC_REGEX_VERSION})")
 else()
   set(OPENCV_COMPILER_STR "${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1}")
 endif()
@@ -1024,7 +1026,7 @@ if(HAVE_OPENCL)
     set(__libs "")
     foreach(l ${OPENCL_LIBRARIES})
       if(TARGET ${l})
-        get_target_property(p ${l} LOCATION)
+        get_target_property(p ${l} IMPORTED_LOCATION)
         if(p MATCHES NOTFOUND)
           list(APPEND __libs "${l}")
         else()
@@ -1094,13 +1096,6 @@ status("")
 
 ocv_finalize_status()
 
-# ----------------------------------------------------------------------------
-# Warn in the case of in-source build
-# ----------------------------------------------------------------------------
-if("${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL "${CMAKE_CURRENT_BINARY_DIR}")
-  message(WARNING "The source directory is the same as binary directory. \"make clean\" may damage the source tree")
-endif()
-
 # ----------------------------------------------------------------------------
 # CPack stuff
 # ----------------------------------------------------------------------------

apps/traincascade/cascadeclassifier.cpp

@@ -140,7 +140,7 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
                                 double acceptanceRatioBreakValue)
 {
     // Start recording clock ticks for training time output
-    const clock_t begin_time = clock();
+    double time = (double)getTickCount();
 
     if( _cascadeDirName.empty() || _posFilename.empty() || _negFilename.empty() )
         CV_Error( CV_StsBadArg, "_cascadeDirName or _bgfileName or _vecFileName is NULL" );
@@ -268,7 +268,7 @@ bool CvCascadeClassifier::train( const string _cascadeDirName,
         fs << "}";
 
         // Output training time up till now
-        float seconds = float( clock () - begin_time ) / CLOCKS_PER_SEC;
+        double seconds = ( (double)getTickCount() - time)/ getTickFrequency();
         int days = int(seconds) / 60 / 60 / 24;
         int hours = (int(seconds) / 60 / 60) % 24;
         int minutes = (int(seconds) / 60) % 60;

cmake/FindCUDA.cmake

@@ -1553,7 +1553,7 @@ macro(CUDA_ADD_LIBRARY cuda_target)
   # variable will have been defined.
   CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS("${link_file}" ${cuda_target} "${_options}" "${${cuda_target}_SEPARABLE_COMPILATION_OBJECTS}")
 
-  target_link_libraries(${cuda_target}
+  target_link_libraries(${cuda_target} LINK_PRIVATE
     ${CUDA_LIBRARIES}
     )
 
@@ -1597,7 +1597,7 @@ macro(CUDA_ADD_EXECUTABLE cuda_target)
   # variable will have been defined.
   CUDA_LINK_SEPARABLE_COMPILATION_OBJECTS("${link_file}" ${cuda_target} "${_options}" "${${cuda_target}_SEPARABLE_COMPILATION_OBJECTS}")
 
-  target_link_libraries(${cuda_target}
+  target_link_libraries(${cuda_target} LINK_PRIVATE
     ${CUDA_LIBRARIES}
     )
 
@@ -1672,9 +1672,9 @@ endmacro()
 ###############################################################################
 macro(CUDA_ADD_CUFFT_TO_TARGET target)
   if (CUDA_BUILD_EMULATION)
-    target_link_libraries(${target} ${CUDA_cufftemu_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cufftemu_LIBRARY})
   else()
-    target_link_libraries(${target} ${CUDA_cufft_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cufft_LIBRARY})
   endif()
 endmacro()
 
@@ -1685,9 +1685,9 @@ endmacro()
 ###############################################################################
 macro(CUDA_ADD_CUBLAS_TO_TARGET target)
   if (CUDA_BUILD_EMULATION)
-    target_link_libraries(${target} ${CUDA_cublasemu_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cublasemu_LIBRARY})
   else()
-    target_link_libraries(${target} ${CUDA_cublas_LIBRARY})
+    target_link_libraries(${target} LINK_PRIVATE ${CUDA_cublas_LIBRARY})
   endif()
 endmacro()
 

cmake/OpenCVCompilerOptions.cmake

@@ -18,9 +18,9 @@ if(ENABLE_CCACHE AND NOT CMAKE_COMPILER_IS_CCACHE)
         message(STATUS "Unable to compile program with enabled ccache, reverting...")
         set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${__OLD_RULE_LAUNCH_COMPILE}")
       endif()
-    else()
-      message(STATUS "Looking for ccache - not found")
     endif()
+  else()
+    message(STATUS "Looking for ccache - not found")
   endif()
 endif()
 
@@ -164,7 +164,7 @@ if(CMAKE_COMPILER_IS_GNUCXX)
   # Other optimizations
   if(ENABLE_OMIT_FRAME_POINTER)
     add_extra_compiler_option(-fomit-frame-pointer)
-  else()
+  elseif(DEFINED ENABLE_OMIT_FRAME_POINTER)
     add_extra_compiler_option(-fno-omit-frame-pointer)
   endif()
   if(ENABLE_FAST_MATH)
@@ -246,7 +246,10 @@ if(CMAKE_COMPILER_IS_GNUCXX)
   endif()
 
   set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} -DNDEBUG")
-  set(OPENCV_EXTRA_FLAGS_DEBUG "${OPENCV_EXTRA_FLAGS_DEBUG} -O0 -DDEBUG -D_DEBUG")
+  if(NOT " ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_DEBUG} " MATCHES "-O")
+    set(OPENCV_EXTRA_FLAGS_DEBUG "${OPENCV_EXTRA_FLAGS_DEBUG} -O0")
+  endif()
+  set(OPENCV_EXTRA_FLAGS_DEBUG "${OPENCV_EXTRA_FLAGS_DEBUG} -DDEBUG -D_DEBUG")
 endif()
 
 if(MSVC)

cmake/OpenCVConfig.cmake

@@ -61,7 +61,9 @@ if(NOT DEFINED OpenCV_CUDA)
   endif()
 endif()
 
-if(MSVC)
+if(DEFINED OpenCV_ARCH AND DEFINED OpenCV_RUNTIME)
+  # custom overrided values
+elseif(MSVC)
   if(CMAKE_CL_64)
     set(OpenCV_ARCH x64)
     set(OpenCV_TBB_ARCH intel64)
@@ -81,7 +83,7 @@ if(MSVC)
     set(OpenCV_RUNTIME vc12)
   elseif(MSVC_VERSION EQUAL 1900)
     set(OpenCV_RUNTIME vc14)
-  elseif(MSVC_VERSION EQUAL 1910)
+  elseif(MSVC_VERSION MATCHES "^191[0-9]$")
     set(OpenCV_RUNTIME vc15)
   endif()
 elseif(MINGW)

cmake/OpenCVDetectAndroidSDK.cmake

@@ -302,16 +302,15 @@ macro(add_android_project target path)
         endif()
 
         add_library(${JNI_LIB_NAME} SHARED ${android_proj_jni_files})
-        target_link_libraries(${JNI_LIB_NAME} ${OPENCV_LINKER_LIBS} ${android_proj_NATIVE_DEPS})
+        target_link_libraries(${JNI_LIB_NAME} LINK_PRIVATE ${OPENCV_LINKER_LIBS} ${android_proj_NATIVE_DEPS})
 
         set_target_properties(${JNI_LIB_NAME} PROPERTIES
             OUTPUT_NAME "${JNI_LIB_NAME}"
             LIBRARY_OUTPUT_DIRECTORY "${android_proj_bin_dir}/libs/${ANDROID_NDK_ABI_NAME}"
             )
 
-        get_target_property(android_proj_jni_location "${JNI_LIB_NAME}" LOCATION)
         if (NOT (CMAKE_BUILD_TYPE MATCHES "debug"))
-            add_custom_command(TARGET ${JNI_LIB_NAME} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${android_proj_jni_location}")
+            add_custom_command(TARGET ${JNI_LIB_NAME} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "$<TARGET_FILE:${JNI_LIB_NAME}>")
         endif()
       endif()
 

cmake/OpenCVDetectCUDA.cmake

@@ -212,7 +212,7 @@ if(CUDA_FOUND)
     endif()
 
     # disabled because of multiple warnings during building nvcc auto generated files
-    if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_GCC_REGEX_VERSION VERSION_GREATER "4.6.0")
+    if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER "4.6.0")
       ocv_warnings_disable(CMAKE_CXX_FLAGS -Wunused-but-set-variable)
     endif()
 

cmake/OpenCVDetectCXXCompiler.cmake

@@ -42,49 +42,11 @@ if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
   set(CV_ICC   __INTEL_COMPILER_FOR_WINDOWS)
 endif()
 
-# ----------------------------------------------------------------------------
+if(NOT DEFINED CMAKE_CXX_COMPILER_VERSION)
-# Detect GNU version:
+  message(WARNING "Compiler version is not available: CMAKE_CXX_COMPILER_VERSION is not set")
-# ----------------------------------------------------------------------------
+endif()
-if(CMAKE_COMPILER_IS_CLANGCXX)
-  set(CMAKE_GCC_REGEX_VERSION "4.2.1")
-  set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
-  set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
-  set(CMAKE_OPENCV_GCC_VERSION 42)
-  set(CMAKE_OPENCV_GCC_VERSION_NUM 402)
-
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
-                  ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
-                  ERROR_STRIP_TRAILING_WHITESPACE)
-
-  string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
-  string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
-
-elseif(CMAKE_COMPILER_IS_GNUCXX)
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
-                OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
-                OUTPUT_STRIP_TRAILING_WHITESPACE)
-
-  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
-                ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
-                OUTPUT_STRIP_TRAILING_WHITESPACE)
-
-  # Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
-  # Look for the version number
-  string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
-  if(NOT CMAKE_GCC_REGEX_VERSION)
-    string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
-  endif()
-
-  # Split the three parts:
-  string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")
-
-  list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
-  list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
-
-  set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
-  math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
-  message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")
 
+if(CMAKE_COMPILER_IS_GNUCXX)
   if(WIN32)
     execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
               OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
@@ -120,7 +82,9 @@ if(NOT DEFINED OpenCV_STATIC)
   endif()
 endif()
 
-if(MSVC)
+if(DEFINED OpenCV_ARCH AND DEFINED OpenCV_RUNTIME)
+  # custom overrided values
+elseif(MSVC)
   if(CMAKE_CL_64)
     set(OpenCV_ARCH x64)
   else()
@@ -138,7 +102,7 @@ if(MSVC)
     set(OpenCV_RUNTIME vc12)
   elseif(MSVC_VERSION EQUAL 1900)
     set(OpenCV_RUNTIME vc14)
-  elseif(MSVC_VERSION EQUAL 1910)
+  elseif(MSVC_VERSION MATCHES "^191[0-9]$")
     set(OpenCV_RUNTIME vc15)
   endif()
 elseif(MINGW)

cmake/OpenCVFindLibsVideo.cmake

@@ -84,23 +84,16 @@ if(WITH_PVAPI)
       set(PVAPI_SDK_SUBDIR arm)
     endif()
 
-    get_filename_component(_PVAPI_LIBRARY "${PVAPI_INCLUDE_PATH}/../lib-pc" ABSOLUTE)
+    get_filename_component(_PVAPI_LIBRARY_HINT "${PVAPI_INCLUDE_PATH}/../lib-pc" ABSOLUTE)
-    if(PVAPI_SDK_SUBDIR)
-      set(_PVAPI_LIBRARY "${_PVAPI_LIBRARY}/${PVAPI_SDK_SUBDIR}")
-    endif()
-    if(NOT WIN32 AND CMAKE_COMPILER_IS_GNUCXX)
-      set(_PVAPI_LIBRARY "${_PVAPI_LIBRARY}/${CMAKE_OPENCV_GCC_VERSION_MAJOR}.${CMAKE_OPENCV_GCC_VERSION_MINOR}")
-    endif()
 
-    if(WIN32)
+    find_library(PVAPI_LIBRARY NAMES "PvAPI" PATHS "${_PVAPI_LIBRARY_HINT}")
-      if(MINGW)
+
-        set(PVAPI_DEFINITIONS "-DPVDECL=__stdcall")
+    if(PVAPI_LIBRARY)
-      endif(MINGW)
+      if(WIN32)
-      set(PVAPI_LIBRARY "${_PVAPI_LIBRARY}/PvAPI.lib" CACHE PATH "The PvAPI library")
+        if(MINGW)
-    else(WIN32)
+          set(PVAPI_DEFINITIONS "-DPVDECL=__stdcall")
-      set(PVAPI_LIBRARY "${_PVAPI_LIBRARY}/${CMAKE_STATIC_LIBRARY_PREFIX}PvAPI${CMAKE_STATIC_LIBRARY_SUFFIX}" CACHE PATH "The PvAPI library")
+        endif(MINGW)
-    endif(WIN32)
+      endif()
-    if(EXISTS "${PVAPI_LIBRARY}")
       set(HAVE_PVAPI TRUE)
     endif()
   endif(PVAPI_INCLUDE_PATH)
@@ -213,6 +206,7 @@ if(WITH_FFMPEG)
       if(NOT __VALID_FFMPEG)
         #message(FATAL_ERROR "FFMPEG: test check build log:\n${TRY_OUT}")
         message(STATUS "WARNING: Can't build ffmpeg test code")
+        set(HAVE_FFMPEG FALSE)
       else()
         ocv_append_build_options(HIGHGUI FFMPEG)
       endif()

cmake/OpenCVGenPkgconfig.cmake

@@ -46,16 +46,16 @@ endif()
 set(OpenCV_LIB_COMPONENTS_)
 foreach(CVLib ${OpenCV_LIB_COMPONENTS})
 
-  get_target_property(libloc ${CVLib} LOCATION_${CMAKE_BUILD_TYPE})
+  get_target_property(libname ${CVLib} OUTPUT_NAME_${CMAKE_BUILD_TYPE})
-  if(libloc MATCHES "3rdparty")
+  if(NOT libname)
-    set(libpath "\${exec_prefix}/share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH}")
+    get_target_property(libname ${CVLib} OUTPUT_NAME)
-  else()
+  endif()
-    set(libpath "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
+  if(NOT libname)
+    set(libname "${CVLib}")
   endif()
-  list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libpath}")
 
-  get_filename_component(libname ${CVLib} NAME_WE)
+  set(libpath "\${exec_prefix}/${OPENCV_LIB_INSTALL_PATH}")
-  string(REGEX REPLACE "^lib" "" libname "${libname}")
+  list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libpath}")
   list(APPEND OpenCV_LIB_COMPONENTS_ "-l${libname}")
 
 endforeach()
@@ -66,7 +66,7 @@ if(OpenCV_EXTRA_COMPONENTS)
     if(TARGET "${extra_component}")
       get_target_property(extra_component_is_imported "${extra_component}" IMPORTED)
       if(extra_component_is_imported)
-        get_target_property(extra_component "${extra_component}" LOCATION)
+        get_target_property(extra_component "${extra_component}" IMPORTED_LOCATION)
       endif()
     endif()
 
@@ -74,8 +74,8 @@ if(OpenCV_EXTRA_COMPONENTS)
       list(APPEND OpenCV_LIB_COMPONENTS_ "${extra_component}")
     elseif(extra_component MATCHES "[\\/]")
       get_filename_component(libdir "${extra_component}" PATH)
-      get_filename_component(libname "${extra_component}" NAME_WE)
+      get_filename_component(libname "${extra_component}" NAME)
-      string(REGEX REPLACE "^lib" "" libname "${libname}")
+      ocv_get_libname(libname "${libname}")
       list(APPEND OpenCV_LIB_COMPONENTS_ "-L${libdir}" "-l${libname}")
     else()
       list(APPEND OpenCV_LIB_COMPONENTS_ "-l${extra_component}")

cmake/OpenCVModule.cmake

@@ -170,6 +170,10 @@ macro(ocv_add_module _name)
       return() # extra protection from redefinition
     endif()
     project(${the_module})
+    add_definitions(
+        -D_USE_MATH_DEFINES  # M_PI constant in MSVS
+        -D__STDC_CONSTANT_MACROS -D__STDC_LIMIT_MACROS -D__STDC_FORMAT_MACROS  # to use C libraries from C++ code (ffmpeg)
+    )
   endif(OPENCV_INITIAL_PASS)
 endmacro()
 
@@ -574,12 +578,12 @@ macro(ocv_create_module)
     ${${the_module}_pch})
 
   if(NOT "${ARGN}" STREQUAL "SKIP_LINK")
-    target_link_libraries(${the_module} ${OPENCV_MODULE_${the_module}_DEPS})
+    target_link_libraries(${the_module} LINK_PUBLIC ${OPENCV_MODULE_${the_module}_DEPS})
-    target_link_libraries(${the_module} LINK_INTERFACE_LIBRARIES ${OPENCV_MODULE_${the_module}_DEPS})
+    target_link_libraries(${the_module} LINK_PUBLIC ${OPENCV_MODULE_${the_module}_DEPS})
     set(extra_deps ${OPENCV_MODULE_${the_module}_DEPS_EXT} ${OPENCV_LINKER_LIBS} ${IPP_LIBS} ${ARGN})
     ocv_extract_simple_libs(extra_deps _simple_deps _other_deps)
-    target_link_libraries(${the_module} LINK_INTERFACE_LIBRARIES ${_simple_deps}) # this list goes to "export"
+    target_link_libraries(${the_module} LINK_PRIVATE ${_simple_deps}) # this list goes to "export"
-    target_link_libraries(${the_module} ${extra_deps})
+    target_link_libraries(${the_module} LINK_PRIVATE ${extra_deps})
   endif()
 
   add_dependencies(opencv_modules ${the_module})

cmake/OpenCVPCHSupport.cmake

@@ -69,6 +69,9 @@ MACRO(_PCH_GET_COMPILE_FLAGS _out_compile_flags)
     FOREACH(item ${DIRINC})
         if(item MATCHES "^${OpenCV_SOURCE_DIR}/modules/")
           LIST(APPEND ${_out_compile_flags} "${_PCH_include_prefix}\"${item}\"")
+        elseif(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0" AND
+               item MATCHES "/usr/include$")
+          # workaround for GCC 6.x bug
         else()
           LIST(APPEND ${_out_compile_flags} "${_PCH_isystem_prefix}\"${item}\"")
         endif()
@@ -78,6 +81,9 @@ MACRO(_PCH_GET_COMPILE_FLAGS _out_compile_flags)
     FOREACH(item ${DIRINC})
         if(item MATCHES "^${OpenCV_SOURCE_DIR}/modules/")
           LIST(APPEND ${_out_compile_flags} "${_PCH_include_prefix}\"${item}\"")
+        elseif(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0" AND
+               item MATCHES "/usr/include$")
+          # workaround for GCC 6.x bug
         else()
           LIST(APPEND ${_out_compile_flags} "${_PCH_isystem_prefix}\"${item}\"")
         endif()

cmake/OpenCVPackaging.cmake

@@ -124,7 +124,7 @@ set(STD_OPENCV_DEV libopencv-dev)
 
 set(ABI_VERSION_SUFFIX "")
 if(CMAKE_COMPILER_IS_GNUCXX)
-  if(${CMAKE_OPENCV_GCC_VERSION_MAJOR} EQUAL 5)
+  if(NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5 AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6)
      set(ABI_VERSION_SUFFIX "v5")
   endif()
 endif()

cmake/OpenCVUtils.cmake

@@ -5,8 +5,8 @@ if(UNIX)
   find_package(PkgConfig)
 endif()
 
-# Search packages for host system instead of packages for target system
+# Search packages for the host system instead of packages for target system
-# in case of cross compilation thess macro should be defined by toolchain file
+# in case of cross compilation these macros should be defined by the toolchain file
 if(NOT COMMAND find_host_package)
   macro(find_host_package)
     find_package(${ARGN})
@@ -82,7 +82,7 @@ macro(ocv_check_environment_variables)
   endforeach()
 endmacro()
 
-# adds include directories in such way that directories from the OpenCV source tree go first
+# adds include directories in such a way that directories from the OpenCV source tree go first
 function(ocv_include_directories)
   set(__add_before "")
   foreach(dir ${ARGN})
@@ -337,7 +337,7 @@ macro(ocv_check_modules define)
 endmacro()
 
 
-# Macros that checks if module have been installed.
+# Macro that checks if module has been installed.
 # After it adds module to build and define
 # constants passed as second arg
 macro(CHECK_MODULE module_name define)
@@ -526,7 +526,7 @@ macro(ocv_list_add_suffix LST SUFFIX)
 endmacro()
 
 
-# gets and removes the first element from list
+# gets and removes the first element from the list
 macro(ocv_list_pop_front LST VAR)
   if(${LST})
     list(GET ${LST} 0 ${VAR})
@@ -749,6 +749,15 @@ function(ocv_source_group group)
   source_group(${group} FILES ${srcs})
 endfunction()
 
+macro(ocv_get_libname var_name)
+  get_filename_component(__libname "${ARGN}" NAME)
+  # libopencv_core.so.3.3 -> opencv_core
+  string(REGEX REPLACE "^lib(.+)\\.(a|so)(\\.[.0-9]+)?$" "\\1" __libname "${__libname}")
+  # MacOSX: libopencv_core.3.3.1.dylib -> opencv_core
+  string(REGEX REPLACE "^lib(.+[^.0-9])\\.([.0-9]+\\.)?dylib$" "\\1" __libname "${__libname}")
+  set(${var_name} "${__libname}")
+endmacro()
+
 # build the list of simple dependencies, that links via "-l"
 #  _all_libs - name of variable with input list
 #  _simple - name of variable with output list of simple libs

cmake/OpenCVVersion.cmake

@@ -14,6 +14,6 @@ endif()
 set(OPENCV_SOVERSION "${OPENCV_VERSION_MAJOR}.${OPENCV_VERSION_MINOR}")
 set(OPENCV_LIBVERSION "${OPENCV_VERSION_MAJOR}.${OPENCV_VERSION_MINOR}.${OPENCV_VERSION_PATCH}")
 
-# create a dependency on version file
+# create a dependency on the version file
-# we never use output of the following command but cmake will rerun automatically if the version file changes
+# we never use the output of the following command but cmake will rerun automatically if the version file changes
 configure_file("${OPENCV_VERSION_FILE}" "${CMAKE_BINARY_DIR}/junk/version.junk" COPYONLY)

cmake/checks/ffmpeg_test.cpp

@@ -1,3 +1,5 @@
+#define __STDC_CONSTANT_MACROS
+
 #include <stdlib.h>
 
 extern "C" {

cmake/templates/OpenCVConfig.cmake.in

@@ -219,6 +219,14 @@ foreach(__cvcomponent ${OpenCV_FIND_COMPONENTS})
     string(TOUPPER "${__cvcomponent}" __cvcomponent)
     set(${__cvcomponent}_FOUND 1)
   endif()
+  # OpenCV supports Debug and Release only.
+  # RelWithDebInfo and MinSizeRel are mapped to Release
+  if(TARGET ${__cvcomponent})
+    set_target_properties(${__cvcomponent} PROPERTIES
+        MAP_IMPORTED_CONFIG_MINSIZEREL "Release"
+        MAP_IMPORTED_CONFIG_RELWITHDEBINFO "Release"
+    )
+  endif()
 endforeach()
 set(OpenCV_FIND_COMPONENTS ${OpenCV_FIND_COMPONENTS_})
 

doc/tutorials/calib3d/camera_calibration/camera_calibration.rst

@@ -440,5 +440,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html
 
   <div align="center">
-  <iframe title=" Camera calibration With OpenCV - Chessboard or asymmetrical circle pattern." width="560" height="349" src="http://www.youtube.com/embed/ViPN810E0SU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title=" Camera calibration With OpenCV - Chessboard or asymmetrical circle pattern." width="560" height="349" src="https://www.youtube.com/embed/ViPN810E0SU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

doc/tutorials/core/file_input_output_with_xml_yml/file_input_output_with_xml_yml.rst

@@ -275,5 +275,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html
 
   <div align="center">
-  <iframe title="File Input and Output using XML and YAML files in OpenCV" width="560" height="349" src="http://www.youtube.com/embed/A4yqVnByMMM?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="File Input and Output using XML and YAML files in OpenCV" width="560" height="349" src="https://www.youtube.com/embed/A4yqVnByMMM?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

doc/tutorials/core/how_to_scan_images/how_to_scan_images.rst

@@ -179,5 +179,5 @@ Finally, you may watch a sample run of the program on the `video posted <https:/
 .. raw:: html
 
   <div align="center">
-  <iframe title="How to scan images in OpenCV?" width="560" height="349" src="http://www.youtube.com/embed/fB3AN5fjgwc?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="How to scan images in OpenCV?" width="560" height="349" src="https://www.youtube.com/embed/fB3AN5fjgwc?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

doc/tutorials/core/interoperability_with_OpenCV_1/interoperability_with_OpenCV_1.rst

@@ -125,5 +125,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html
 
   <div align="center">
-  <iframe title="Interoperability with OpenCV 1" width="560" height="349" src="http://www.youtube.com/embed/qckm-zvo31w?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Interoperability with OpenCV 1" width="560" height="349" src="https://www.youtube.com/embed/qckm-zvo31w?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

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

@@ -128,7 +128,7 @@ For example:
 
 You can download this source code from :download:`here <../../../../samples/cpp/tutorial_code/core/mat_mask_operations/mat_mask_operations.cpp>` or look in the OpenCV source code libraries sample directory at :file:`samples/cpp/tutorial_code/core/mat_mask_operations/mat_mask_operations.cpp`.
 
-Check out an instance of running the program on our `YouTube channel <http://www.youtube.com/watch?v=7PF1tAU9se4>`_ .
+Check out an instance of running the program on our `YouTube channel <https://www.youtube.com/watch?v=7PF1tAU9se4>`_ .
 
 .. raw:: html
 

doc/tutorials/core/mat_the_basic_image_container/mat_the_basic_image_container.rst

@@ -307,5 +307,5 @@ You can also find a quick video demonstration of this on `YouTube <https://www.y
 .. raw:: html
 
   <div align="center">
-  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="http://www.youtube.com/embed/1tibU7vGWpk?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="https://www.youtube.com/embed/1tibU7vGWpk?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

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

@@ -144,5 +144,5 @@ In both cases we managed a performance increase of almost 100% compared to the C
 .. raw:: html
 
   <div align="center">
-  <iframe title="Similarity check (PNSR and SSIM) on the GPU" width="560" height="349" src="http://www.youtube.com/embed/3_ESXmFlnvY?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Similarity check (PNSR and SSIM) on the GPU" width="560" height="349" src="https://www.youtube.com/embed/3_ESXmFlnvY?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

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

@@ -111,7 +111,7 @@ Then the PSNR is expressed as:
 
    PSNR = 10 \cdot \log_{10} \left( \frac{MAX_I^2}{MSE} \right)
 
-Here the :math:`MAX_I^2` is the maximum valid value for a pixel. In case of the simple single byte image per pixel per channel this is 255. When two images are the same the MSE will give zero, resulting in an invalid divide by zero operation in the PSNR formula. In this case the PSNR is undefined and as we'll need to handle this case separately. The transition to a logarithmic scale is made because the pixel values have a very wide dynamic range. All this translated to OpenCV and a C++ function looks like:
+Here the :math:`MAX_I` is the maximum valid value for a pixel. In case of the simple single byte image per pixel per channel this is 255. When two images are the same the MSE will give zero, resulting in an invalid divide by zero operation in the PSNR formula. In this case the PSNR is undefined and as we'll need to handle this case separately. The transition to a logarithmic scale is made because the pixel values have a very wide dynamic range. All this translated to OpenCV and a C++ function looks like:
 
 .. code-block:: cpp
 
@@ -212,5 +212,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html
 
   <div align="center">
-  <iframe title="Video Input with OpenCV (Plus PSNR and MSSIM)" width="560" height="349" src="http://www.youtube.com/embed/iOcNljutOgg?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Video Input with OpenCV (Plus PSNR and MSSIM)" width="560" height="349" src="https://www.youtube.com/embed/iOcNljutOgg?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

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

@@ -132,5 +132,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html
 
   <div align="center">
-  <iframe title="Creating a video with OpenCV" width="560" height="349" src="http://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Creating a video with OpenCV" width="560" height="349" src="https://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

doc/tutorials/imgproc/gausian_median_blur_bilateral_filter/gausian_median_blur_bilateral_filter.rst

@@ -81,7 +81,7 @@ Gaussian Filter
 
       G_{0}(x, y) = A  e^{ \dfrac{ -(x - \mu_{x})^{2} }{ 2\sigma^{2}_{x} } +  \dfrac{ -(y - \mu_{y})^{2} }{ 2\sigma^{2}_{y} } }
 
-   where :math:`\mu` is the mean (the peak) and :math:`\sigma` represents the variance (per each of the variables :math:`x` and :math:`y`)
+   where :math:`\mu` is the mean (the peak) and :math:`\sigma` represents the standard deviation (per each of the variables :math:`x` and :math:`y`)
 
 
 Median Filter

doc/tutorials/introduction/display_image/display_image.rst

@@ -129,5 +129,5 @@ Result
    .. raw:: html
 
      <div align="center">
-     <iframe title="Introduction - Display an Image" width="560" height="349" src="http://www.youtube.com/embed/1OJEqpuaGc4?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+     <iframe title="Introduction - Display an Image" width="560" height="349" src="https://www.youtube.com/embed/1OJEqpuaGc4?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
      </div>

doc/tutorials/introduction/how_to_write_a_tutorial/how_to_write_a_tutorial.rst

@@ -358,7 +358,7 @@ Now here's our recommendation for the structure of the tutorial (although, remem
           .. raw:: html
 
              <div align="center">
-             <iframe title="Creating a video with OpenCV" width="560" height="349" src="http://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+             <iframe title="Creating a video with OpenCV" width="560" height="349" src="https://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
              </div>
 
        This results in the text and video: You may observe a runtime instance of this on the `YouTube here <https://www.youtube.com/watch?v=jpBwHxsl1_0>`_.
@@ -366,7 +366,7 @@ Now here's our recommendation for the structure of the tutorial (although, remem
        .. raw:: html
 
           <div align="center">
-          <iframe title="Creating a video with OpenCV" width="560" height="349" src="http://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+          <iframe title="Creating a video with OpenCV" width="560" height="349" src="https://www.youtube.com/embed/jpBwHxsl1_0?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
           </div>
 
      When these aren't self-explanatory make sure to throw in a few guiding lines about what and why we can see.

doc/tutorials/introduction/linux_install/linux_install.rst

@@ -81,4 +81,6 @@ Building OpenCV from Source Using CMake, Using the Command Line
 
 .. note::
 
+   Use ``cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local ..`` , without spaces after -D if step 2 do not work.
+
    If the size of the created library is a critical issue (like in case of an Android build) you can use the ``install/strip`` command to get the smallest size as possible. The *stripped* version appears to be twice as small. However, we do not recommend using this unless those extra megabytes do really matter.

doc/tutorials/introduction/windows_install/windows_install.rst

@@ -40,8 +40,8 @@ You may find the content of this tutorial also inside the following videos: `Par
 .. raw:: html
 
   <div align="center">
-  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="http://www.youtube.com/embed/NnovZ1cTlMs?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Install OpenCV by using its source files - Part 1" width="560" height="349" src="https://www.youtube.com/embed/NnovZ1cTlMs?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
-  <iframe title="Install OpenCV by using its source files - Part 2" width="560" height="349" src="http://www.youtube.com/embed/qGNWMcfWwPU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Install OpenCV by using its source files - Part 2" width="560" height="349" src="https://www.youtube.com/embed/qGNWMcfWwPU?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>
 
 .. warning:: These videos above are long-obsolete and contain inaccurate information. Be careful, since solutions described in those videos are no longer supported and may even break your install.

doc/tutorials/ios/image_manipulation/image_manipulation.rst

@@ -120,10 +120,10 @@ After the processing we need to convert it back to UIImage.
      :alt: header
      :align: center
 
-Check out an instance of running code with more Image Effects on `YouTube <http://www.youtube.com/watch?v=Ko3K_xdhJ1I>`_ .
+Check out an instance of running code with more Image Effects on `YouTube <https://www.youtube.com/watch?v=Ko3K_xdhJ1I>`_ .
 
 .. raw:: html
 
   <div align="center">
- <iframe width="560" height="350" src="http://www.youtube.com/embed/Ko3K_xdhJ1I" frameborder="0" allowfullscreen></iframe>
+ <iframe width="560" height="350" src="https://www.youtube.com/embed/Ko3K_xdhJ1I" frameborder="0" allowfullscreen></iframe>
   </div>

doc/tutorials/ml/non_linear_svms/non_linear_svms.rst

@@ -215,5 +215,5 @@ You may observe a runtime instance of this on the `YouTube here <https://www.you
 .. raw:: html
 
   <div align="center">
-  <iframe title="Support Vector Machines for Non-Linearly Separable Data" width="560" height="349" src="http://www.youtube.com/embed/vFv2yPcSo-Q?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
+  <iframe title="Support Vector Machines for Non-Linearly Separable Data" width="560" height="349" src="https://www.youtube.com/embed/vFv2yPcSo-Q?rel=0&loop=1" frameborder="0" allowfullscreen align="middle"></iframe>
   </div>

modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst

@@ -483,11 +483,11 @@ Finds the positions of internal corners of the chessboard.
 
     :param flags: Various operation flags that can be zero or a combination of the following values:
 
-            * **CV_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).
+            * **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).
 
-            * **CV_CALIB_CB_NORMALIZE_IMAGE** Normalize the image gamma with  :ocv:func:`equalizeHist`  before applying fixed or adaptive thresholding.
+            * **CALIB_CB_NORMALIZE_IMAGE** Normalize the image gamma with  :ocv:func:`equalizeHist`  before applying fixed or adaptive thresholding.
 
-            * **CV_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.
+            * **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.
 
             * **CALIB_CB_FAST_CHECK** Run a fast check on the image that looks for chessboard corners, and shortcut the call if none is found. This can drastically speed up the call in the degenerate condition when no chessboard is observed.
 

modules/calib3d/src/stereosgbm.cpp

@@ -864,10 +864,10 @@ Rect getValidDisparityROI( Rect roi1, Rect roi2,
                           int SADWindowSize )
 {
     int SW2 = SADWindowSize/2;
-    int minD = minDisparity, maxD = minDisparity + numberOfDisparities - 1;
+    int maxD = minDisparity + numberOfDisparities - 1;
 
     int xmin = max(roi1.x, roi2.x + maxD) + SW2;
-    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width - minD) - SW2;
+    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width) - SW2;
     int ymin = max(roi1.y, roi2.y) + SW2;
     int ymax = min(roi1.y + roi1.height, roi2.y + roi2.height) - SW2;
 

modules/calib3d/test/test_fisheye.cpp

@@ -60,7 +60,7 @@ protected:
 
 protected:
     std::string combine(const std::string& _item1, const std::string& _item2);
-    cv::Mat mergeRectification(const cv::Mat& l, const cv::Mat& r);
+    static void merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged);
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -329,7 +329,7 @@ TEST_F(fisheyeTest, Homography)
     EXPECT_MAT_NEAR(std_err, correct_std_err, 1e-12);
 }
 
-TEST_F(fisheyeTest, EtimateUncertainties)
+TEST_F(fisheyeTest, EstimateUncertainties)
 {
     const int n_images = 34;
 
@@ -385,11 +385,7 @@ TEST_F(fisheyeTest, EtimateUncertainties)
     CV_Assert(errors.alpha == 0);
 }
 
-#ifdef HAVE_TEGRA_OPTIMIZATION
+TEST_F(fisheyeTest, stereoRectify)
-TEST_F(fisheyeTest, DISABLED_rectify)
-#else
-TEST_F(fisheyeTest, rectify)
-#endif
 {
     const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
 
@@ -405,20 +401,65 @@ TEST_F(fisheyeTest, rectify)
     cv::fisheye::stereoRectify(K1, D1, K2, D2, calibration_size, theR, theT, R1, R2, P1, P2, Q,
                       cv::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
 
+    // Collected with these CMake flags: -DWITH_IPP=OFF -DCMAKE_BUILD_TYPE=Debug
+    cv::Matx33d R1_ref(
+        0.9992853269091279, 0.03779164101000276, -0.0007920188690205426,
+        -0.03778569762983931, 0.9992646472015868, 0.006511981857667881,
+        0.001037534936357442, -0.006477400933964018, 0.9999784831677112
+    );
+    cv::Matx33d R2_ref(
+        0.9994868963898833, -0.03197579751378937, -0.001868774538573449,
+        0.03196298186616116, 0.9994677442608699, -0.0065265589947392,
+        0.002076471801477729, 0.006463478587068991, 0.9999769555891836
+    );
+    cv::Matx34d P1_ref(
+        420.8551870450913, 0, 586.501617798451, 0,
+        0, 420.8551870450913, 374.7667511986098, 0,
+        0, 0, 1, 0
+    );
+    cv::Matx34d P2_ref(
+        420.8551870450913, 0, 586.501617798451, -41.77758076597302,
+        0, 420.8551870450913, 374.7667511986098, 0,
+        0, 0, 1, 0
+    );
+    cv::Matx44d Q_ref(
+        1, 0, 0, -586.501617798451,
+        0, 1, 0, -374.7667511986098,
+        0, 0, 0, 420.8551870450913,
+        0, 0, 10.07370889670733, -0
+    );
+
+    const double eps = 1e-10;
+    EXPECT_MAT_NEAR(R1_ref, R1, eps);
+    EXPECT_MAT_NEAR(R2_ref, R2, eps);
+    EXPECT_MAT_NEAR(P1_ref, P1, eps);
+    EXPECT_MAT_NEAR(P2_ref, P2, eps);
+    EXPECT_MAT_NEAR(Q_ref, Q, eps);
+
+    if (::testing::Test::HasFailure())
+    {
+        std::cout << "Actual values are:" << std::endl
+            << "R1 =" << std::endl << R1 << std::endl
+            << "R2 =" << std::endl << R2 << std::endl
+            << "P1 =" << std::endl << P1 << std::endl
+            << "P2 =" << std::endl << P2 << std::endl
+            << "Q =" << std::endl << Q << std::endl;
+    }
+
+#if 1 // Debug code
     cv::Mat lmapx, lmapy, rmapx, rmapy;
     //rewrite for fisheye
     cv::fisheye::initUndistortRectifyMap(K1, D1, R1, P1, requested_size, CV_32F, lmapx, lmapy);
     cv::fisheye::initUndistortRectifyMap(K2, D2, R2, P2, requested_size, CV_32F, rmapx, rmapy);
 
     cv::Mat l, r, lundist, rundist;
-    cv::VideoCapture lcap(combine(folder, "left/stereo_pair_%03d.jpg")),
+    for (int i = 0; i < 34; ++i)
-                     rcap(combine(folder, "right/stereo_pair_%03d.jpg"));
-
-    for(int i = 0;; ++i)
     {
-        lcap >> l; rcap >> r;
+        SCOPED_TRACE(cv::format("image %d", i));
-        if (l.empty() || r.empty())
+        l = imread(combine(folder, cv::format("left/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
-            break;
+        r = imread(combine(folder, cv::format("right/stereo_pair_%03d.jpg", i)), cv::IMREAD_COLOR);
+        ASSERT_FALSE(l.empty());
+        ASSERT_FALSE(r.empty());
 
         int ndisp = 128;
         cv::rectangle(l, cv::Rect(255,       0, 829,       l.rows-1), CV_RGB(255, 0, 0));
@@ -427,15 +468,18 @@ TEST_F(fisheyeTest, rectify)
         cv::remap(l, lundist, lmapx, lmapy, cv::INTER_LINEAR);
         cv::remap(r, rundist, rmapx, rmapy, cv::INTER_LINEAR);
 
-        cv::Mat rectification = mergeRectification(lundist, rundist);
+        for (int ii = 0; ii < lundist.rows; ii += 20)
+        {
+            cv::line(lundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
+            cv::line(rundist, cv::Point(0, ii), cv::Point(lundist.cols, ii), cv::Scalar(0, 255, 0));
+        }
 
-        cv::Mat correct = cv::imread(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)));
+        cv::Mat rectification;
+        merge4(l, r, lundist, rundist, rectification);
 
-        if (correct.empty())
+        cv::imwrite(cv::format("fisheye_rectification_AB_%03d.png", i), rectification);
-            cv::imwrite(combine(datasets_repository_path, cv::format("rectification_AB_%03d.png", i)), rectification);
+    }
-         else
+#endif
-             EXPECT_MAT_NEAR(correct, rectification, 1e-10);
-     }
 }
 
 TEST_F(fisheyeTest, stereoCalibrate)
@@ -601,17 +645,17 @@ std::string fisheyeTest::combine(const std::string& _item1, const std::string& _
     return item1 + (last != '/' ? "/" : "") + item2;
 }
 
-cv::Mat fisheyeTest::mergeRectification(const cv::Mat& l, const cv::Mat& r)
+void fisheyeTest::merge4(const cv::Mat& tl, const cv::Mat& tr, const cv::Mat& bl, const cv::Mat& br, cv::Mat& merged)
 {
-    CV_Assert(l.type() == r.type() && l.size() == r.size());
+    int type = tl.type();
-    cv::Mat merged(l.rows, l.cols * 2, l.type());
+    cv::Size sz = tl.size();
-    cv::Mat lpart = merged.colRange(0, l.cols);
+    ASSERT_EQ(type, tr.type()); ASSERT_EQ(type, bl.type()); ASSERT_EQ(type, br.type());
-    cv::Mat rpart = merged.colRange(l.cols, merged.cols);
+    ASSERT_EQ(sz.width, tr.cols); ASSERT_EQ(sz.width, bl.cols); ASSERT_EQ(sz.width, br.cols);
-    l.copyTo(lpart);
+    ASSERT_EQ(sz.height, tr.rows); ASSERT_EQ(sz.height, bl.rows); ASSERT_EQ(sz.height, br.rows);
-    r.copyTo(rpart);
 
-    for(int i = 0; i < l.rows; i+=20)
+    merged.create(cv::Size(sz.width * 2, sz.height * 2), type);
-        cv::line(merged, cv::Point(0, i), cv::Point(merged.cols, i), CV_RGB(0, 255, 0));
+    tl.copyTo(merged(cv::Rect(0, 0, sz.width, sz.height)));
-
+    tr.copyTo(merged(cv::Rect(sz.width, 0, sz.width, sz.height)));
-    return merged;
+    bl.copyTo(merged(cv::Rect(0, sz.height, sz.width, sz.height)));
+    bl.copyTo(merged(cv::Rect(sz.width, sz.height, sz.width, sz.height)));
 }

modules/calib3d/test/test_stereomatching.cpp

@@ -326,9 +326,15 @@ string ERROR_PREFIXES[] = { "borderedAll",
                             "borderedTextureless",
                             "borderedDepthDiscont" }; // size of ERROR_KINDS_COUNT
 
+string ROI_PREFIXES[] = {   "roiX",
+                            "roiY",
+                            "roiWidth",
+                            "roiHeight" };
+
 
 const string RMS_STR = "RMS";
 const string BAD_PXLS_FRACTION_STR = "BadPxlsFraction";
+const string ROI_STR = "ValidDisparityROI";
 
 class QualityEvalParams
 {
@@ -366,16 +372,20 @@ public:
 protected:
     // assumed that left image is a reference image
     virtual int runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
-                   Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0; // return ignored border width
+                   Rect& calcROI, Mat& leftDisp, Mat& rightDisp, int caseIdx ) = 0; // return ignored border width
 
     int readDatasetsParams( FileStorage& fs );
     virtual int readRunParams( FileStorage& fs );
     void writeErrors( const string& errName, const vector<float>& errors, FileStorage* fs = 0 );
+    void writeROI( const Rect& calcROI, FileStorage* fs = 0 );
     void readErrors( FileNode& fn, const string& errName, vector<float>& errors );
+    void readROI( FileNode& fn, Rect& trueROI );
     int compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
                        const vector<float>& eps, const string& errName );
+    int compareROI( const Rect& calcROI, const Rect& validROI );
     int processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
                   const Mat& leftImg, const Mat& rightImg,
+                  const Rect& calcROI,
                   const Mat& trueLeftDisp, const Mat& trueRightDisp,
                   const Mat& leftDisp, const Mat& rightDisp,
                   const QualityEvalParams& qualityEvalParams  );
@@ -451,6 +461,7 @@ void CV_StereoMatchingTest::run(int)
         Mat rightImg = imread(datasetFullDirName + RIGHT_IMG_NAME);
         Mat trueLeftDisp = imread(datasetFullDirName + TRUE_LEFT_DISP_NAME, 0);
         Mat trueRightDisp = imread(datasetFullDirName + TRUE_RIGHT_DISP_NAME, 0);
+        Rect calcROI;
 
         if( leftImg.empty() || rightImg.empty() || trueLeftDisp.empty() )
         {
@@ -473,7 +484,7 @@ void CV_StereoMatchingTest::run(int)
         }
 
         Mat leftDisp, rightDisp;
-        int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);
+        int ignBorder = max(runStereoMatchingAlgorithm(leftImg, rightImg, calcROI, leftDisp, rightDisp, ci), EVAL_IGNORE_BORDER);
 
         leftDisp.convertTo( tmp, CV_32FC1 );
         leftDisp = tmp;
@@ -484,7 +495,7 @@ void CV_StereoMatchingTest::run(int)
         tmp.release();
 
         int tempCode = processStereoMatchingResults( resFS, ci, isWrite,
-                   leftImg, rightImg, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
+                   leftImg, rightImg, calcROI, trueLeftDisp, trueRightDisp, leftDisp, rightDisp, QualityEvalParams(ignBorder));
         code = tempCode==cvtest::TS::OK ? code : tempCode;
     }
 
@@ -538,6 +549,7 @@ void calcErrors( const Mat& leftImg, const Mat& /*rightImg*/,
 
 int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int caseIdx, bool isWrite,
               const Mat& leftImg, const Mat& rightImg,
+              const Rect& calcROI,
               const Mat& trueLeftDisp, const Mat& trueRightDisp,
               const Mat& leftDisp, const Mat& rightDisp,
               const QualityEvalParams& qualityEvalParams )
@@ -574,6 +586,8 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
         writeErrors( RMS_STR, rmss, &fs );
         cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 );
         writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs );
+        cvWriteComment( fs.fs, ROI_STR.c_str(), 0 );
+        writeROI( calcROI, &fs );
         fs << "}"; // datasetName
     }
     else // compare
@@ -583,16 +597,22 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
         writeErrors( RMS_STR, rmss );
         ts->printf( cvtest::TS::LOG, "%s\n", BAD_PXLS_FRACTION_STR.c_str() );
         writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions );
+        ts->printf( cvtest::TS::LOG, "%s\n", ROI_STR.c_str() );
+        writeROI( calcROI );
 
         FileNode fn = fs.getFirstTopLevelNode()[caseNames[caseIdx]];
         vector<float> validRmss, validBadPxlsFractions;
+        Rect validROI;
 
         readErrors( fn, RMS_STR, validRmss );
         readErrors( fn, BAD_PXLS_FRACTION_STR, validBadPxlsFractions );
+        readROI( fn, validROI );
         int tempCode = compareErrors( rmss, validRmss, rmsEps, RMS_STR );
         code = tempCode==cvtest::TS::OK ? code : tempCode;
         tempCode = compareErrors( badPxlsFractions, validBadPxlsFractions, fracEps, BAD_PXLS_FRACTION_STR );
         code = tempCode==cvtest::TS::OK ? code : tempCode;
+        tempCode = compareROI( calcROI, validROI );
+        code = tempCode==cvtest::TS::OK ? code : tempCode;
     }
     return code;
 }
@@ -642,6 +662,24 @@ void CV_StereoMatchingTest::writeErrors( const string& errName, const vector<flo
             ts->printf( cvtest::TS::LOG, "%s = %f\n", string(ERROR_PREFIXES[i]+errName).c_str(), *it );
 }
 
+void CV_StereoMatchingTest::writeROI( const Rect& calcROI, FileStorage* fs )
+{
+    if( fs )
+    {
+        *fs << ROI_PREFIXES[0] << calcROI.x;
+        *fs << ROI_PREFIXES[1] << calcROI.y;
+        *fs << ROI_PREFIXES[2] << calcROI.width;
+        *fs << ROI_PREFIXES[3] << calcROI.height;
+    }
+    else
+    {
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[0].c_str(), calcROI.x );
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[1].c_str(), calcROI.y );
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[2].c_str(), calcROI.width );
+        ts->printf( cvtest::TS::LOG, "%s = %d\n", ROI_PREFIXES[3].c_str(), calcROI.height );
+    }
+}
+
 void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vector<float>& errors )
 {
     errors.resize( ERROR_KINDS_COUNT );
@@ -650,6 +688,14 @@ void CV_StereoMatchingTest::readErrors( FileNode& fn, const string& errName, vec
         fn[ERROR_PREFIXES[i]+errName] >> *it;
 }
 
+void CV_StereoMatchingTest::readROI( FileNode& fn, Rect& validROI )
+{
+    fn[ROI_PREFIXES[0]] >> validROI.x;
+    fn[ROI_PREFIXES[1]] >> validROI.y;
+    fn[ROI_PREFIXES[2]] >> validROI.width;
+    fn[ROI_PREFIXES[3]] >> validROI.height;
+}
+
 int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const vector<float>& validErrors,
                    const vector<float>& eps, const string& errName )
 {
@@ -669,6 +715,26 @@ int CV_StereoMatchingTest::compareErrors( const vector<float>& calcErrors, const
     return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
 }
 
+int CV_StereoMatchingTest::compareROI( const Rect& calcROI, const Rect& validROI )
+{
+    int compare[4][2] = {
+        { calcROI.x, validROI.x },
+        { calcROI.y, validROI.y },
+        { calcROI.width, validROI.width },
+        { calcROI.height, validROI.height },
+    };
+    bool ok = true;
+    for (int i = 0; i < 4; i++)
+    {
+        if (compare[i][0] != compare[i][1])
+        {
+            ts->printf( cvtest::TS::LOG, "bad accuracy of %s (valid=%d; calc=%d)\n", ROI_PREFIXES[i].c_str(), compare[i][1], compare[i][0] );
+            ok = false;
+        }
+    }
+    return ok ? cvtest::TS::OK : cvtest::TS::FAIL_BAD_ACCURACY;
+}
+
 //----------------------------------- StereoBM test -----------------------------------------------------
 
 class CV_StereoBMTest : public CV_StereoMatchingTest
@@ -685,6 +751,7 @@ protected:
     struct RunParams
     {
         int ndisp;
+        int mindisp;
         int winSize;
     };
     vector<RunParams> caseRunParams;
@@ -694,12 +761,13 @@ protected:
         int code = CV_StereoMatchingTest::readRunParams( fs );
         FileNode fn = fs.getFirstTopLevelNode();
         assert(fn.isSeq());
-        for( int i = 0; i < (int)fn.size(); i+=4 )
+        for( int i = 0; i < (int)fn.size(); i+=5 )
         {
             string caseName = fn[i], datasetName = fn[i+1];
             RunParams params;
-            string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
+            String ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
-            string winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
+            String mindisp = fn[i+3]; params.mindisp = atoi(mindisp.c_str());
+            String winSize = fn[i+4]; params.winSize = atoi(winSize.c_str());
             caseNames.push_back( caseName );
             caseDatasets.push_back( datasetName );
             caseRunParams.push_back( params );
@@ -708,7 +776,7 @@ protected:
     }
 
     virtual int runStereoMatchingAlgorithm( const Mat& _leftImg, const Mat& _rightImg,
-                   Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
+                   Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
     {
         RunParams params = caseRunParams[caseIdx];
         assert( params.ndisp%16 == 0 );
@@ -717,7 +785,21 @@ protected:
         Mat rightImg; cvtColor( _rightImg, rightImg, CV_BGR2GRAY );
 
         StereoBM bm( StereoBM::BASIC_PRESET, params.ndisp, params.winSize );
+        bm.state->minDisparity = params.mindisp;
+
+        Rect cROI(0, 0, _leftImg.cols, _leftImg.rows);
+        calcROI = getValidDisparityROI(cROI, cROI, params.mindisp, params.ndisp, params.winSize);
+
         bm( leftImg, rightImg, leftDisp, CV_32F );
+
+        if (params.mindisp != 0)
+            for (int y = 0; y < leftDisp.rows; y++)
+                for (int x = 0; x < leftDisp.cols; x++)
+                {
+                    if (leftDisp.at<float>(y, x) < params.mindisp)
+                        leftDisp.at<float>(y, x) = -0.0625; // treat disparity < mindisp as no disparity
+                }
+
         return params.winSize/2;
     }
 };
@@ -754,7 +836,13 @@ protected:
             RunParams params;
             string ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
             string winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
-            string fullDP = fn[i+4]; params.fullDP = atoi(fullDP.c_str()) == 0 ? false : true;
+            string fullDP = fn[i+4];
+            int n = atoi(fullDP.c_str());
+            params.fullDP = n == 0 ? false : true;
+
+            if (n > 1)
+                continue;   // OpenCV 3+ compatibility - skip tests for mode > 1
+
             caseNames.push_back( caseName );
             caseDatasets.push_back( datasetName );
             caseRunParams.push_back( params );
@@ -763,12 +851,16 @@ protected:
     }
 
     virtual int runStereoMatchingAlgorithm( const Mat& leftImg, const Mat& rightImg,
-                   Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
+                   Rect& calcROI, Mat& leftDisp, Mat& /*rightDisp*/, int caseIdx )
     {
         RunParams params = caseRunParams[caseIdx];
         assert( params.ndisp%16 == 0 );
         StereoSGBM sgbm( 0, params.ndisp, params.winSize, 10*params.winSize*params.winSize, 40*params.winSize*params.winSize,
                          1, 63, 10, 100, 32, params.fullDP );
+
+        Rect cROI(0, 0, leftImg.cols, leftImg.rows);
+        calcROI = getValidDisparityROI(cROI, cROI, 0, params.ndisp, params.winSize);
+
         sgbm( leftImg, rightImg, leftDisp );
         assert( leftDisp.type() == CV_16SC1 );
         leftDisp/=16;

modules/core/doc/utility_and_system_functions_and_macros.rst

@@ -31,7 +31,7 @@ Aligns a buffer size to the specified number of bytes.
 
     :param n: Alignment size that must be a power of two.
 
-The function returns the minimum number that is greater or equal to ``sz`` and is divisible by ``n`` :
+The function returns the minimum number that is greater than or equal to ``sz`` and is divisible by ``n`` :
 
 .. math::
 
@@ -363,7 +363,7 @@ Always returns 0 if called outside of parallel region.
 
 .. ocv:function:: int getThreadNum()
 
-The exact meaning of return value depends on the threading framework used by OpenCV library:
+The exact meaning of the return value depends on the threading framework used by OpenCV library:
 
     * **TBB** – Unsupported with current 4.1 TBB release. May be will be supported in future.
     * **OpenMP** – The thread number, within the current team, of the calling thread.
@@ -450,7 +450,7 @@ This operation is used in the simplest or most complex image processing function
 setNumThreads
 -----------------
 OpenCV will try to set the number of threads for the next parallel region.
-If ``threads == 0``, OpenCV will disable threading optimizations and run all it's
+If ``threads == 0``, OpenCV will disable threading optimizations and run all its
 functions sequentially. Passing ``threads < 0`` will reset threads number to system default.
 This function must be called outside of parallel region.
 
@@ -458,14 +458,14 @@ This function must be called outside of parallel region.
 
     :param nthreads: Number of threads used by OpenCV.
 
-OpenCV will try to run it's functions with specified threads number, but
+OpenCV will try to run its functions with specified threads number, but
 some behaviour differs from framework:
 
     * **TBB** – User-defined parallel constructions will run with the same threads number,
-      if another does not specified. If late on user creates own scheduler, OpenCV will be use it.
+      if another is not specified. If late on user creates his own scheduler, OpenCV will be use it.
     * **OpenMP** – No special defined behaviour.
     * **Concurrency** – If ``threads == 1``, OpenCV will disable threading optimizations
-      and run it's functions sequentially.
+      and run its functions sequentially.
     * **GCD** – Supports only values <= 0.
     * **C=** – No special defined behaviour.
 

modules/core/include/opencv2/core/affine.hpp

@@ -203,11 +203,13 @@ cv::Affine3<T>::Affine3(const cv::Mat& data, const Vec3& t)
     {
         rotation(data(Rect(0, 0, 3, 3)));
         translation(data(Rect(3, 0, 1, 3)));
-        return;
+    }
+    else
+    {
+        rotation(data);
+        translation(t);
     }
 
-    rotation(data);
-    translation(t);
     matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
     matrix.val[15] = 1;
 }

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

@@ -407,7 +407,7 @@ public:
   The class is specialized for each fundamental numerical data type supported by OpenCV.
   It provides DataDepth<T>::value constant.
 */
-template<typename _Tp> class DataDepth {};
+template<typename _Tp> class DataDepth { public: enum { value = -1, fmt = 0 }; };
 
 template<> class DataDepth<bool> { public: enum { value = CV_8U, fmt=(int)'u' }; };
 template<> class DataDepth<uchar> { public: enum { value = CV_8U, fmt=(int)'u' }; };
@@ -880,8 +880,10 @@ public:
 
 
 typedef Point_<int> Point2i;
+typedef Point_<int64> Point2l;
 typedef Point2i Point;
 typedef Size_<int> Size2i;
+typedef Size_<int64> Size2l;
 typedef Size_<double> Size2d;
 typedef Size2i Size;
 typedef Rect_<int> Rect;
@@ -2711,6 +2713,7 @@ CV_EXPORTS_W void polylines(InputOutputArray img, InputArrayOfArrays pts,
 
 //! clips the line segment by the rectangle Rect(0, 0, imgSize.width, imgSize.height)
 CV_EXPORTS bool clipLine(Size imgSize, CV_IN_OUT Point& pt1, CV_IN_OUT Point& pt2);
+CV_EXPORTS bool clipLine(Size2l imgSize, CV_IN_OUT Point2l& pt1, CV_IN_OUT Point2l& pt2);
 
 //! clips the line segment by the rectangle imgRect
 CV_EXPORTS_W bool clipLine(Rect imgRect, CV_OUT CV_IN_OUT Point& pt1, CV_OUT CV_IN_OUT Point& pt2);
@@ -2748,6 +2751,9 @@ public:
 CV_EXPORTS_W void ellipse2Poly( Point center, Size axes, int angle,
                                 int arcStart, int arcEnd, int delta,
                                 CV_OUT vector<Point>& pts );
+CV_EXPORTS void ellipse2Poly( Point2d center, Size2d axes, int angle,
+                              int arcStart, int arcEnd, int delta,
+                              CV_OUT vector<Point2d>& pts );
 
 enum
 {
@@ -3242,6 +3248,9 @@ public:
     //! returns read-only pointer to the real buffer, stack-allocated or head-allocated
     operator const _Tp* () const;
 
+    //! returns number of allocated elements
+    size_t getSize() const;
+
 protected:
     //! pointer to the real buffer, can point to buf if the buffer is small enough
     _Tp* ptr;

modules/core/include/opencv2/core/operations.hpp

@@ -2581,6 +2581,9 @@ template<typename _Tp, size_t fixed_size> inline AutoBuffer<_Tp, fixed_size>::op
 template<typename _Tp, size_t fixed_size> inline AutoBuffer<_Tp, fixed_size>::operator const _Tp* () const
 { return ptr; }
 
+template<typename _Tp, size_t fixed_size> inline size_t AutoBuffer<_Tp, fixed_size>::getSize() const
+{ return size; }
+
 
 /////////////////////////////////// Ptr ////////////////////////////////////////
 

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

@@ -50,7 +50,7 @@
 #define CV_VERSION_EPOCH    2
 #define CV_VERSION_MAJOR    4
 #define CV_VERSION_MINOR    13
-#define CV_VERSION_REVISION 1
+#define CV_VERSION_REVISION 7
 
 #define CVAUX_STR_EXP(__A)  #__A
 #define CVAUX_STR(__A)      CVAUX_STR_EXP(__A)

modules/core/src/drawing.cpp

@@ -51,12 +51,12 @@ struct PolyEdge
     //PolyEdge(int _y0, int _y1, int _x, int _dx) : y0(_y0), y1(_y1), x(_x), dx(_dx) {}
 
     int y0, y1;
-    int x, dx;
+    int64 x, dx;
     PolyEdge *next;
 };
 
 static void
-CollectPolyEdges( Mat& img, const Point* v, int npts,
+CollectPolyEdges( Mat& img, const Point2l* v, int npts,
                   vector<PolyEdge>& edges, const void* color, int line_type,
                   int shift, Point offset=Point() );
 
@@ -64,11 +64,11 @@ static void
 FillEdgeCollection( Mat& img, vector<PolyEdge>& edges, const void* color );
 
 static void
-PolyLine( Mat& img, const Point* v, int npts, bool closed,
+PolyLine( Mat& img, const Point2l* v, int npts, bool closed,
           const void* color, int thickness, int line_type, int shift );
 
 static void
-FillConvexPoly( Mat& img, const Point* v, int npts,
+FillConvexPoly( Mat& img, const Point2l* v, int npts,
                 const void* color, int line_type, int shift );
 
 /****************************************************************************************\
@@ -77,14 +77,25 @@ FillConvexPoly( Mat& img, const Point* v, int npts,
 
 bool clipLine( Size img_size, Point& pt1, Point& pt2 )
 {
-    int64 x1, y1, x2, y2;
+    Point2l p1(pt1.x, pt1.y);
+    Point2l p2(pt2.x, pt2.y);
+    bool inside = clipLine(Size2l(img_size.width, img_size.height), p1, p2);
+    pt1.x = (int)p1.x;
+    pt1.y = (int)p1.y;
+    pt2.x = (int)p2.x;
+    pt2.y = (int)p2.y;
+    return inside;
+}
+
+bool clipLine( Size2l img_size, Point2l& pt1, Point2l& pt2 )
+{
     int c1, c2;
     int64 right = img_size.width-1, bottom = img_size.height-1;
 
     if( img_size.width <= 0 || img_size.height <= 0 )
         return false;
 
-    x1 = pt1.x; y1 = pt1.y; x2 = pt2.x; y2 = pt2.y;
+    int64 &x1 = pt1.x, &y1 = pt1.y, &x2 = pt2.x, &y2 = pt2.y;
     c1 = (x1 < 0) + (x1 > right) * 2 + (y1 < 0) * 4 + (y1 > bottom) * 8;
     c2 = (x2 < 0) + (x2 > right) * 2 + (y2 < 0) * 4 + (y2 > bottom) * 8;
 
@@ -124,11 +135,6 @@ bool clipLine( Size img_size, Point& pt1, Point& pt2 )
         }
 
         assert( (c1 & c2) != 0 || (x1 | y1 | x2 | y2) >= 0 );
-
-        pt1.x = (int)x1;
-        pt1.y = (int)y1;
-        pt2.x = (int)x2;
-        pt2.y = (int)y2;
     }
 
     return (c1 | c2) == 0;
@@ -279,25 +285,25 @@ static const int FilterTable[] = {
 };
 
 static void
-LineAA( Mat& img, Point pt1, Point pt2, const void* color )
+LineAA( Mat& img, Point2l pt1, Point2l pt2, const void* color )
 {
-    int dx, dy;
+    int64 dx, dy;
     int ecount, scount = 0;
     int slope;
-    int ax, ay;
+    int64 ax, ay;
-    int x_step, y_step;
+    int64 x_step, y_step;
-    int i, j;
+    int64 i, j;
     int ep_table[9];
     int cb = ((uchar*)color)[0], cg = ((uchar*)color)[1], cr = ((uchar*)color)[2], ca = ((uchar*)color)[3];
     int _cb, _cg, _cr, _ca;
     int nch = img.channels();
     uchar* ptr = img.data;
     size_t step = img.step;
-    Size size = img.size();
+    Size2l size(img.cols, img.rows);
 
     if( !((nch == 1 || nch == 3 || nch == 4) && img.depth() == CV_8U) )
     {
-        Line(img, pt1, pt2, color);
+        Line(img, Point((int)(pt1.x<<XY_SHIFT), (int)(pt1.y<<XY_SHIFT)), Point((int)(pt2.x<<XY_SHIFT), (int)(pt2.y<<XY_SHIFT)), color);
         return;
     }
 
@@ -333,11 +339,11 @@ LineAA( Mat& img, Point pt1, Point pt2, const void* color )
         pt1.y ^= pt2.y & j;
 
         x_step = XY_ONE;
-        y_step = (int) (((int64) dy << XY_SHIFT) / (ax | 1));
+        y_step = (dy << XY_SHIFT) / (ax | 1);
         pt2.x += XY_ONE;
-        ecount = (pt2.x >> XY_SHIFT) - (pt1.x >> XY_SHIFT);
+        ecount = (int)((pt2.x >> XY_SHIFT) - (pt1.x >> XY_SHIFT));
         j = -(pt1.x & (XY_ONE - 1));
-        pt1.y += (int) ((((int64) y_step) * j) >> XY_SHIFT) + (XY_ONE >> 1);
+        pt1.y += ((y_step * j) >> XY_SHIFT) + (XY_ONE >> 1);
         slope = (y_step >> (XY_SHIFT - 5)) & 0x3f;
         slope ^= (y_step < 0 ? 0x3f : 0);
 
@@ -356,12 +362,12 @@ LineAA( Mat& img, Point pt1, Point pt2, const void* color )
         pt2.y ^= pt1.y & i;
         pt1.y ^= pt2.y & i;
 
-        x_step = (int) (((int64) dx << XY_SHIFT) / (ay | 1));
+        x_step = (dx << XY_SHIFT) / (ay | 1);
         y_step = XY_ONE;
         pt2.y += XY_ONE;
-        ecount = (pt2.y >> XY_SHIFT) - (pt1.y >> XY_SHIFT);
+        ecount = (int)((pt2.y >> XY_SHIFT) - (pt1.y >> XY_SHIFT));
         j = -(pt1.y & (XY_ONE - 1));
-        pt1.x += (int) ((((int64) x_step) * j) >> XY_SHIFT) + (XY_ONE >> 1);
+        pt1.x += ((x_step * j) >> XY_SHIFT) + (XY_ONE >> 1);
         slope = (x_step >> (XY_SHIFT - 5)) & 0x3f;
         slope ^= (x_step < 0 ? 0x3f : 0);
 
@@ -375,8 +381,8 @@ LineAA( Mat& img, Point pt1, Point pt2, const void* color )
     /* Calc end point correction table */
     {
         int t0 = slope << 7;
-        int t1 = ((0x78 - i) | 4) * slope;
+        int t1 = ((0x78 - (int)i) | 4) * slope;
-        int t2 = (j | 4) * slope;
+        int t2 = ((int)j | 4) * slope;
 
         ep_table[0] = 0;
         ep_table[8] = slope;
@@ -630,23 +636,25 @@ LineAA( Mat& img, Point pt1, Point pt2, const void* color )
 
 
 static void
-Line2( Mat& img, Point pt1, Point pt2, const void* color )
+Line2( Mat& img, Point2l pt1, Point2l pt2, const void* color)
 {
-    int dx, dy;
+    int64 dx, dy;
     int ecount;
-    int ax, ay;
+    int64 ax, ay;
-    int i, j, x, y;
+    int64 i, j;
-    int x_step, y_step;
+    int x, y;
+    int64 x_step, y_step;
     int cb = ((uchar*)color)[0];
     int cg = ((uchar*)color)[1];
     int cr = ((uchar*)color)[2];
     int pix_size = (int)img.elemSize();
     uchar *ptr = img.data, *tptr;
     size_t step = img.step;
-    Size size = img.size(), sizeScaled(size.width*XY_ONE, size.height*XY_ONE);
+    Size size = img.size();
 
     //assert( img && (nch == 1 || nch == 3) && img.depth() == CV_8U );
 
+    Size2l sizeScaled(((int64)size.width) << XY_SHIFT, ((int64)size.height) << XY_SHIFT);
     if( !clipLine( sizeScaled, pt1, pt2 ))
         return;
 
@@ -670,8 +678,8 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
         pt1.y ^= pt2.y & j;
 
         x_step = XY_ONE;
-        y_step = (int) (((int64) dy << XY_SHIFT) / (ax | 1));
+        y_step = (dy << XY_SHIFT) / (ax | 1);
-        ecount = (pt2.x - pt1.x) >> XY_SHIFT;
+        ecount = (int)((pt2.x - pt1.x) >> XY_SHIFT);
     }
     else
     {
@@ -684,9 +692,9 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
         pt2.y ^= pt1.y & i;
         pt1.y ^= pt2.y & i;
 
-        x_step = (int) (((int64) dx << XY_SHIFT) / (ay | 1));
+        x_step = (dx << XY_SHIFT) / (ay | 1);
         y_step = XY_ONE;
-        ecount = (pt2.y - pt1.y) >> XY_SHIFT;
+        ecount = (int)((pt2.y - pt1.y) >> XY_SHIFT);
     }
 
     pt1.x += (XY_ONE >> 1);
@@ -705,8 +713,8 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
             tptr[2] = (uchar)cr;        \
         }
 
-        ICV_PUT_POINT((pt2.x + (XY_ONE >> 1)) >> XY_SHIFT,
+        ICV_PUT_POINT((int)((pt2.x + (XY_ONE >> 1)) >> XY_SHIFT),
-                      (pt2.y + (XY_ONE >> 1)) >> XY_SHIFT);
+                      (int)((pt2.y + (XY_ONE >> 1)) >> XY_SHIFT));
 
         if( ax > ay )
         {
@@ -714,7 +722,7 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
 
             while( ecount >= 0 )
             {
-                ICV_PUT_POINT(pt1.x, pt1.y >> XY_SHIFT);
+                ICV_PUT_POINT((int)(pt1.x), (int)(pt1.y >> XY_SHIFT));
                 pt1.x++;
                 pt1.y += y_step;
                 ecount--;
@@ -726,7 +734,7 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
 
             while( ecount >= 0 )
             {
-                ICV_PUT_POINT(pt1.x >> XY_SHIFT, pt1.y);
+                ICV_PUT_POINT((int)(pt1.x >> XY_SHIFT), (int)(pt1.y));
                 pt1.x += x_step;
                 pt1.y++;
                 ecount--;
@@ -746,8 +754,8 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
             tptr[0] = (uchar)cb;    \
         }
 
-        ICV_PUT_POINT((pt2.x + (XY_ONE >> 1)) >> XY_SHIFT,
+        ICV_PUT_POINT((int)((pt2.x + (XY_ONE >> 1)) >> XY_SHIFT),
-                      (pt2.y + (XY_ONE >> 1)) >> XY_SHIFT);
+                      (int)((pt2.y + (XY_ONE >> 1)) >> XY_SHIFT));
 
         if( ax > ay )
         {
@@ -755,7 +763,7 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
 
             while( ecount >= 0 )
             {
-                ICV_PUT_POINT(pt1.x, pt1.y >> XY_SHIFT);
+                ICV_PUT_POINT((int)(pt1.x), (int)(pt1.y >> XY_SHIFT));
                 pt1.x++;
                 pt1.y += y_step;
                 ecount--;
@@ -767,7 +775,7 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
 
             while( ecount >= 0 )
             {
-                ICV_PUT_POINT(pt1.x >> XY_SHIFT, pt1.y);
+                ICV_PUT_POINT((int)(pt1.x >> XY_SHIFT), (int)(pt1.y));
                 pt1.x += x_step;
                 pt1.y++;
                 ecount--;
@@ -788,8 +796,8 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
                 tptr[j] = ((uchar*)color)[j]; \
         }
 
-        ICV_PUT_POINT((pt2.x + (XY_ONE >> 1)) >> XY_SHIFT,
+        ICV_PUT_POINT((int)((pt2.x + (XY_ONE >> 1)) >> XY_SHIFT),
-                      (pt2.y + (XY_ONE >> 1)) >> XY_SHIFT);
+                      (int)((pt2.y + (XY_ONE >> 1)) >> XY_SHIFT));
 
         if( ax > ay )
         {
@@ -797,7 +805,7 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
 
             while( ecount >= 0 )
             {
-                ICV_PUT_POINT(pt1.x, pt1.y >> XY_SHIFT);
+                ICV_PUT_POINT((int)(pt1.x), (int)(pt1.y >> XY_SHIFT));
                 pt1.x++;
                 pt1.y += y_step;
                 ecount--;
@@ -809,7 +817,7 @@ Line2( Mat& img, Point pt1, Point pt2, const void* color )
 
             while( ecount >= 0 )
             {
-                ICV_PUT_POINT(pt1.x >> XY_SHIFT, pt1.y);
+                ICV_PUT_POINT((int)(pt1.x >> XY_SHIFT), (int)(pt1.y));
                 pt1.x += x_step;
                 pt1.y++;
                 ecount--;
@@ -917,13 +925,35 @@ sincos( int angle, float& cosval, float& sinval )
    constructs polygon that represents elliptic arc.
 */
 void ellipse2Poly( Point center, Size axes, int angle,
+                   int arcStart, int arcEnd,
+                   int delta, CV_OUT std::vector<Point>& pts )
+{
+    vector<Point2d> _pts;
+    ellipse2Poly(Point2d(center.x, center.y), Size2d(axes.width, axes.height), angle,
+                 arcStart, arcEnd, delta, _pts);
+    Point prevPt(INT_MIN, INT_MIN);
+    pts.resize(0);
+    for (unsigned int i = 0; i < _pts.size(); ++i)
+    {
+        Point pt;
+        pt.x = cvRound(_pts[i].x);
+        pt.y = cvRound(_pts[i].y);
+        if (pt != prevPt) {
+            pts.push_back(pt);
+            prevPt = pt;
+        }
+    }
+
+    // If there are no points, it's a zero-size polygon
+    if( pts.size() == 1 )
+        pts.push_back(pts[0]);
+}
+
+void ellipse2Poly( Point2d center, Size2d axes, int angle,
                    int arc_start, int arc_end,
-                   int delta, vector<Point>& pts )
+                   int delta, vector<Point2d>& pts )
 {
     float alpha, beta;
-    double size_a = axes.width, size_b = axes.height;
-    double cx = center.x, cy = center.y;
-    Point prevPt(INT_MIN,INT_MIN);
     int i;
 
     while( angle < 0 )
@@ -964,15 +994,12 @@ void ellipse2Poly( Point center, Size axes, int angle,
         if( angle < 0 )
             angle += 360;
 
-        x = size_a * SinTable[450-angle];
+        x = axes.width * SinTable[450-angle];
-        y = size_b * SinTable[angle];
+        y = axes.height * SinTable[angle];
-        Point pt;
+        Point2d pt;
-        pt.x = cvRound( cx + x * alpha - y * beta );
+        pt.x = center.x + x * alpha - y * beta;
-        pt.y = cvRound( cy + x * beta + y * alpha );
+        pt.y = center.y + x * beta + y * alpha;
-        if( pt != prevPt ){
+        pts.push_back(pt);
-            pts.push_back(pt);
-            prevPt = pt;
-        }
     }
 
     if( pts.size() == 1 )
@@ -981,16 +1008,37 @@ void ellipse2Poly( Point center, Size axes, int angle,
 
 
 static void
-EllipseEx( Mat& img, Point center, Size axes,
+EllipseEx( Mat& img, Point2l center, Size2l axes,
            int angle, int arc_start, int arc_end,
            const void* color, int thickness, int line_type )
 {
     axes.width = std::abs(axes.width), axes.height = std::abs(axes.height);
-    int delta = (std::max(axes.width,axes.height)+(XY_ONE>>1))>>XY_SHIFT;
+    int delta = (int)((std::max(axes.width,axes.height)+(XY_ONE>>1))>>XY_SHIFT);
     delta = delta < 3 ? 90 : delta < 10 ? 30 : delta < 15 ? 18 : 5;
 
-    vector<Point> v;
+    vector<Point2d> _v;
-    ellipse2Poly( center, axes, angle, arc_start, arc_end, delta, v );
+    ellipse2Poly( Point2d((double)center.x, (double)center.y), Size2d((double)axes.width, (double)axes.height), angle, arc_start, arc_end, delta, _v );
+
+    vector<Point2l> v;
+    Point2l prevPt(0xFFFFFFFFFFFFFFFF, 0xFFFFFFFFFFFFFFFF);
+    v.resize(0);
+    for (unsigned int i = 0; i < _v.size(); ++i)
+    {
+        Point2l pt;
+        pt.x = (int64)cvRound(_v[i].x / XY_ONE) << XY_SHIFT;
+        pt.y = (int64)cvRound(_v[i].y / XY_ONE) << XY_SHIFT;
+        pt.x += cvRound(_v[i].x - pt.x);
+        pt.y += cvRound(_v[i].y - pt.y);
+        if (pt != prevPt) {
+            v.push_back(pt);
+            prevPt = pt;
+        }
+    }
+
+    // If there are no points, it's a zero-size polygon
+    if (v.size() == 1) {
+        v.assign(2, center);
+    }
 
     if( thickness >= 0 )
         PolyLine( img, &v[0], (int)v.size(), false, color, thickness, line_type, XY_SHIFT );
@@ -1029,23 +1077,24 @@ EllipseEx( Mat& img, Point center, Size axes,
 
 /* filling convex polygon. v - array of vertices, ntps - number of points */
 static void
-FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_type, int shift )
+FillConvexPoly( Mat& img, const Point2l* v, int npts, const void* color, int line_type, int shift )
 {
     struct
     {
         int idx, di;
-        int x, dx, ye;
+        int64 x, dx;
+        int ye;
     }
     edge[2];
 
-    int delta = shift ? 1 << (shift - 1) : 0;
+    int delta = 1 << shift >> 1;
-    int i, y, imin = 0, left = 0, right = 1, x1, x2;
+    int i, y, imin = 0, left = 0, right = 1;
     int edges = npts;
-    int xmin, xmax, ymin, ymax;
+    int64 xmin, xmax, ymin, ymax;
     uchar* ptr = img.data;
     Size size = img.size();
     int pix_size = (int)img.elemSize();
-    Point p0;
+    Point2l p0;
     int delta1, delta2;
 
     if( line_type < CV_AA )
@@ -1063,7 +1112,7 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
 
     for( i = 0; i < npts; i++ )
     {
-        Point p = v[i];
+        Point2l p = v[i];
         if( p.y < ymin )
         {
             ymin = p.y;
@@ -1082,10 +1131,10 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
             if( shift == 0 )
             {
                 Point pt0, pt1;
-                pt0.x = p0.x >> XY_SHIFT;
+                pt0.x = (int)(p0.x >> XY_SHIFT);
-                pt0.y = p0.y >> XY_SHIFT;
+                pt0.y = (int)(p0.y >> XY_SHIFT);
-                pt1.x = p.x >> XY_SHIFT;
+                pt1.x = (int)(p.x >> XY_SHIFT);
-                pt1.y = p.y >> XY_SHIFT;
+                pt1.y = (int)(p.y >> XY_SHIFT);
                 Line( img, pt0, pt1, color, line_type );
             }
             else
@@ -1101,13 +1150,13 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
     ymin = (ymin + delta) >> shift;
     ymax = (ymax + delta) >> shift;
 
-    if( npts < 3 || xmax < 0 || ymax < 0 || xmin >= size.width || ymin >= size.height )
+    if( npts < 3 || (int)xmax < 0 || (int)ymax < 0 || (int)xmin >= size.width || (int)ymin >= size.height )
         return;
 
     ymax = MIN( ymax, size.height - 1 );
     edge[0].idx = edge[1].idx = imin;
 
-    edge[0].ye = edge[1].ye = y = ymin;
+    edge[0].ye = edge[1].ye = y = (int)ymin;
     edge[0].di = 1;
     edge[1].di = npts - 1;
 
@@ -1115,18 +1164,19 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
 
     do
     {
-        if( line_type < CV_AA || y < ymax || y == ymin )
+        if( line_type < CV_AA || y < (int)ymax || y == (int)ymin )
         {
             for( i = 0; i < 2; i++ )
             {
                 if( y >= edge[i].ye )
                 {
                     int idx = edge[i].idx, di = edge[i].di;
-                    int xs = 0, xe, ye, ty = 0;
+                    int64 xs = 0, xe;
+                    int ty = 0;
 
                     for(;;)
                     {
-                        ty = (v[idx].y + delta) >> shift;
+                        ty = (int)((v[idx].y + delta) >> shift);
                         if( ty > y || edges == 0 )
                             break;
                         xs = v[idx].x;
@@ -1135,16 +1185,19 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
                         edges--;
                     }
 
-                    ye = ty;
+                    xe = v[idx].x;
-                    xs <<= XY_SHIFT - shift;
+                    if (XY_SHIFT - shift != 0)
-                    xe = v[idx].x << (XY_SHIFT - shift);
+                    {
+                        xs <<= XY_SHIFT - shift;
+                        xe <<= XY_SHIFT - shift;
+                    }
 
                     /* no more edges */
-                    if( y >= ye )
+                    if( y >= ty)
                         return;
 
-                    edge[i].ye = ye;
+                    edge[i].ye = ty;
-                    edge[i].dx = ((xe - xs)*2 + (ye - y)) / (2 * (ye - y));
+                    edge[i].dx = ((xe - xs)*2 + (ty - y)) / (2 * (ty - y));
                     edge[i].x = xs;
                     edge[i].idx = idx;
                 }
@@ -1157,13 +1210,10 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
             right ^= 1;
         }
 
-        x1 = edge[left].x;
-        x2 = edge[right].x;
-
         if( y >= 0 )
         {
-            int xx1 = (x1 + delta1) >> XY_SHIFT;
+            int xx1 = (int)((edge[left].x + delta1) >> XY_SHIFT);
-            int xx2 = (x2 + delta2) >> XY_SHIFT;
+            int xx2 = (int)((edge[right].x + delta2) >> XY_SHIFT);
 
             if( xx2 >= 0 && xx1 < size.width )
             {
@@ -1175,25 +1225,22 @@ FillConvexPoly( Mat& img, const Point* v, int npts, const void* color, int line_
             }
         }
 
-        x1 += edge[left].dx;
+        edge[left].x += edge[left].dx;
-        x2 += edge[right].dx;
+        edge[right].x += edge[right].dx;
-
-        edge[left].x = x1;
-        edge[right].x = x2;
         ptr += img.step;
     }
-    while( ++y <= ymax );
+    while( ++y <= (int)ymax );
 }
 
 
 /******** Arbitrary polygon **********/
 
 static void
-CollectPolyEdges( Mat& img, const Point* v, int count, vector<PolyEdge>& edges,
+CollectPolyEdges( Mat& img, const Point2l* v, int count, vector<PolyEdge>& edges,
                   const void* color, int line_type, int shift, Point offset )
 {
-    int i, delta = offset.y + (shift ? 1 << (shift - 1) : 0);
+    int i, delta = offset.y + ((1 << shift) >> 1);
-    Point pt0 = v[count-1], pt1;
+    Point2l pt0 = v[count-1], pt1;
     pt0.x = (pt0.x + offset.x) << (XY_SHIFT - shift);
     pt0.y = (pt0.y + delta) >> shift;
 
@@ -1201,7 +1248,7 @@ CollectPolyEdges( Mat& img, const Point* v, int count, vector<PolyEdge>& edges,
 
     for( i = 0; i < count; i++, pt0 = pt1 )
     {
-        Point t0, t1;
+        Point2l t0, t1;
         PolyEdge edge;
 
         pt1 = v[i];
@@ -1213,7 +1260,7 @@ CollectPolyEdges( Mat& img, const Point* v, int count, vector<PolyEdge>& edges,
             t0.y = pt0.y; t1.y = pt1.y;
             t0.x = (pt0.x + (XY_ONE >> 1)) >> XY_SHIFT;
             t1.x = (pt1.x + (XY_ONE >> 1)) >> XY_SHIFT;
-            Line( img, t0, t1, color, line_type );
+            Line( img, Point((int)(t0.x), (int)(t0.y)), Point((int)(t1.x), (int)(t1.y)), color, line_type );
         }
         else
         {
@@ -1228,14 +1275,14 @@ CollectPolyEdges( Mat& img, const Point* v, int count, vector<PolyEdge>& edges,
 
         if( pt0.y < pt1.y )
         {
-            edge.y0 = pt0.y;
+            edge.y0 = (int)(pt0.y);
-            edge.y1 = pt1.y;
+            edge.y1 = (int)(pt1.y);
             edge.x = pt0.x;
         }
         else
         {
-            edge.y0 = pt1.y;
+            edge.y0 = (int)(pt1.y);
-            edge.y1 = pt0.y;
+            edge.y1 = (int)(pt0.y);
             edge.x = pt1.x;
         }
         edge.dx = (pt1.x - pt0.x) / (pt1.y - pt0.y);
@@ -1261,7 +1308,8 @@ FillEdgeCollection( Mat& img, vector<PolyEdge>& edges, const void* color )
     int i, y, total = (int)edges.size();
     Size size = img.size();
     PolyEdge* e;
-    int y_max = INT_MIN, x_max = INT_MIN, y_min = INT_MAX, x_min = INT_MAX;
+    int y_max = INT_MIN, y_min = INT_MAX;
+    int64 x_max = 0xFFFFFFFFFFFFFFFF, x_min = 0x7FFFFFFFFFFFFFFF;
     int pix_size = (int)img.elemSize();
 
     if( total < 2 )
@@ -1273,7 +1321,7 @@ FillEdgeCollection( Mat& img, vector<PolyEdge>& edges, const void* color )
         assert( e1.y0 < e1.y1 );
         // Determine x-coordinate of the end of the edge.
         // (This is not necessary x-coordinate of any vertex in the array.)
-        int x1 = e1.x + (e1.y1 - e1.y0) * e1.dx;
+        int64 x1 = e1.x + (e1.y1 - e1.y0) * e1.dx;
         y_min = std::min( y_min, e1.y0 );
         y_max = std::max( y_max, e1.y1 );
         x_min = std::min( x_min, e1.x );
@@ -1282,7 +1330,7 @@ FillEdgeCollection( Mat& img, vector<PolyEdge>& edges, const void* color )
         x_max = std::max( x_max, x1 );
     }
 
-    if( y_max < 0 || y_min >= size.height || x_max < 0 || x_min >= (size.width<<XY_SHIFT) )
+    if( y_max < 0 || y_min >= size.height || x_max < 0 || x_min >= ((int64)size.width<<XY_SHIFT) )
         return;
 
     std::sort( edges.begin(), edges.end(), CmpEdges() );
@@ -1338,19 +1386,18 @@ FillEdgeCollection( Mat& img, vector<PolyEdge>& edges, const void* color )
                 {
                     // convert x's from fixed-point to image coordinates
                     uchar *timg = img.data + y * img.step;
-                    int x1 = keep_prelast->x;
+                    int x1, x2;
-                    int x2 = prelast->x;
 
-                    if( x1 > x2 )
+                    if (keep_prelast->x > prelast->x)
                     {
-                        int t = x1;
+                        x1 = (int)((prelast->x + XY_ONE - 1) >> XY_SHIFT);
-
+                        x2 = (int)(keep_prelast->x >> XY_SHIFT);
-                        x1 = x2;
+                    }
-                        x2 = t;
+                    else
+                    {
+                        x1 = (int)((keep_prelast->x + XY_ONE - 1) >> XY_SHIFT);
+                        x2 = (int)(prelast->x >> XY_SHIFT);
                     }
-
-                    x1 = (x1 + XY_ONE - 1) >> XY_SHIFT;
-                    x2 = x2 >> XY_SHIFT;
 
                     // clip and draw the line
                     if( x1 < size.width && x2 >= 0 )
@@ -1550,7 +1597,7 @@ Circle( Mat& img, Point center, int radius, const void* color, int fill )
 
 
 static void
-ThickLine( Mat& img, Point p0, Point p1, const void* color,
+ThickLine( Mat& img, Point2l p0, Point2l p1, const void* color,
            int thickness, int line_type, int flags, int shift )
 {
     static const double INV_XY_ONE = 1./XY_ONE;
@@ -1570,7 +1617,7 @@ ThickLine( Mat& img, Point p0, Point p1, const void* color,
                 p0.y = (p0.y + (XY_ONE>>1)) >> XY_SHIFT;
                 p1.x = (p1.x + (XY_ONE>>1)) >> XY_SHIFT;
                 p1.y = (p1.y + (XY_ONE>>1)) >> XY_SHIFT;
-                Line( img, p0, p1, color, line_type );
+                Line( img, Point((int)(p0.x), (int)(p0.y)), Point((int)(p1.x), (int)(p1.y)), color, line_type );
             }
             else
                 Line2( img, p0, p1, color );
@@ -1580,7 +1627,7 @@ ThickLine( Mat& img, Point p0, Point p1, const void* color,
     }
     else
     {
-        Point pt[4], dp = Point(0,0);
+        Point2l pt[4], dp = Point2l(0,0);
         double dx = (p0.x - p1.x)*INV_XY_ONE, dy = (p1.y - p0.y)*INV_XY_ONE;
         double r = dx * dx + dy * dy;
         int i, oddThickness = thickness & 1;
@@ -1611,13 +1658,13 @@ ThickLine( Mat& img, Point p0, Point p1, const void* color,
                 if( line_type < CV_AA )
                 {
                     Point center;
-                    center.x = (p0.x + (XY_ONE>>1)) >> XY_SHIFT;
+                    center.x = (int)((p0.x + (XY_ONE>>1)) >> XY_SHIFT);
-                    center.y = (p0.y + (XY_ONE>>1)) >> XY_SHIFT;
+                    center.y = (int)((p0.y + (XY_ONE>>1)) >> XY_SHIFT);
                     Circle( img, center, (thickness + (XY_ONE>>1)) >> XY_SHIFT, color, 1 );
                 }
                 else
                 {
-                    EllipseEx( img, p0, cvSize(thickness, thickness),
+                    EllipseEx( img, p0, Size2l(thickness, thickness),
                                0, 0, 360, color, -1, line_type );
                 }
             }
@@ -1628,7 +1675,7 @@ ThickLine( Mat& img, Point p0, Point p1, const void* color,
 
 
 static void
-PolyLine( Mat& img, const Point* v, int count, bool is_closed,
+PolyLine( Mat& img, const Point2l* v, int count, bool is_closed,
           const void* color, int thickness,
           int line_type, int shift )
 {
@@ -1637,13 +1684,13 @@ PolyLine( Mat& img, const Point* v, int count, bool is_closed,
 
     int i = is_closed ? count - 1 : 0;
     int flags = 2 + !is_closed;
-    Point p0;
+    Point2l p0;
     CV_Assert( 0 <= shift && shift <= XY_SHIFT && thickness >= 0 );
 
     p0 = v[i];
     for( i = !is_closed; i < count; i++ )
     {
-        Point p = v[i];
+        Point2l p = v[i];
         ThickLine( img, p0, p, color, thickness, line_type, flags, shift );
         p0 = p;
         flags = 2;
@@ -1700,7 +1747,7 @@ void rectangle( Mat& img, Point pt1, Point pt2,
     double buf[4];
     scalarToRawData(color, buf, img.type(), 0);
 
-    Point pt[4];
+    Point2l pt[4];
 
     pt[0] = pt1;
     pt[1].x = pt2.x;
@@ -1741,10 +1788,12 @@ void circle( Mat& img, Point center, int radius,
 
     if( thickness > 1 || line_type >= CV_AA || shift > 0 )
     {
-        center.x <<= XY_SHIFT - shift;
+        Point2l _center(center.x, center.y);
-        center.y <<= XY_SHIFT - shift;
+        int64 _radius(radius);
-        radius <<= XY_SHIFT - shift;
+        _center.x <<= XY_SHIFT - shift;
-        EllipseEx( img, center, Size(radius, radius),
+        _center.y <<= XY_SHIFT - shift;
+        _radius <<= XY_SHIFT - shift;
+        EllipseEx( img, _center, Size2l(_radius, _radius),
                    0, 0, 360, buf, thickness, line_type );
     }
     else
@@ -1768,12 +1817,14 @@ void ellipse( Mat& img, Point center, Size axes,
     int _angle = cvRound(angle);
     int _start_angle = cvRound(start_angle);
     int _end_angle = cvRound(end_angle);
-    center.x <<= XY_SHIFT - shift;
+    Point2l _center(center.x, center.y);
-    center.y <<= XY_SHIFT - shift;
+    Size2l _axes(axes.width, axes.height);
-    axes.width <<= XY_SHIFT - shift;
+    _center.x <<= XY_SHIFT - shift;
-    axes.height <<= XY_SHIFT - shift;
+    _center.y <<= XY_SHIFT - shift;
+    _axes.width <<= XY_SHIFT - shift;
+    _axes.height <<= XY_SHIFT - shift;
 
-    EllipseEx( img, center, axes, _angle, _start_angle,
+    EllipseEx( img, _center, _axes, _angle, _start_angle,
                _end_angle, buf, thickness, line_type );
 }
 
@@ -1790,10 +1841,14 @@ void ellipse(Mat& img, const RotatedRect& box, const Scalar& color,
     scalarToRawData(color, buf, img.type(), 0);
 
     int _angle = cvRound(box.angle);
-    Point center(cvRound(box.center.x*(1 << XY_SHIFT)),
+    Point2l center(cvRound(box.center.x),
-                 cvRound(box.center.y*(1 << XY_SHIFT)));
+                 cvRound(box.center.y));
-    Size axes(cvRound(box.size.width*(1 << (XY_SHIFT - 1))),
+    center.x = (center.x << XY_SHIFT) + cvRound((box.center.x - center.x)*XY_ONE);
-              cvRound(box.size.height*(1 << (XY_SHIFT - 1))));
+    center.y = (center.y << XY_SHIFT) + cvRound((box.center.y - center.y)*XY_ONE);
+    Size2l axes(cvRound(box.size.width),
+              cvRound(box.size.height));
+    axes.width  = (axes.width  << (XY_SHIFT - 1)) + cvRound((box.size.width - axes.width)*(XY_ONE>>1));
+    axes.height = (axes.height << (XY_SHIFT - 1)) + cvRound((box.size.height - axes.height)*(XY_ONE>>1));
     EllipseEx( img, center, axes, _angle, 0, 360, buf, thickness, lineType );
 }
 
@@ -1876,7 +1931,10 @@ void fillConvexPoly( Mat& img, const Point* pts, int npts,
     double buf[4];
     CV_Assert( 0 <= shift && shift <=  XY_SHIFT );
     scalarToRawData(color, buf, img.type(), 0);
-    FillConvexPoly( img, pts, npts, buf, line_type, shift );
+    vector<Point2l> _pts;
+    for( int n = 0; n < npts; n++ )
+        _pts.push_back(Point2l(pts[n].x, pts[n].y));
+    FillConvexPoly( img, _pts.data(), npts, buf, line_type, shift );
 }
 
 
@@ -1900,7 +1958,12 @@ void fillPoly( Mat& img, const Point** pts, const int* npts, int ncontours,
 
     edges.reserve( total + 1 );
     for( i = 0; i < ncontours; i++ )
-        CollectPolyEdges( img, pts[i], npts[i], edges, buf, line_type, shift, offset );
+    {
+        vector<Point2l> _pts;
+        for( int n = 0; n < npts[i]; n++ )
+            _pts.push_back(Point2l(pts[i][n].x, pts[i][n].y));
+        CollectPolyEdges( img, _pts.data(), npts[i], edges, buf, line_type, shift, offset );
+    }
 
     FillEdgeCollection(img, edges, buf);
 }
@@ -1920,7 +1983,12 @@ void polylines( Mat& img, const Point** pts, const int* npts, int ncontours, boo
     scalarToRawData( color, buf, img.type(), 0 );
 
     for( int i = 0; i < ncontours; i++ )
-        PolyLine( img, pts[i], npts[i], isClosed, buf, thickness, line_type, shift );
+    {
+        vector<Point2l> _pts;
+        for( int n = 0; n < npts[i]; n++ )
+            _pts.push_back(Point2l(pts[i][n].x, pts[i][n].y));
+        PolyLine( img, _pts.data(), npts[i], isClosed, buf, thickness, line_type, shift );
+    }
 }
 
 
@@ -2156,23 +2224,23 @@ void putText( Mat& img, const string& text, Point org,
     if( bottomLeftOrigin )
         vscale = -vscale;
 
-    int view_x = org.x << XY_SHIFT;
+    int64 view_x = (int64)org.x << XY_SHIFT;
-    int view_y = (org.y << XY_SHIFT) + base_line*vscale;
+    int64 view_y = ((int64)org.y << XY_SHIFT) + base_line*vscale;
-    vector<Point> pts;
+    vector<Point2l> pts;
     pts.reserve(1 << 10);
     const char **faces = cv::g_HersheyGlyphs;
 
     for( int i = 0; i < (int)text.size(); i++ )
     {
         int c = (uchar)text[i];
-        Point p;
+        Point2l p;
 
         readCheck(c, i, text, fontFace);
 
         const char* ptr = faces[ascii[(c-' ')+1]];
         p.x = (uchar)ptr[0] - 'R';
         p.y = (uchar)ptr[1] - 'R';
-        int dx = p.y*hscale;
+        int64 dx = p.y*hscale;
         view_x -= p.x*hscale;
         pts.resize(0);
 
@@ -2191,7 +2259,7 @@ void putText( Mat& img, const string& text, Point org,
                 p.x = (uchar)ptr[0] - 'R';
                 p.y = (uchar)ptr[1] - 'R';
                 ptr += 2;
-                pts.push_back(Point(p.x*hscale + view_x, p.y*vscale + view_y));
+                pts.push_back(Point2l(p.x*hscale + view_x, p.y*vscale + view_y));
             }
         }
         view_x += dx;
@@ -2310,7 +2378,7 @@ cvDrawContours( void* _img, CvSeq* contour,
     CvSeq *contour0 = contour, *h_next = 0;
     CvTreeNodeIterator iterator;
     cv::vector<cv::PolyEdge> edges;
-    cv::vector<cv::Point> pts;
+    cv::vector<cv::Point2l> pts;
     cv::Scalar externalColor = _externalColor, holeColor = _holeColor;
     cv::Mat img = cv::cvarrToMat(_img);
     cv::Point offset = _offset;
@@ -2434,7 +2502,7 @@ cvEllipse2Poly( CvPoint center, CvSize axes, int angle,
                 int arc_start, int arc_end, CvPoint* _pts, int delta )
 {
     cv::vector<cv::Point> pts;
-    cv::ellipse2Poly( center, axes, angle, arc_start, arc_end, delta, pts );
+    cv::ellipse2Poly( cv::Point(center), cv::Size(axes), angle, arc_start, arc_end, delta, pts );
     memcpy( _pts, &pts[0], pts.size()*sizeof(_pts[0]) );
     return (int)pts.size();
 }

modules/core/src/matmul.cpp

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

modules/core/src/matrix.cpp

@@ -279,21 +279,31 @@ Mat::Mat(const Mat& m, const Range& _rowRange, const Range& _colRange) : size(&r
     }
 
     *this = m;
-    if( _rowRange != Range::all() && _rowRange != Range(0,rows) )
+    try
     {
-        CV_Assert( 0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows );
+        if( _rowRange != Range::all() && _rowRange != Range(0,rows) )
-        rows = _rowRange.size();
+        {
-        data += step*_rowRange.start;
+            CV_Assert( 0 <= _rowRange.start && _rowRange.start <= _rowRange.end
-        flags |= SUBMATRIX_FLAG;
+                       && _rowRange.end <= m.rows );
-    }
+            rows = _rowRange.size();
+            data += step*_rowRange.start;
+            flags |= SUBMATRIX_FLAG;
+        }
 
-    if( _colRange != Range::all() && _colRange != Range(0,cols) )
+        if( _colRange != Range::all() && _colRange != Range(0,cols) )
+        {
+            CV_Assert( 0 <= _colRange.start && _colRange.start <= _colRange.end
+                       && _colRange.end <= m.cols );
+            cols = _colRange.size();
+            data += _colRange.start*elemSize();
+            flags &= cols < m.cols ? ~CONTINUOUS_FLAG : -1;
+            flags |= SUBMATRIX_FLAG;
+        }
+    }
+    catch(...)
     {
-        CV_Assert( 0 <= _colRange.start && _colRange.start <= _colRange.end && _colRange.end <= m.cols );
+        release();
-        cols = _colRange.size();
+        throw;
-        data += _colRange.start*elemSize();
-        flags &= cols < m.cols ? ~CONTINUOUS_FLAG : -1;
-        flags |= SUBMATRIX_FLAG;
     }
 
     if( rows == 1 )

modules/core/src/parallel.cpp

@@ -56,7 +56,7 @@
     #include <sys/types.h>
     #if defined ANDROID
         #include <sys/sysconf.h>
-    #else
+    #elif defined __APPLE__
         #include <sys/sysctl.h>
     #endif
 #endif

modules/core/src/system.cpp

@@ -163,8 +163,6 @@ std::wstring GetTempFileNameWinRT(std::wstring prefix)
 #include <sys/types.h>
 #if defined ANDROID
 #include <sys/sysconf.h>
-#else
-#include <sys/sysctl.h>
 #endif
 #endif
 

modules/features2d/src/blobdetector.cpp

@@ -272,9 +272,8 @@ void SimpleBlobDetector::findBlobs(const cv::Mat &image, const cv::Mat &binaryIm
 #endif
 }
 
-void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat&) const
+void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask) const
 {
-    //TODO: support mask
     keypoints.clear();
     Mat grayscaleImage;
     if (image.channels() == 3)
@@ -355,6 +354,11 @@ void SimpleBlobDetector::detectImpl(const cv::Mat& image, std::vector<cv::KeyPoi
         keypoints.push_back(kpt);
     }
 
+    if (!mask.empty())
+    {
+        KeyPointsFilter::runByPixelsMask(keypoints, mask);
+    }
+
 #ifdef DEBUG_BLOB_DETECTOR
     namedWindow("keypoints", CV_WINDOW_NORMAL);
     Mat outImg = image.clone();

modules/flann/include/opencv2/flann/lsh_table.h

@@ -146,6 +146,7 @@ public:
      */
     LshTable()
     {
+        feature_size_ = 0;
     }
 
     /** Default constructor
@@ -156,7 +157,7 @@ public:
      */
     LshTable(unsigned int feature_size, unsigned int key_size, std::vector<size_t> & indices)
     {
-        (void)feature_size;
+        feature_size_ = feature_size;
         (void)key_size;
         (void)indices;
         std::cerr << "LSH is not implemented for that type" << std::endl;
@@ -335,6 +336,8 @@ private:
      */
     unsigned int key_size_;
 
+    unsigned int feature_size_;
+
     // Members only used for the unsigned char specialization
     /** The mask to apply to a feature to get the hash key
      * Only used in the unsigned char case
@@ -350,9 +353,10 @@ inline LshTable<unsigned char>::LshTable( unsigned int feature_size,
                                           unsigned int subsignature_size,
                                           std::vector<size_t> & indices  )
 {
+    feature_size_ = feature_size;
     initialize(subsignature_size);
     // Allocate the mask
-    mask_ = std::vector<size_t>((size_t)ceil((float)(feature_size * sizeof(char)) / (float)sizeof(size_t)), 0);
+    mask_ = std::vector<size_t>((feature_size * sizeof(char) + sizeof(size_t) - 1) / sizeof(size_t), 0);
 
     // Generate a random set of order of subsignature_size_ bits
     for (unsigned int i = 0; i < key_size_; ++i) {
@@ -391,6 +395,7 @@ inline size_t LshTable<unsigned char>::getKey(const unsigned char* feature) cons
 {
     // no need to check if T is dividable by sizeof(size_t) like in the Hamming
     // distance computation as we have a mask
+    // FIXIT: This is bad assumption, because we reading tail bytes after of the allocated features buffer
     const size_t* feature_block_ptr = reinterpret_cast<const size_t*> ((const void*)feature);
 
     // Figure out the subsignature of the feature
@@ -399,10 +404,20 @@ inline size_t LshTable<unsigned char>::getKey(const unsigned char* feature) cons
     size_t subsignature = 0;
     size_t bit_index = 1;
 
-    for (std::vector<size_t>::const_iterator pmask_block = mask_.begin(); pmask_block != mask_.end(); ++pmask_block) {
+    for (unsigned i = 0; i < feature_size_; i += sizeof(size_t)) {
         // get the mask and signature blocks
-        size_t feature_block = *feature_block_ptr;
+        size_t feature_block;
-        size_t mask_block = *pmask_block;
+        if (i <= feature_size_ - sizeof(size_t))
+        {
+            feature_block = *feature_block_ptr;
+        }
+        else
+        {
+            size_t tmp = 0;
+            memcpy(&tmp, feature_block_ptr, feature_size_ - i); // preserve bytes order
+            feature_block = tmp;
+        }
+        size_t mask_block = mask_[i / sizeof(size_t)];
         while (mask_block) {
             // Get the lowest set bit in the mask block
             size_t lowest_bit = mask_block & (-(ptrdiff_t)mask_block);

modules/gpu/doc/matrix_reductions.rst

@@ -186,9 +186,9 @@ Reduces a matrix to a vector.
 
     :param mtx: Source 2D matrix.
 
-    :param vec: Destination vector. Its size and type is defined by  ``dim``  and  ``dtype``  parameters.
+    :param vec: Destination row vector. Its type is defined by ``dtype`` parameter.
 
-    :param dim: Dimension index along which the matrix is reduced. 0 means that the matrix is reduced to a single row. 1 means that the matrix is reduced to a single column.
+    :param dim: Dimension index along which the matrix is reduced. 0 means that the matrix is reduced to a single row(of length equal to number of matrix columns). 1 means that the matrix is reduced to a single column(of length equal to the number of matrix rows). In either case, the output is always stored as a row vector of appropriate length.
 
     :param reduceOp: Reduction operation that could be one of the following:
 
@@ -202,6 +202,6 @@ Reduces a matrix to a vector.
 
     :param dtype: When it is negative, the destination vector will have the same type as the source matrix. Otherwise, its type will be  ``CV_MAKE_TYPE(CV_MAT_DEPTH(dtype), mtx.channels())`` .
 
-The function ``reduce`` reduces the matrix to a vector by treating the matrix rows/columns as a set of 1D vectors and performing the specified operation on the vectors until a single row/column is obtained. For example, the function can be used to compute horizontal and vertical projections of a raster image. In case of ``CV_REDUCE_SUM`` and ``CV_REDUCE_AVG`` , the output may have a larger element bit-depth to preserve accuracy. And multi-channel arrays are also supported in these two reduction modes.
+The function ``reduce`` reduces the matrix to a vector by treating the matrix rows/columns as a set of 1D vectors and performing the specified operation on the vectors until a single column/row is obtained. However, the result is always stored as a row vector. For example, the function can be used to compute horizontal and vertical projections of a raster image. In case of ``CV_REDUCE_SUM`` and ``CV_REDUCE_AVG`` , the output may have a larger element bit-depth to preserve accuracy. And multi-channel arrays are also supported in these two reduction modes.
 
 .. seealso:: :ocv:func:`reduce`

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -60,6 +60,10 @@
 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
 
+#if !defined(HAVE_TBB)
+    #define throw_notbb() CV_Error(CV_StsNotImplemented, "The library is compiled without TBB support")
+#endif
+
 namespace cv { namespace gpu {
 
 //////////////////////////////// CudaMem ////////////////////////////////
@@ -435,13 +439,13 @@ CV_EXPORTS void LUT(const GpuMat& src, const Mat& lut, GpuMat& dst, Stream& stre
 CV_EXPORTS void merge(const GpuMat* src, size_t n, GpuMat& dst, Stream& stream = Stream::Null());
 
 //! makes multi-channel array out of several single-channel arrays
-CV_EXPORTS void merge(const vector<GpuMat>& src, GpuMat& dst, Stream& stream = Stream::Null());
+CV_EXPORTS void merge(const std::vector<GpuMat>& src, GpuMat& dst, Stream& stream = Stream::Null());
 
 //! copies each plane of a multi-channel array to a dedicated array
 CV_EXPORTS void split(const GpuMat& src, GpuMat* dst, Stream& stream = Stream::Null());
 
 //! copies each plane of a multi-channel array to a dedicated array
-CV_EXPORTS void split(const GpuMat& src, vector<GpuMat>& dst, Stream& stream = Stream::Null());
+CV_EXPORTS void split(const GpuMat& src, std::vector<GpuMat>& dst, Stream& stream = Stream::Null());
 
 //! computes magnitude of complex (x(i).re, x(i).im) vector
 //! supports only CV_32FC2 type
@@ -1268,9 +1272,9 @@ private:
 struct CV_EXPORTS HOGConfidence
 {
    double scale;
-   vector<Point> locations;
+   std::vector<Point> locations;
-   vector<double> confidences;
+   std::vector<double> confidences;
-   vector<double> part_scores[4];
+   std::vector<double> part_scores[4];
 };
 
 struct CV_EXPORTS HOGDescriptor
@@ -1288,27 +1292,27 @@ struct CV_EXPORTS HOGDescriptor
     size_t getDescriptorSize() const;
     size_t getBlockHistogramSize() const;
 
-    void setSVMDetector(const vector<float>& detector);
+    void setSVMDetector(const std::vector<float>& detector);
 
-    static vector<float> getDefaultPeopleDetector();
+    static std::vector<float> getDefaultPeopleDetector();
-    static vector<float> getPeopleDetector48x96();
+    static std::vector<float> getPeopleDetector48x96();
-    static vector<float> getPeopleDetector64x128();
+    static std::vector<float> getPeopleDetector64x128();
 
-    void detect(const GpuMat& img, vector<Point>& found_locations,
+    void detect(const GpuMat& img, std::vector<Point>& found_locations,
                 double hit_threshold=0, Size win_stride=Size(),
                 Size padding=Size());
 
-    void detectMultiScale(const GpuMat& img, vector<Rect>& found_locations,
+    void detectMultiScale(const GpuMat& img, std::vector<Rect>& found_locations,
                           double hit_threshold=0, Size win_stride=Size(),
                           Size padding=Size(), double scale0=1.05,
                           int group_threshold=2);
 
-    void computeConfidence(const GpuMat& img, vector<Point>& hits, double hit_threshold,
+    void computeConfidence(const GpuMat& img, std::vector<Point>& hits, double hit_threshold,
-                                                Size win_stride, Size padding, vector<Point>& locations, vector<double>& confidences);
+                                                Size win_stride, Size padding, std::vector<Point>& locations, std::vector<double>& confidences);
 
-    void computeConfidenceMultiScale(const GpuMat& img, vector<Rect>& found_locations,
+    void computeConfidenceMultiScale(const GpuMat& img, std::vector<Rect>& found_locations,
                                                                     double hit_threshold, Size win_stride, Size padding,
-                                                                    vector<HOGConfidence> &conf_out, int group_threshold);
+                                                                    std::vector<HOGConfidence> &conf_out, int group_threshold);
 
     void getDescriptors(const GpuMat& img, Size win_stride,
                         GpuMat& descriptors,
@@ -1824,6 +1828,14 @@ public:
     void sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
         GpuMat& status, GpuMat* err = 0);
 
+#if !defined(HAVE_TBB)
+    void sparse_multi(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&,
+        GpuMat&, Stream&, GpuMat*) {throw_notbb();}
+#else
+    void sparse_multi(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
+        GpuMat& status, Stream& stream, GpuMat* err = 0);
+#endif
+
     void dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err = 0);
 
     void releaseMemory();
@@ -1838,11 +1850,11 @@ public:
 
 private:
     GpuMat uPyr_[2];
-    vector<GpuMat> prevPyr_;
+    std::vector<GpuMat> prevPyr_;
-    vector<GpuMat> nextPyr_;
+    std::vector<GpuMat> nextPyr_;
     GpuMat vPyr_[2];
-    vector<GpuMat> buf_;
+    std::vector<GpuMat> buf_;
-    vector<GpuMat> unused;
+    std::vector<GpuMat> unused;
     bool isDeviceArch11_;
 };
 

modules/gpu/perf/perf_video.cpp

@@ -303,6 +303,88 @@ PERF_TEST_P(ImagePair_Gray_NPts_WinSz_Levels_Iters, Video_PyrLKOpticalFlowSparse
     }
 }
 
+//////////////////////////////////////////////////////
+// PyrLKOpticalFlowSparseMulti
+
+#ifdef HAVE_TBB
+
+DEF_PARAM_TEST(ImagePair_Gray_NPts_WinSz_Levels_Iters, pair_string, bool, int, int, int, int);
+
+PERF_TEST_P(ImagePair_Gray_NPts_WinSz_Levels_Iters, Video_PyrLKOpticalFlowSparseMulti,
+            Combine(Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")),
+                    Bool(),
+                    Values(8000),
+                    Values(21),
+                    Values(1, 3),
+                    Values(1, 30)))
+{
+    declare.time(20.0);
+
+    const pair_string imagePair = GET_PARAM(0);
+    const bool useGray = GET_PARAM(1);
+    const int points = GET_PARAM(2);
+    const int winSize = GET_PARAM(3);
+    const int levels = GET_PARAM(4);
+    const int iters = GET_PARAM(5);
+
+    const cv::Mat frame0 = readImage(imagePair.first, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame0.empty());
+
+    const cv::Mat frame1 = readImage(imagePair.second, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame1.empty());
+
+    cv::Mat gray_frame;
+    if (useGray)
+        gray_frame = frame0;
+    else
+        cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
+
+    cv::Mat pts;
+    cv::goodFeaturesToTrack(gray_frame, pts, points, 0.01, 0.0);
+
+    if (PERF_RUN_GPU())
+    {
+        const cv::gpu::GpuMat d_pts(pts.reshape(2, 1));
+
+        cv::gpu::PyrLKOpticalFlow d_pyrLK;
+        d_pyrLK.winSize = cv::Size(winSize, winSize);
+        d_pyrLK.maxLevel = levels - 1;
+        d_pyrLK.iters = iters;
+
+        const cv::gpu::GpuMat d_frame0(frame0);
+        const cv::gpu::GpuMat d_frame1(frame1);
+        cv::gpu::GpuMat nextPts;
+        cv::gpu::GpuMat status;
+
+        cv::gpu::Stream stream;
+        TEST_CYCLE()
+        {
+            d_pyrLK.sparse_multi(d_frame0, d_frame1, d_pts, nextPts, status, stream);
+            stream.waitForCompletion();
+        }
+
+        GPU_SANITY_CHECK(nextPts);
+        GPU_SANITY_CHECK(status);
+    }
+    else
+    {
+        cv::Mat nextPts;
+        cv::Mat status;
+
+        TEST_CYCLE()
+        {
+            cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(),
+                                     cv::Size(winSize, winSize), levels - 1,
+                                     cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, iters, 0.01));
+        }
+
+        CPU_SANITY_CHECK(nextPts);
+        CPU_SANITY_CHECK(status);
+    }
+}
+
+#endif // HAVE_TBB
+
 //////////////////////////////////////////////////////
 // PyrLKOpticalFlowDense
 

modules/gpu/src/cuda/pyrlk.cu

@@ -49,6 +49,10 @@
 #include "opencv2/gpu/device/vec_math.hpp"
 #include "opencv2/gpu/device/reduce.hpp"
 
+#include "opencv2/core/core.hpp"
+
+#include "cvconfig.h"
+
 using namespace cv::gpu;
 using namespace cv::gpu::device;
 
@@ -60,12 +64,54 @@ namespace pyrlk
     __constant__ int c_halfWin_y;
     __constant__ int c_iters;
 
-    texture<float, cudaTextureType2D, cudaReadModeElementType> tex_If(false, cudaFilterModeLinear, cudaAddressModeClamp);
+#define CUDA_CONSTANTS(index) \
-    texture<float4, cudaTextureType2D, cudaReadModeElementType> tex_If4(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    __constant__ int c_winSize_x##index; \
-    texture<uchar, cudaTextureType2D, cudaReadModeElementType> tex_Ib(false, cudaFilterModePoint, cudaAddressModeClamp);
+    __constant__ int c_winSize_y##index; \
+    __constant__ int c_halfWin_x##index; \
+    __constant__ int c_halfWin_y##index; \
+    __constant__ int c_iters##index;
 
-    texture<float, cudaTextureType2D, cudaReadModeElementType> tex_Jf(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    CUDA_CONSTANTS(0)
-    texture<float4, cudaTextureType2D, cudaReadModeElementType> tex_Jf4(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    CUDA_CONSTANTS(1)
+    CUDA_CONSTANTS(2)
+    CUDA_CONSTANTS(3)
+    CUDA_CONSTANTS(4)
+
+    template <int index> struct c_multi_winSize_x;
+    template <int index> struct c_multi_winSize_y;
+    template <int index> struct c_multi_halfWin_x;
+    template <int index> struct c_multi_halfWin_y;
+    template <int index> struct c_multi_iters;
+
+#define CUDA_CONSTANTS_ACCESSOR(index) \
+    template <> struct c_multi_winSize_x<index> \
+    { static __device__ __forceinline__ int get(void){ return c_winSize_x##index;} }; \
+    template <> struct c_multi_winSize_y<index> \
+    { static __device__ __forceinline__ int get(void){ return c_winSize_y##index;} }; \
+    template <> struct c_multi_halfWin_x<index> \
+    { static __device__ __forceinline__ int get(void){ return c_halfWin_x##index;} }; \
+    template <> struct c_multi_halfWin_y<index> \
+    { static __device__ __forceinline__ int get(void){ return c_halfWin_y##index;} }; \
+    template <> struct c_multi_iters<index> \
+    { static __device__ __forceinline__ int get(void){ return c_iters##index;} };
+
+    CUDA_CONSTANTS_ACCESSOR(0)
+    CUDA_CONSTANTS_ACCESSOR(1)
+    CUDA_CONSTANTS_ACCESSOR(2)
+    CUDA_CONSTANTS_ACCESSOR(3)
+    CUDA_CONSTANTS_ACCESSOR(4)
+
+    texture<float, cudaTextureType2D, cudaReadModeElementType>
+            tex_If(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    texture<float4, cudaTextureType2D, cudaReadModeElementType>
+            tex_If4(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    texture<uchar, cudaTextureType2D, cudaReadModeElementType>
+            tex_Ib(false, cudaFilterModePoint, cudaAddressModeClamp);
+
+    texture<float, cudaTextureType2D, cudaReadModeElementType>
+            tex_Jf(false, cudaFilterModeLinear, cudaAddressModeClamp);
+    texture<float4, cudaTextureType2D, cudaReadModeElementType>
+            tex_Jf4(false, cudaFilterModeLinear, cudaAddressModeClamp);
 
     template <int cn> struct Tex_I;
     template <> struct Tex_I<1>
@@ -99,6 +145,57 @@ namespace pyrlk
         }
     };
 
+    //--------------------------------------------------------------------------
+
+#define CUDA_DECL_TEX_MULTI(texname, type, filtermode) \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi0(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi1(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi2(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi3(false, filtermode, cudaAddressModeClamp); \
+    texture<type, cudaTextureType2D, cudaReadModeElementType> \
+            texname##_multi4(false, filtermode, cudaAddressModeClamp); \
+
+    CUDA_DECL_TEX_MULTI(tex_If1, float, cudaFilterModeLinear)
+    CUDA_DECL_TEX_MULTI(tex_If4, float4, cudaFilterModeLinear)
+    CUDA_DECL_TEX_MULTI(tex_Ib1, uchar, cudaFilterModePoint)
+    CUDA_DECL_TEX_MULTI(tex_Jf1, float, cudaFilterModeLinear)
+    CUDA_DECL_TEX_MULTI(tex_Jf4, float4, cudaFilterModeLinear)
+
+    template <int cn, int index> struct Tex_I_multi;
+    template <int cn, int index> struct Tex_J_multi;
+    template <int cn, int index> struct Tex_B_multi;
+
+#define CUDA_DECL_TEX_MULTI_ACCESS(accessorname, texname, cn, returntype) \
+    template <> struct accessorname##_multi<cn, 0> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi0, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 1> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi1, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 2> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi2, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 3> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi3, x, y); } }; \
+    template <> struct accessorname##_multi<cn, 4> \
+    { static __device__ __forceinline__ returntype read(float x, float y) \
+        { return tex2D(texname##cn##_multi4, x, y); } };
+
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_I, tex_If, 1, float)
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_I, tex_If, 4, float4)
+
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_B, tex_Ib, 1, uchar)
+
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_J, tex_Jf, 1, float)
+    CUDA_DECL_TEX_MULTI_ACCESS(Tex_J, tex_Jf, 4, float4)
+
+    //--------------------------------------------------------------------------
+
     __device__ __forceinline__ void accum(float& dst, float val)
     {
         dst += val;
@@ -309,6 +406,200 @@ namespace pyrlk
         }
     }
 
+#if defined(HAVE_TBB)
+    template <int cn, int index, int PATCH_X, int PATCH_Y, bool calcErr>
+    __global__ void sparseKernel_multi(const float2* prevPts, float2* nextPts, uchar* status, float* err, const int level, const int rows, const int cols)
+    {
+    #if __CUDA_ARCH__ <= 110
+        const int BLOCK_SIZE = 128;
+    #else
+        const int BLOCK_SIZE = 256;
+    #endif
+
+        __shared__ float smem1[BLOCK_SIZE];
+        __shared__ float smem2[BLOCK_SIZE];
+        __shared__ float smem3[BLOCK_SIZE];
+
+        const unsigned int tid = threadIdx.y * blockDim.x + threadIdx.x;
+
+        float2 prevPt = prevPts[blockIdx.x];
+        prevPt.x *= (1.0f / (1 << level));
+        prevPt.y *= (1.0f / (1 << level));
+
+        if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows)
+        {
+            if (tid == 0 && level == 0)
+                status[blockIdx.x] = 0;
+
+            return;
+        }
+
+        prevPt.x -= c_multi_halfWin_x<index>::get();
+        prevPt.y -= c_multi_halfWin_y<index>::get();
+
+        // extract the patch from the first image, compute covariation matrix of derivatives
+
+        float A11 = 0;
+        float A12 = 0;
+        float A22 = 0;
+
+        typedef typename TypeVec<float, cn>::vec_type work_type;
+
+        work_type I_patch   [PATCH_Y][PATCH_X];
+        work_type dIdx_patch[PATCH_Y][PATCH_X];
+        work_type dIdy_patch[PATCH_Y][PATCH_X];
+
+        for (int yBase = threadIdx.y, i = 0; yBase < c_multi_winSize_y<index>::get(); yBase += blockDim.y, ++i)
+        {
+            for (int xBase = threadIdx.x, j = 0; xBase < c_multi_winSize_x<index>::get(); xBase += blockDim.x, ++j)
+            {
+                float x = prevPt.x + xBase + 0.5f;
+                float y = prevPt.y + yBase + 0.5f;
+
+                I_patch[i][j] = Tex_I_multi<cn,index>::read(x, y);
+
+                // Sharr Deriv
+
+                work_type dIdx = 3.0f * Tex_I_multi<cn,index>::read(x+1, y-1) + 10.0f * Tex_I_multi<cn,index>::read(x+1, y) + 3.0f * Tex_I_multi<cn,index>::read(x+1, y+1) -
+                                 (3.0f * Tex_I_multi<cn,index>::read(x-1, y-1) + 10.0f * Tex_I_multi<cn,index>::read(x-1, y) + 3.0f * Tex_I_multi<cn,index>::read(x-1, y+1));
+
+                work_type dIdy = 3.0f * Tex_I_multi<cn,index>::read(x-1, y+1) + 10.0f * Tex_I_multi<cn,index>::read(x, y+1) + 3.0f * Tex_I_multi<cn,index>::read(x+1, y+1) -
+                                (3.0f * Tex_I_multi<cn,index>::read(x-1, y-1) + 10.0f * Tex_I_multi<cn,index>::read(x, y-1) + 3.0f * Tex_I_multi<cn,index>::read(x+1, y-1));
+
+                dIdx_patch[i][j] = dIdx;
+                dIdy_patch[i][j] = dIdy;
+
+                accum(A11, dIdx * dIdx);
+                accum(A12, dIdx * dIdy);
+                accum(A22, dIdy * dIdy);
+            }
+        }
+
+        reduce<BLOCK_SIZE>(smem_tuple(smem1, smem2, smem3), thrust::tie(A11, A12, A22), tid, thrust::make_tuple(plus<float>(), plus<float>(), plus<float>()));
+
+    #if __CUDA_ARCH__ >= 300
+        if (tid == 0)
+        {
+            smem1[0] = A11;
+            smem2[0] = A12;
+            smem3[0] = A22;
+        }
+    #endif
+
+        __syncthreads();
+
+        A11 = smem1[0];
+        A12 = smem2[0];
+        A22 = smem3[0];
+
+        float D = A11 * A22 - A12 * A12;
+
+        if (abs_(D) < numeric_limits<float>::epsilon())
+        {
+            if (tid == 0 && level == 0)
+                status[blockIdx.x] = 0;
+
+            return;
+        }
+
+        D = 1.f / D;
+
+        A11 *= D;
+        A12 *= D;
+        A22 *= D;
+
+        float2 nextPt = nextPts[blockIdx.x];
+        nextPt.x *= 2.f;
+        nextPt.y *= 2.f;
+
+        nextPt.x -= c_multi_halfWin_x<index>::get();
+        nextPt.y -= c_multi_halfWin_y<index>::get();
+
+        for (int k = 0; k < c_multi_iters<index>::get(); ++k)
+        {
+            if (nextPt.x < -c_multi_halfWin_x<index>::get() || nextPt.x >= cols || nextPt.y < -c_multi_halfWin_y<index>::get() || nextPt.y >= rows)
+            {
+                if (tid == 0 && level == 0)
+                    status[blockIdx.x] = 0;
+
+                return;
+            }
+
+            float b1 = 0;
+            float b2 = 0;
+
+            for (int y = threadIdx.y, i = 0; y < c_multi_winSize_y<index>::get(); y += blockDim.y, ++i)
+            {
+                for (int x = threadIdx.x, j = 0; x < c_multi_winSize_x<index>::get(); x += blockDim.x, ++j)
+                {
+                    work_type I_val = I_patch[i][j];
+                    work_type J_val = Tex_J_multi<cn,index>::read(nextPt.x + x + 0.5f, nextPt.y + y + 0.5f);
+
+                    work_type diff = (J_val - I_val) * 32.0f;
+
+                    accum(b1, diff * dIdx_patch[i][j]);
+                    accum(b2, diff * dIdy_patch[i][j]);
+                }
+            }
+
+            reduce<BLOCK_SIZE>(smem_tuple(smem1, smem2), thrust::tie(b1, b2), tid, thrust::make_tuple(plus<float>(), plus<float>()));
+
+        #if __CUDA_ARCH__ >= 300
+            if (tid == 0)
+            {
+                smem1[0] = b1;
+                smem2[0] = b2;
+            }
+        #endif
+
+            __syncthreads();
+
+            b1 = smem1[0];
+            b2 = smem2[0];
+
+            float2 delta;
+            delta.x = A12 * b2 - A22 * b1;
+            delta.y = A12 * b1 - A11 * b2;
+
+            nextPt.x += delta.x;
+            nextPt.y += delta.y;
+
+            if (::fabs(delta.x) < 0.01f && ::fabs(delta.y) < 0.01f)
+                break;
+        }
+
+        float errval = 0;
+        if (calcErr)
+        {
+            for (int y = threadIdx.y, i = 0; y < c_multi_winSize_y<index>::get(); y += blockDim.y, ++i)
+            {
+                for (int x = threadIdx.x, j = 0; x < c_multi_winSize_x<index>::get(); x += blockDim.x, ++j)
+                {
+                    work_type I_val = I_patch[i][j];
+                    work_type J_val = Tex_J_multi<cn,index>::read(nextPt.x + x + 0.5f, nextPt.y + y + 0.5f);
+
+                    work_type diff = J_val - I_val;
+
+                    accum(errval, abs_(diff));
+                }
+            }
+
+            reduce<BLOCK_SIZE>(smem1, errval, tid, plus<float>());
+        }
+
+        if (tid == 0)
+        {
+            nextPt.x += c_multi_halfWin_x<index>::get();
+            nextPt.y += c_multi_halfWin_y<index>::get();
+
+            nextPts[blockIdx.x] = nextPt;
+
+            if (calcErr)
+                err[blockIdx.x] = static_cast<float>(errval) / (cn * c_multi_winSize_x<index>::get() * c_multi_winSize_y<index>::get());
+        }
+    }
+#endif // defined(HAVE_TBB)
+
     template <int cn, int PATCH_X, int PATCH_Y>
     void sparse_caller(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
                        int level, dim3 block, cudaStream_t stream)
@@ -326,6 +617,26 @@ namespace pyrlk
             cudaSafeCall( cudaDeviceSynchronize() );
     }
 
+#if defined(HAVE_TBB)
+    template <int cn, int index, int PATCH_X, int PATCH_Y>
+    void sparse_caller_multi(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                       int level, dim3 block, cudaStream_t stream)
+    {
+        dim3 grid(ptcount);
+
+        if (level == 0 && err)
+            sparseKernel_multi<cn, index, PATCH_X, PATCH_Y, true><<<grid, block>>>(prevPts, nextPts, status, err, level, rows, cols);
+        else
+            sparseKernel_multi<cn, index, PATCH_X, PATCH_Y, false><<<grid, block>>>(prevPts, nextPts, status, err, level, rows, cols);
+
+        cudaSafeCall( cudaGetLastError() );
+
+        if (stream == 0)
+            cudaSafeCall( cudaDeviceSynchronize() );
+    }
+
+#endif // defined(HAVE_TBB)
+
     template <bool calcErr>
     __global__ void denseKernel(PtrStepf u, PtrStepf v, const PtrStepf prevU, const PtrStepf prevV, PtrStepf err, const int rows, const int cols)
     {
@@ -484,6 +795,30 @@ namespace pyrlk
         cudaSafeCall( cudaMemcpyToSymbol(c_iters, &iters, sizeof(int)) );
     }
 
+#if defined(HAVE_TBB)
+    void loadConstants_multi(int2 winSize, int iters, int index, cudaStream_t stream = 0)
+    {
+        int2 halfWin;
+#define COPY_TO_SYMBOL_CALL(index) \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_winSize_x##index, &winSize.x, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_winSize_y##index, &winSize.y, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_halfWin_x##index, &halfWin.x, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_halfWin_y##index, &halfWin.y, sizeof(int), 0, cudaMemcpyHostToDevice, stream) ); \
+        cudaSafeCall( cudaMemcpyToSymbolAsync(c_iters##index, &iters, sizeof(int), 0, cudaMemcpyHostToDevice, stream) );
+
+        switch(index)
+        {
+            case 0: COPY_TO_SYMBOL_CALL(0) break;
+            case 1: COPY_TO_SYMBOL_CALL(1) break;
+            case 2: COPY_TO_SYMBOL_CALL(2) break;
+            case 3: COPY_TO_SYMBOL_CALL(3) break;
+            case 4: COPY_TO_SYMBOL_CALL(4) break;
+            default: CV_Error(CV_StsBadArg, "invalid execution line index"); break;
+        }
+    }
+#endif // defined(HAVE_TBB)
+
     void sparse1(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
                  int level, dim3 block, dim3 patch, cudaStream_t stream)
     {
@@ -528,6 +863,161 @@ namespace pyrlk
             level, block, stream);
     }
 
+#if defined(HAVE_TBB)
+    void sparse1_multi(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream, int index)
+    {
+        typedef void (*func_t)(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                               int level, dim3 block, cudaStream_t stream);
+
+        static const func_t funcs[5][5][5] =
+        {
+            { // index 0
+                {sparse_caller_multi<1, 0, 1, 1>, sparse_caller_multi<1, 0, 2, 1>, sparse_caller_multi<1, 0, 3, 1>, sparse_caller_multi<1, 0, 4, 1>, sparse_caller_multi<1, 0, 5, 1>},
+                {sparse_caller_multi<1, 0, 1, 2>, sparse_caller_multi<1, 0, 2, 2>, sparse_caller_multi<1, 0, 3, 2>, sparse_caller_multi<1, 0, 4, 2>, sparse_caller_multi<1, 0, 5, 2>},
+                {sparse_caller_multi<1, 0, 1, 3>, sparse_caller_multi<1, 0, 2, 3>, sparse_caller_multi<1, 0, 3, 3>, sparse_caller_multi<1, 0, 4, 3>, sparse_caller_multi<1, 0, 5, 3>},
+                {sparse_caller_multi<1, 0, 1, 4>, sparse_caller_multi<1, 0, 2, 4>, sparse_caller_multi<1, 0, 3, 4>, sparse_caller_multi<1, 0, 4, 4>, sparse_caller_multi<1, 0, 5, 4>},
+                {sparse_caller_multi<1, 0, 1, 5>, sparse_caller_multi<1, 0, 2, 5>, sparse_caller_multi<1, 0, 3, 5>, sparse_caller_multi<1, 0, 4, 5>, sparse_caller_multi<1, 0, 5, 5>}
+            },
+            { // index 1
+                {sparse_caller_multi<1, 1, 1, 1>, sparse_caller_multi<1, 1, 2, 1>, sparse_caller_multi<1, 1, 3, 1>, sparse_caller_multi<1, 1, 4, 1>, sparse_caller_multi<1, 1, 5, 1>},
+                {sparse_caller_multi<1, 1, 1, 2>, sparse_caller_multi<1, 1, 2, 2>, sparse_caller_multi<1, 1, 3, 2>, sparse_caller_multi<1, 1, 4, 2>, sparse_caller_multi<1, 1, 5, 2>},
+                {sparse_caller_multi<1, 1, 1, 3>, sparse_caller_multi<1, 1, 2, 3>, sparse_caller_multi<1, 1, 3, 3>, sparse_caller_multi<1, 1, 4, 3>, sparse_caller_multi<1, 1, 5, 3>},
+                {sparse_caller_multi<1, 1, 1, 4>, sparse_caller_multi<1, 1, 2, 4>, sparse_caller_multi<1, 1, 3, 4>, sparse_caller_multi<1, 1, 4, 4>, sparse_caller_multi<1, 1, 5, 4>},
+                {sparse_caller_multi<1, 1, 1, 5>, sparse_caller_multi<1, 1, 2, 5>, sparse_caller_multi<1, 1, 3, 5>, sparse_caller_multi<1, 1, 4, 5>, sparse_caller_multi<1, 1, 5, 5>}
+            },
+            { // index 2
+                {sparse_caller_multi<1, 2, 1, 1>, sparse_caller_multi<1, 2, 2, 1>, sparse_caller_multi<1, 2, 3, 1>, sparse_caller_multi<1, 2, 4, 1>, sparse_caller_multi<1, 2, 5, 1>},
+                {sparse_caller_multi<1, 2, 1, 2>, sparse_caller_multi<1, 2, 2, 2>, sparse_caller_multi<1, 2, 3, 2>, sparse_caller_multi<1, 2, 4, 2>, sparse_caller_multi<1, 2, 5, 2>},
+                {sparse_caller_multi<1, 2, 1, 3>, sparse_caller_multi<1, 2, 2, 3>, sparse_caller_multi<1, 2, 3, 3>, sparse_caller_multi<1, 2, 4, 3>, sparse_caller_multi<1, 2, 5, 3>},
+                {sparse_caller_multi<1, 2, 1, 4>, sparse_caller_multi<1, 2, 2, 4>, sparse_caller_multi<1, 2, 3, 4>, sparse_caller_multi<1, 2, 4, 4>, sparse_caller_multi<1, 2, 5, 4>},
+                {sparse_caller_multi<1, 2, 1, 5>, sparse_caller_multi<1, 2, 2, 5>, sparse_caller_multi<1, 2, 3, 5>, sparse_caller_multi<1, 2, 4, 5>, sparse_caller_multi<1, 2, 5, 5>}
+            },
+            { // index 3
+                {sparse_caller_multi<1, 3, 1, 1>, sparse_caller_multi<1, 3, 2, 1>, sparse_caller_multi<1, 3, 3, 1>, sparse_caller_multi<1, 3, 4, 1>, sparse_caller_multi<1, 3, 5, 1>},
+                {sparse_caller_multi<1, 3, 1, 2>, sparse_caller_multi<1, 3, 2, 2>, sparse_caller_multi<1, 3, 3, 2>, sparse_caller_multi<1, 3, 4, 2>, sparse_caller_multi<1, 3, 5, 2>},
+                {sparse_caller_multi<1, 3, 1, 3>, sparse_caller_multi<1, 3, 2, 3>, sparse_caller_multi<1, 3, 3, 3>, sparse_caller_multi<1, 3, 4, 3>, sparse_caller_multi<1, 3, 5, 3>},
+                {sparse_caller_multi<1, 3, 1, 4>, sparse_caller_multi<1, 3, 2, 4>, sparse_caller_multi<1, 3, 3, 4>, sparse_caller_multi<1, 3, 4, 4>, sparse_caller_multi<1, 3, 5, 4>},
+                {sparse_caller_multi<1, 3, 1, 5>, sparse_caller_multi<1, 3, 2, 5>, sparse_caller_multi<1, 3, 3, 5>, sparse_caller_multi<1, 3, 4, 5>, sparse_caller_multi<1, 3, 5, 5>}
+            },
+            { // index 4
+                {sparse_caller_multi<1, 4, 1, 1>, sparse_caller_multi<1, 4, 2, 1>, sparse_caller_multi<1, 4, 3, 1>, sparse_caller_multi<1, 4, 4, 1>, sparse_caller_multi<1, 4, 5, 1>},
+                {sparse_caller_multi<1, 4, 1, 2>, sparse_caller_multi<1, 4, 2, 2>, sparse_caller_multi<1, 4, 3, 2>, sparse_caller_multi<1, 4, 4, 2>, sparse_caller_multi<1, 4, 5, 2>},
+                {sparse_caller_multi<1, 4, 1, 3>, sparse_caller_multi<1, 4, 2, 3>, sparse_caller_multi<1, 4, 3, 3>, sparse_caller_multi<1, 4, 4, 3>, sparse_caller_multi<1, 4, 5, 3>},
+                {sparse_caller_multi<1, 4, 1, 4>, sparse_caller_multi<1, 4, 2, 4>, sparse_caller_multi<1, 4, 3, 4>, sparse_caller_multi<1, 4, 4, 4>, sparse_caller_multi<1, 4, 5, 4>},
+                {sparse_caller_multi<1, 4, 1, 5>, sparse_caller_multi<1, 4, 2, 5>, sparse_caller_multi<1, 4, 3, 5>, sparse_caller_multi<1, 4, 4, 5>, sparse_caller_multi<1, 4, 5, 5>}
+            }
+        };
+
+        switch(index)
+        {
+            case 0:
+                bindTexture(&tex_If1_multi0, I);
+                bindTexture(&tex_Jf1_multi0, J);
+                break;
+            case 1:
+                bindTexture(&tex_If1_multi1, I);
+                bindTexture(&tex_Jf1_multi1, J);
+                break;
+            case 2:
+                bindTexture(&tex_If1_multi2, I);
+                bindTexture(&tex_Jf1_multi2, J);
+                break;
+            case 3:
+                bindTexture(&tex_If1_multi3, I);
+                bindTexture(&tex_Jf1_multi3, J);
+                break;
+            case 4:
+                bindTexture(&tex_If1_multi4, I);
+                bindTexture(&tex_Jf1_multi4, J);
+                break;
+            default:
+                CV_Error(CV_StsBadArg, "invalid execution line index");
+                break;
+        }
+
+        funcs[index][patch.y - 1][patch.x - 1](I.rows, I.cols, prevPts, nextPts, status, err, ptcount,
+            level, block, stream);
+    }
+
+    void sparse4_multi(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream, int index)
+    {
+        typedef void (*func_t)(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                               int level, dim3 block, cudaStream_t stream);
+
+        static const func_t funcs[5][5][5] =
+        {
+            { // index 0
+                {sparse_caller_multi<4, 0, 1, 1>, sparse_caller_multi<4, 0, 2, 1>, sparse_caller_multi<4, 0, 3, 1>, sparse_caller_multi<4, 0, 4, 1>, sparse_caller_multi<4, 0, 5, 1>},
+                {sparse_caller_multi<4, 0, 1, 2>, sparse_caller_multi<4, 0, 2, 2>, sparse_caller_multi<4, 0, 3, 2>, sparse_caller_multi<4, 0, 4, 2>, sparse_caller_multi<4, 0, 5, 2>},
+                {sparse_caller_multi<4, 0, 1, 3>, sparse_caller_multi<4, 0, 2, 3>, sparse_caller_multi<4, 0, 3, 3>, sparse_caller_multi<4, 0, 4, 3>, sparse_caller_multi<4, 0, 5, 3>},
+                {sparse_caller_multi<4, 0, 1, 4>, sparse_caller_multi<4, 0, 2, 4>, sparse_caller_multi<4, 0, 3, 4>, sparse_caller_multi<4, 0, 4, 4>, sparse_caller_multi<4, 0, 5, 4>},
+                {sparse_caller_multi<4, 0, 1, 5>, sparse_caller_multi<4, 0, 2, 5>, sparse_caller_multi<4, 0, 3, 5>, sparse_caller_multi<4, 0, 4, 5>, sparse_caller_multi<4, 0, 5, 5>}
+            },
+            { // index 1
+                {sparse_caller_multi<4, 1, 1, 1>, sparse_caller_multi<4, 1, 2, 1>, sparse_caller_multi<4, 1, 3, 1>, sparse_caller_multi<4, 1, 4, 1>, sparse_caller_multi<4, 1, 5, 1>},
+                {sparse_caller_multi<4, 1, 1, 2>, sparse_caller_multi<4, 1, 2, 2>, sparse_caller_multi<4, 1, 3, 2>, sparse_caller_multi<4, 1, 4, 2>, sparse_caller_multi<4, 1, 5, 2>},
+                {sparse_caller_multi<4, 1, 1, 3>, sparse_caller_multi<4, 1, 2, 3>, sparse_caller_multi<4, 1, 3, 3>, sparse_caller_multi<4, 1, 4, 3>, sparse_caller_multi<4, 1, 5, 3>},
+                {sparse_caller_multi<4, 1, 1, 4>, sparse_caller_multi<4, 1, 2, 4>, sparse_caller_multi<4, 1, 3, 4>, sparse_caller_multi<4, 1, 4, 4>, sparse_caller_multi<4, 1, 5, 4>},
+                {sparse_caller_multi<4, 1, 1, 5>, sparse_caller_multi<4, 1, 2, 5>, sparse_caller_multi<4, 1, 3, 5>, sparse_caller_multi<4, 1, 4, 5>, sparse_caller_multi<4, 1, 5, 5>}
+            },
+            { // index 2
+                {sparse_caller_multi<4, 2, 1, 1>, sparse_caller_multi<4, 2, 2, 1>, sparse_caller_multi<4, 2, 3, 1>, sparse_caller_multi<4, 2, 4, 1>, sparse_caller_multi<4, 2, 5, 1>},
+                {sparse_caller_multi<4, 2, 1, 2>, sparse_caller_multi<4, 2, 2, 2>, sparse_caller_multi<4, 2, 3, 2>, sparse_caller_multi<4, 2, 4, 2>, sparse_caller_multi<4, 2, 5, 2>},
+                {sparse_caller_multi<4, 2, 1, 3>, sparse_caller_multi<4, 2, 2, 3>, sparse_caller_multi<4, 2, 3, 3>, sparse_caller_multi<4, 2, 4, 3>, sparse_caller_multi<4, 2, 5, 3>},
+                {sparse_caller_multi<4, 2, 1, 4>, sparse_caller_multi<4, 2, 2, 4>, sparse_caller_multi<4, 2, 3, 4>, sparse_caller_multi<4, 2, 4, 4>, sparse_caller_multi<4, 2, 5, 4>},
+                {sparse_caller_multi<4, 2, 1, 5>, sparse_caller_multi<4, 2, 2, 5>, sparse_caller_multi<4, 2, 3, 5>, sparse_caller_multi<4, 2, 4, 5>, sparse_caller_multi<4, 2, 5, 5>}
+            },
+            { // index 3
+                {sparse_caller_multi<4, 3, 1, 1>, sparse_caller_multi<4, 3, 2, 1>, sparse_caller_multi<4, 3, 3, 1>, sparse_caller_multi<4, 3, 4, 1>, sparse_caller_multi<4, 3, 5, 1>},
+                {sparse_caller_multi<4, 3, 1, 2>, sparse_caller_multi<4, 3, 2, 2>, sparse_caller_multi<4, 3, 3, 2>, sparse_caller_multi<4, 3, 4, 2>, sparse_caller_multi<4, 3, 5, 2>},
+                {sparse_caller_multi<4, 3, 1, 3>, sparse_caller_multi<4, 3, 2, 3>, sparse_caller_multi<4, 3, 3, 3>, sparse_caller_multi<4, 3, 4, 3>, sparse_caller_multi<4, 3, 5, 3>},
+                {sparse_caller_multi<4, 3, 1, 4>, sparse_caller_multi<4, 3, 2, 4>, sparse_caller_multi<4, 3, 3, 4>, sparse_caller_multi<4, 3, 4, 4>, sparse_caller_multi<4, 3, 5, 4>},
+                {sparse_caller_multi<4, 3, 1, 5>, sparse_caller_multi<4, 3, 2, 5>, sparse_caller_multi<4, 3, 3, 5>, sparse_caller_multi<4, 3, 4, 5>, sparse_caller_multi<4, 3, 5, 5>}
+            },
+            { // index 4
+                {sparse_caller_multi<4, 4, 1, 1>, sparse_caller_multi<4, 4, 2, 1>, sparse_caller_multi<4, 4, 3, 1>, sparse_caller_multi<4, 4, 4, 1>, sparse_caller_multi<4, 4, 5, 1>},
+                {sparse_caller_multi<4, 4, 1, 2>, sparse_caller_multi<4, 4, 2, 2>, sparse_caller_multi<4, 4, 3, 2>, sparse_caller_multi<4, 4, 4, 2>, sparse_caller_multi<4, 4, 5, 2>},
+                {sparse_caller_multi<4, 4, 1, 3>, sparse_caller_multi<4, 4, 2, 3>, sparse_caller_multi<4, 4, 3, 3>, sparse_caller_multi<4, 4, 4, 3>, sparse_caller_multi<4, 4, 5, 3>},
+                {sparse_caller_multi<4, 4, 1, 4>, sparse_caller_multi<4, 4, 2, 4>, sparse_caller_multi<4, 4, 3, 4>, sparse_caller_multi<4, 4, 4, 4>, sparse_caller_multi<4, 4, 5, 4>},
+                {sparse_caller_multi<4, 4, 1, 5>, sparse_caller_multi<4, 4, 2, 5>, sparse_caller_multi<4, 4, 3, 5>, sparse_caller_multi<4, 4, 4, 5>, sparse_caller_multi<4, 4, 5, 5>}
+            }
+        };
+
+        switch(index)
+        {
+            case 0:
+                bindTexture(&tex_If4_multi0, I);
+                bindTexture(&tex_Jf4_multi0, J);
+                break;
+            case 1:
+                bindTexture(&tex_If4_multi1, I);
+                bindTexture(&tex_Jf4_multi1, J);
+                break;
+            case 2:
+                bindTexture(&tex_If4_multi2, I);
+                bindTexture(&tex_Jf4_multi2, J);
+                break;
+            case 3:
+                bindTexture(&tex_If4_multi3, I);
+                bindTexture(&tex_Jf4_multi3, J);
+                break;
+            case 4:
+                bindTexture(&tex_If4_multi4, I);
+                bindTexture(&tex_Jf4_multi4, J);
+                break;
+            default:
+                CV_Error(CV_StsBadArg, "invalid execution line index");
+                break;
+        }
+
+        funcs[index][patch.y - 1][patch.x - 1](I.rows, I.cols, prevPts, nextPts, status, err, ptcount,
+            level, block, stream);
+    }
+
+#endif // defined(HAVE_TBB)
+
     void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV, PtrStepSzf err, int2 winSize, cudaStream_t stream)
     {
         dim3 block(16, 16);

modules/gpu/src/pyrlk.cpp

@@ -42,6 +42,11 @@
 
 #include "precomp.hpp"
 
+#ifdef HAVE_TBB
+#include <tbb/compat/condition_variable>
+#include <tbb/mutex.h>
+#endif
+
 using namespace std;
 using namespace cv;
 using namespace cv::gpu;
@@ -64,6 +69,22 @@ namespace pyrlk
     void sparse4(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
                  int level, dim3 block, dim3 patch, cudaStream_t stream = 0);
 
+
+#if !defined(HAVE_TBB)
+    void loadConstants_multi(int2, int, int, cudaStream_t) { throw_notbb(); }
+    void sparse1_multi(PtrStepSzf, PtrStepSzf, const float2*, float2*, uchar*, float*, int,
+                 int, dim3, dim3, cudaStream_t, int) { throw_notbb(); }
+    void sparse4_multi(PtrStepSz<float4>, PtrStepSz<float4>, const float2*, float2*, uchar*, float*, int,
+                 int, dim3, dim3, cudaStream_t, int) { throw_notbb(); }
+#else
+    void loadConstants_multi(int2 winSize, int iters, int index = 0, cudaStream_t stream = 0);
+
+    void sparse1_multi(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream = 0, int index = 0);
+    void sparse4_multi(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
+                 int level, dim3 block, dim3 patch, cudaStream_t stream = 0, int index = 0);
+#endif
+
     void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV,
                PtrStepSzf err, int2 winSize, cudaStream_t stream = 0);
 }
@@ -98,7 +119,9 @@ namespace
     }
 }
 
-void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err)
+void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg,
+                        const GpuMat& nextImg, const GpuMat& prevPts,
+                        GpuMat& nextPts, GpuMat& status, GpuMat* err)
 {
     if (prevPts.empty())
     {
@@ -181,6 +204,130 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next
     }
 }
 
+#ifdef HAVE_TBB
+//--------------------------------------------------------------------------
+// Multi-threading support
+
+static bool index_vector_use[5] = {true, true, true, true, true}; // all free
+static tbb::mutex s_PyrLKOpticalFlow_Mutex;
+static condition_variable s_PyrLKOpticalFlow_ConditionVariable;
+
+void cv::gpu::PyrLKOpticalFlow::sparse_multi(const GpuMat& prevImg,
+        const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
+        GpuMat& status, Stream& stream, GpuMat* err)
+{
+    if (prevPts.empty())
+    {
+        nextPts.release();
+        status.release();
+        if (err) err->release();
+        return;
+    }
+
+    dim3 block, patch;
+    calcPatchSize(winSize, block, patch);
+
+    CV_Assert(prevImg.channels() == 1 || prevImg.channels() == 3 || prevImg.channels() == 4);
+    CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
+    CV_Assert(maxLevel >= 0);
+    CV_Assert(winSize.width > 2 && winSize.height > 2);
+    CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6);
+    CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2);
+
+    if (useInitialFlow)
+        CV_Assert(nextPts.size() == prevPts.size() && nextPts.type() == CV_32FC2);
+    else
+        ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts);
+
+    GpuMat temp1 = (useInitialFlow ? nextPts : prevPts).reshape(1);
+    GpuMat temp2 = nextPts.reshape(1);
+    multiply(temp1, Scalar::all(1.0 / (1 << maxLevel) / 2.0), temp2);
+
+    ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status);
+    status.setTo(Scalar::all(1));
+
+    if (err)
+        ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err);
+
+    // build the image pyramids.
+
+    prevPyr_.resize(maxLevel + 1);
+    nextPyr_.resize(maxLevel + 1);
+
+    int cn = prevImg.channels();
+
+    if (cn == 1 || cn == 4)
+    {
+        prevImg.convertTo(prevPyr_[0], CV_32F);
+        nextImg.convertTo(nextPyr_[0], CV_32F);
+    }
+    else
+    {
+        buf_.resize(1);
+
+        cvtColor(prevImg, buf_[0], COLOR_BGR2BGRA);
+        buf_[0].convertTo(prevPyr_[0], CV_32F);
+
+        cvtColor(nextImg, buf_[0], COLOR_BGR2BGRA);
+        buf_[0].convertTo(nextPyr_[0], CV_32F);
+    }
+
+    for (int level = 1; level <= maxLevel; ++level)
+    {
+        pyrDown(prevPyr_[level - 1], prevPyr_[level]);
+        pyrDown(nextPyr_[level - 1], nextPyr_[level]);
+    }
+
+    //--------------------------------------------------------------------------
+    // Multithreading support
+    int index = -1;
+
+    do
+    {
+        unique_lock<tbb::mutex> ul(s_PyrLKOpticalFlow_Mutex);
+        for (unsigned int uiI = 0; uiI < 5; ++uiI)
+        {
+            if (index_vector_use[uiI])
+            {
+                index = uiI;
+                index_vector_use[uiI] = false;
+                break;
+            }
+        }
+        if (index < 0)
+            s_PyrLKOpticalFlow_ConditionVariable.wait(ul);
+
+        ul.unlock();
+    }while (index < 0);
+
+    //--------------------------------------------------------------------------
+
+    pyrlk::loadConstants_multi(make_int2(winSize.width, winSize.height), iters, index);
+
+    for (int level = maxLevel; level >= 0; level--)
+    {
+        if (cn == 1)
+        {
+            pyrlk::sparse1_multi(prevPyr_[level], nextPyr_[level],
+                prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(),
+                level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
+                level, block, patch, StreamAccessor::getStream(stream), index);
+        }
+        else
+        {
+            pyrlk::sparse4_multi(prevPyr_[level], nextPyr_[level],
+                prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(),
+                level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
+                level, block, patch, StreamAccessor::getStream(stream), index);
+        }
+    }
+
+    unique_lock<tbb::mutex> ul(s_PyrLKOpticalFlow_Mutex);
+    index_vector_use[index] = true;
+    s_PyrLKOpticalFlow_ConditionVariable.notify_one();
+}
+#endif
+
 void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err)
 {
     CV_Assert(prevImg.type() == CV_8UC1);

modules/gpu/test/test_optflow.cpp

@@ -44,6 +44,10 @@
 
 #ifdef HAVE_CUDA
 
+#ifdef HAVE_TBB
+#include <tbb/tbb.h>
+#endif
+
 using namespace cvtest;
 
 //////////////////////////////////////////////////////
@@ -322,6 +326,134 @@ GPU_TEST_P(PyrLKOpticalFlow, Sparse)
     ASSERT_LE(bad_ratio, 0.01);
 }
 
+#ifdef HAVE_TBB
+
+struct Sparse_Multi_Functor
+{
+    explicit Sparse_Multi_Functor(const cv::Mat& in_frame0, const cv::Mat& in_frame1,
+                                  const cv::Mat& in_pts_mat,
+                                  cv::gpu::GpuMat* in_d_pts,
+                                  cv::gpu::GpuMat* in_d_nextPts,
+                                  cv::gpu::GpuMat* in_d_status,
+                                  cv::gpu::Stream* in_streams):
+                                          m_frame0(in_frame0), m_frame1(in_frame1),
+                                          m_pts_mat(in_pts_mat),
+                                          m_d_pts(in_d_pts), m_d_nextPts(in_d_nextPts),
+                                          m_d_status(in_d_status), m_streams(in_streams){}
+
+    void operator()( const tbb::blocked_range<size_t>& r ) const
+    {
+        for( size_t i = r.begin(); i != r.end(); ++i )
+        {
+            m_d_pts[i].upload(m_pts_mat);
+            cv::gpu::PyrLKOpticalFlow pyrLK;
+            pyrLK.sparse_multi(loadMat(m_frame0), loadMat(m_frame1), m_d_pts[i],
+                               m_d_nextPts[i], m_d_status[i], m_streams[i]);
+            m_streams[i].waitForCompletion();
+        }
+    }
+
+    const cv::Mat& m_frame0;
+    const cv::Mat& m_frame1;
+    const cv::Mat& m_pts_mat;
+    cv::gpu::GpuMat* m_d_pts;
+    cv::gpu::GpuMat* m_d_nextPts;
+    cv::gpu::GpuMat* m_d_status;
+    cv::gpu::Stream* m_streams;
+};
+
+
+GPU_TEST_P(PyrLKOpticalFlow, Sparse_Multi)
+{
+    cv::Mat frame0 = readImage("opticalflow/frame0.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame0.empty());
+
+    cv::Mat frame1 = readImage("opticalflow/frame1.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame1.empty());
+
+    cv::Mat gray_frame;
+    if (useGray)
+        gray_frame = frame0;
+    else
+        cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
+
+    std::vector<cv::Point2f> pts;
+    cv::goodFeaturesToTrack(gray_frame, pts, 1000, 0.01, 0.0);
+
+    //--------------------------------------------------------------------------
+    // GPU
+    const unsigned int NB_EXEC_LINES = 27;
+
+    cv::gpu::GpuMat d_pts[NB_EXEC_LINES];
+    cv::gpu::GpuMat d_nextPts[NB_EXEC_LINES];
+    cv::gpu::GpuMat d_status[NB_EXEC_LINES];
+    cv::gpu::Stream streams[NB_EXEC_LINES];
+
+    cv::Mat pts_mat(1, (int) pts.size(), CV_32FC2, (void*) &pts[0]);
+
+    tbb::parallel_for(tbb::blocked_range<size_t>(0, NB_EXEC_LINES),
+                      Sparse_Multi_Functor(frame0, frame1, pts_mat,
+                                           d_pts, d_nextPts, d_status, streams));
+
+    std::vector<cv::Point2f> nextPts[NB_EXEC_LINES];
+    std::vector<unsigned char> status[NB_EXEC_LINES];
+
+    for (unsigned int i = 0; i < NB_EXEC_LINES; ++i)
+    {
+        nextPts[i].resize(d_nextPts[i].cols);
+        cv::Mat nextPts_mat(1, d_nextPts[i].cols, CV_32FC2, (void*) &(nextPts[i][0]));
+        d_nextPts[i].download(nextPts_mat);
+
+        status[i].resize(d_status[i].cols);
+        cv::Mat status_mat(1, d_status[i].cols, CV_8UC1, (void*) &(status[i][0]));
+        d_status[i].download(status_mat);
+    }
+
+    //--------------------------------------------------------------------------
+    // CPU
+    std::vector<cv::Point2f> nextPts_gold;
+    std::vector<unsigned char> status_gold;
+    cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, cv::noArray());
+
+    //--------------------------------------------------------------------------
+    // CHECKS
+    for (unsigned int uiI = 0; uiI < NB_EXEC_LINES; ++uiI)
+    {
+        ASSERT_EQ(nextPts_gold.size(), nextPts[uiI].size());
+        ASSERT_EQ(status_gold.size(), status[uiI].size());
+    }
+
+    size_t mistmatch = 0;
+    for (unsigned int uiI = 0; uiI < NB_EXEC_LINES; ++uiI)
+    {
+        for (size_t i = 0; i < nextPts[uiI].size(); ++i)
+        {
+            cv::Point2i a = nextPts[uiI][i];
+            cv::Point2i b = nextPts_gold[i];
+
+            if (status[uiI][i] != status_gold[i])
+            {
+                ++mistmatch;
+                continue;
+            }
+
+            if (status[uiI][i])
+            {
+                bool eq = std::abs(a.x - b.x) <= 1 && std::abs(a.y - b.y) <= 1;
+
+                if (!eq)
+                    ++mistmatch;
+            }
+        }
+    }
+
+    double bad_ratio = static_cast<double>(mistmatch) / (nextPts[0].size() * NB_EXEC_LINES);
+
+    ASSERT_LE(bad_ratio, 0.01);
+}
+
+#endif // HAVE_TBB
+
 INSTANTIATE_TEST_CASE_P(GPU_Video, PyrLKOpticalFlow, testing::Combine(
     ALL_DEVICES,
     testing::Values(UseGray(true), UseGray(false))));

modules/highgui/CMakeLists.txt

@@ -220,7 +220,7 @@ if(HAVE_AVFOUNDATION)
     list(APPEND HIGHGUI_LIBRARIES "-framework AVFoundation" "-framework QuartzCore")
   else()
     list(APPEND highgui_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_avfoundation_mac.mm)
-    list(APPEND HIGHGUI_LIBRARIES "-framework Cocoa" "-framework Accelerate" "-framework AVFoundation" "-framework CoreGraphics" "-framework CoreImage" "-framework CoreMedia" "-framework CoreVideo" "-framework QuartzCore")
+    list(APPEND HIGHGUI_LIBRARIES "-framework Cocoa" "-framework Accelerate" "-framework AVFoundation" "-framework CoreGraphics" "-framework CoreMedia" "-framework CoreVideo" "-framework QuartzCore")
   endif()
 endif()
 
@@ -241,7 +241,7 @@ endif(HAVE_INTELPERC)
 if(IOS)
   add_definitions(-DHAVE_IOS=1)
   list(APPEND highgui_srcs src/ios_conversions.mm src/cap_ios_abstract_camera.mm src/cap_ios_photo_camera.mm src/cap_ios_video_camera.mm)
-  list(APPEND HIGHGUI_LIBRARIES "-framework Accelerate" "-framework AVFoundation" "-framework CoreGraphics" "-framework CoreImage" "-framework CoreMedia" "-framework CoreVideo" "-framework QuartzCore" "-framework AssetsLibrary")
+  list(APPEND HIGHGUI_LIBRARIES "-framework Accelerate" "-framework AVFoundation" "-framework CoreGraphics" "-framework CoreMedia" "-framework CoreVideo" "-framework QuartzCore" "-framework UIKit")
 endif()
 
 if(WIN32)
@@ -293,9 +293,6 @@ if(MSVC)
   set_target_properties(${the_module} PROPERTIES LINK_FLAGS "/NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:atlsd.lib /NODEFAULTLIB:libcmt.lib /DEBUG")
 endif()
 
-#stop automatic dependencies propagation for this module
-set_target_properties(${the_module} PROPERTIES LINK_INTERFACE_LIBRARIES "")
-
 ocv_add_precompiled_headers(${the_module})
 ocv_warnings_disable(CMAKE_CXX_FLAGS -Wno-deprecated-declarations -Wno-clobbered)
 

modules/highgui/src/bitstrm.cpp

@@ -42,6 +42,7 @@
 
 #include "precomp.hpp"
 #include "bitstrm.hpp"
+#include "utils.hpp"
 
 namespace cv
 {
@@ -103,7 +104,6 @@ void  RBaseStream::readBlock()
     fseek( m_file, m_block_pos, SEEK_SET );
     size_t readed = fread( m_start, 1, m_block_size, m_file );
     m_end = m_start + readed;
-    m_current = m_start;
 
     if( readed == 0 || m_current >= m_end )
         throw RBS_THROW_EOS;
@@ -164,7 +164,7 @@ void  RBaseStream::release()
 
 void  RBaseStream::setPos( int pos )
 {
-    assert( isOpened() && pos >= 0 );
+    CV_Assert(isOpened() && pos >= 0);
 
     if( !m_file )
     {
@@ -181,14 +181,19 @@ void  RBaseStream::setPos( int pos )
 
 int  RBaseStream::getPos()
 {
-    assert( isOpened() );
+    CV_Assert(isOpened());
-    return m_block_pos + (int)(m_current - m_start);
+    int pos = validateToInt((m_current - m_start) + m_block_pos);
+    CV_Assert(pos >= m_block_pos); // overflow check
+    CV_Assert(pos >= 0); // overflow check
+    return pos;
 }
 
 void  RBaseStream::skip( int bytes )
 {
-    assert( bytes >= 0 );
+    CV_Assert(bytes >= 0);
+    uchar* old = m_current;
     m_current += bytes;
+    CV_Assert(m_current >= old);  // overflow check
 }
 
 /////////////////////////  RLByteStream ////////////////////////////
@@ -208,6 +213,8 @@ int  RLByteStream::getByte()
         current = m_current;
     }
 
+    CV_Assert(current < m_end);
+
     val = *((uchar*)current);
     m_current = current + 1;
     return val;
@@ -218,7 +225,7 @@ int RLByteStream::getBytes( void* buffer, int count )
 {
     uchar*  data = (uchar*)buffer;
     int readed = 0;
-    assert( count >= 0 );
+    CV_Assert(count >= 0);
 
     while( count > 0 )
     {
@@ -369,7 +376,7 @@ void  WBaseStream::writeBlock()
 {
     int size = (int)(m_current - m_start);
 
-    assert( isOpened() );
+    CV_Assert(isOpened());
     if( size == 0 )
         return;
 
@@ -440,7 +447,7 @@ void  WBaseStream::release()
 
 int  WBaseStream::getPos()
 {
-    assert( isOpened() );
+    CV_Assert(isOpened());
     return m_block_pos + (int)(m_current - m_start);
 }
 
@@ -463,7 +470,7 @@ void WLByteStream::putBytes( const void* buffer, int count )
 {
     uchar* data = (uchar*)buffer;
 
-    assert( data && m_current && count >= 0 );
+    CV_Assert(data && m_current && count >= 0);
 
     while( count )
     {

modules/highgui/src/bitstrm.hpp

@@ -48,13 +48,20 @@
 namespace cv
 {
 
-enum
+#define DECLARE_RBS_EXCEPTION(name) \
-{
+class RBS_ ## name ## _Exception : public cv::Exception \
-    RBS_THROW_EOS=-123,  // <end of stream> exception code
+{ \
-    RBS_THROW_FORB=-124,  // <forrbidden huffman code> exception code
+public: \
-    RBS_HUFF_FORB=2047,  // forrbidden huffman code "value"
+    RBS_ ## name ## _Exception(int code_, const String& err_, const String& func_, const String& file_, int line_) : \
-    RBS_BAD_HEADER=-125 // invalid header
+        cv::Exception(code_, err_, func_, file_, line_) \
+    {} \
 };
+DECLARE_RBS_EXCEPTION(THROW_EOS)
+#define RBS_THROW_EOS RBS_THROW_EOS_Exception(CV_StsError, "Unexpected end of input stream", CV_Func, __FILE__, __LINE__)
+DECLARE_RBS_EXCEPTION(THROW_FORB)
+#define RBS_THROW_FORB RBS_THROW_FORB_Exception(CV_StsError, "Forrbidden huffman code", CV_Func, __FILE__, __LINE__)
+DECLARE_RBS_EXCEPTION(BAD_HEADER)
+#define RBS_BAD_HEADER RBS_BAD_HEADER_Exception(CV_StsError, "Invalid header", CV_Func, __FILE__, __LINE__)
 
 typedef unsigned long ulong;
 

modules/highgui/src/cap_avfoundation_mac.mm

@@ -697,7 +697,15 @@ CvCaptureFile::CvCaptureFile(const char* filename) {
         return;
     }
 
-    mAssetTrack = [[mAsset tracksWithMediaType: AVMediaTypeVideo][0] retain];
+    NSArray *tracks = [mAsset tracksWithMediaType:AVMediaTypeVideo];
+    if ([tracks count] == 0) {
+        fprintf(stderr, "OpenCV: Couldn't read video stream from file \"%s\"\n", filename);
+        [localpool drain];
+        started = 0;
+        return;
+    }
+
+    mAssetTrack = [tracks[0] retain];
 
     if ( ! setupReadingAt(kCMTimeZero) ) {
         fprintf(stderr, "OpenCV: Couldn't read movie file \"%s\"\n", filename);

modules/highgui/src/cap_ffmpeg_impl.hpp

@@ -129,9 +129,9 @@ extern "C" {
     #include <unistd.h>
     #include <stdio.h>
     #include <sys/types.h>
-    #include <sys/sysctl.h>
     #include <sys/time.h>
 #if defined __APPLE__
+    #include <sys/sysctl.h>
     #include <mach/clock.h>
     #include <mach/mach.h>
 #endif
@@ -173,6 +173,10 @@ extern "C" {
 #define AV_PIX_FMT_GRAY16BE PIX_FMT_GRAY16BE
 #endif
 
+#ifndef PKT_FLAG_KEY
+#define PKT_FLAG_KEY AV_PKT_FLAG_KEY
+#endif
+
 #if LIBAVUTIL_BUILD >= (LIBAVUTIL_VERSION_MICRO >= 100 \
     ? CALC_FFMPEG_VERSION(52, 38, 100) : CALC_FFMPEG_VERSION(52, 13, 0))
 #define USE_AV_FRAME_GET_BUFFER 1
@@ -1481,13 +1485,20 @@ static AVStream *icv_add_video_stream_FFMPEG(AVFormatContext *oc,
     // some formats want stream headers to be seperate
     if(oc->oformat->flags & AVFMT_GLOBALHEADER)
     {
+#if LIBAVCODEC_BUILD > CALC_FFMPEG_VERSION(56, 35, 0)
+        c->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+#else
         c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+#endif
     }
 #endif
 
 #if LIBAVCODEC_BUILD >= CALC_FFMPEG_VERSION(52, 42, 0)
     st->avg_frame_rate = (AVRational){frame_rate, frame_rate_base};
 #endif
+#if LIBAVFORMAT_BUILD >= CALC_FFMPEG_VERSION(55, 20, 0)
+    st->time_base = c->time_base;
+#endif
 
     return st;
 }
@@ -1509,23 +1520,24 @@ static int icv_av_write_frame_FFMPEG( AVFormatContext * oc, AVStream * video_st,
 #endif
     int ret = OPENCV_NO_FRAMES_WRITTEN_CODE;
 
-    if (oc->oformat->flags & AVFMT_RAWPICTURE) {
+#if LIBAVFORMAT_BUILD < CALC_FFMPEG_VERSION(57, 0, 0)
+    if (oc->oformat->flags & AVFMT_RAWPICTURE)
+    {
         /* raw video case. The API will change slightly in the near
            futur for that */
         AVPacket pkt;
         av_init_packet(&pkt);
 
-#ifndef PKT_FLAG_KEY
-#define PKT_FLAG_KEY AV_PKT_FLAG_KEY
-#endif
-
         pkt.flags |= PKT_FLAG_KEY;
         pkt.stream_index= video_st->index;
         pkt.data= (uint8_t *)picture;
         pkt.size= sizeof(AVPicture);
 
         ret = av_write_frame(oc, &pkt);
-    } else {
+    }
+    else
+#endif
+    {
         /* encode the image */
         AVPacket pkt;
         av_init_packet(&pkt);
@@ -1683,7 +1695,9 @@ void CvVideoWriter_FFMPEG::close()
     /* write the trailer, if any */
     if(ok && oc)
     {
-        if( (oc->oformat->flags & AVFMT_RAWPICTURE) == 0 )
+#if LIBAVFORMAT_BUILD < CALC_FFMPEG_VERSION(57, 0, 0)
+        if (!(oc->oformat->flags & AVFMT_RAWPICTURE))
+#endif
         {
             for(;;)
             {
@@ -1917,7 +1931,10 @@ bool CvVideoWriter_FFMPEG::open( const char * filename, int fourcc,
 
     outbuf = NULL;
 
-    if (!(oc->oformat->flags & AVFMT_RAWPICTURE)) {
+#if LIBAVFORMAT_BUILD < CALC_FFMPEG_VERSION(57, 0, 0)
+    if (!(oc->oformat->flags & AVFMT_RAWPICTURE))
+#endif
+    {
         /* allocate output buffer */
         /* assume we will never get codec output with more than 4 bytes per pixel... */
         outbuf_size = width*height*4;
@@ -2211,7 +2228,11 @@ AVStream* OutputMediaStream_FFMPEG::addVideoStream(AVFormatContext *oc, CV_CODEC
         // some formats want stream headers to be seperate
         if (oc->oformat->flags & AVFMT_GLOBALHEADER)
         {
-            c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+            #if LIBAVCODEC_BUILD > CALC_FFMPEG_VERSION(56, 35, 0)
+                c->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;
+            #else
+                c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+            #endif
         }
     #endif
 

modules/highgui/src/cap_ios_video_camera.mm

@@ -31,7 +31,7 @@
 
 #import "opencv2/highgui/cap_ios.h"
 #include "precomp.hpp"
-#import <AssetsLibrary/AssetsLibrary.h>
+#import <UIKit/UIKit.h>
 
 
 static CGFloat DegreesToRadians(CGFloat degrees) {return degrees * M_PI / 180;};
@@ -595,11 +595,7 @@ static CGFloat DegreesToRadians(CGFloat degrees) {return degrees * M_PI / 180;};
         return;
     }
 
-    ALAssetsLibrary *library = [[ALAssetsLibrary alloc] init];
+    UISaveVideoAtPathToSavedPhotosAlbum([self videoFileString], nil, nil, NULL);
-    if ([library videoAtPathIsCompatibleWithSavedPhotosAlbum:[self videoFileURL]]) {
-        [library writeVideoAtPathToSavedPhotosAlbum:[self videoFileURL]
-                                    completionBlock:^(NSURL *assetURL, NSError *error){ (void)assetURL; (void)error; }];
-    }
 }
 
 

modules/highgui/src/cap_qt.cpp

@@ -634,11 +634,11 @@ static int icvOpenCamera_QT (CvCapture_QT_Cam * capture, const int index)
     OPENCV_ASSERT (capture,            "icvOpenCamera_QT", "'capture' is a NULL-pointer");
     OPENCV_ASSERT (index >=0, "icvOpenCamera_QT", "camera index is negative");
 
-    ComponentDescription	component_description;
+    ComponentDescription    component_description;
-    Component				component = 0;
+    Component               component = 0;
     int                     number_of_inputs = 0;
     Rect                    myRect;
-    ComponentResult			result = noErr;
+    ComponentResult         result = noErr;
 
 
     // travers all components and count video digitizer channels

modules/highgui/src/cap_v4l.cpp

@@ -1164,12 +1164,12 @@ static int read_frame_v4l2(CvCaptureCAM_V4L* capture) {
    //printf("got data in buff %d, len=%d, flags=0x%X, seq=%d, used=%d)\n",
    //	  buf.index, buf.length, buf.flags, buf.sequence, buf.bytesused);
 
-   if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
-       perror ("VIDIOC_QBUF");
-
    //set timestamp in capture struct to be timestamp of most recent frame
    capture->timestamp = buf.timestamp;
 
+   if (-1 == ioctl (capture->deviceHandle, VIDIOC_QBUF, &buf))
+       perror ("VIDIOC_QBUF");
+
    return 1;
 }
 

modules/highgui/src/grfmt_bmp.cpp

@@ -92,6 +92,7 @@ bool  BmpDecoder::readHeader()
         m_offset = m_strm.getDWord();
 
         int  size = m_strm.getDWord();
+        CV_Assert(size > 0); // overflow, 2Gb limit
 
         if( size >= 36 )
         {
@@ -115,8 +116,9 @@ bool  BmpDecoder::readHeader()
 
                 if( m_bpp <= 8 )
                 {
-                    memset( m_palette, 0, sizeof(m_palette));
+                    CV_Assert(clrused >= 0 && clrused <= 256);
-                    m_strm.getBytes( m_palette, (clrused == 0? 1<<m_bpp : clrused)*4 );
+                    memset(m_palette, 0, sizeof(m_palette));
+                    m_strm.getBytes(m_palette, (clrused == 0? 1<<m_bpp : clrused)*4 );
                     iscolor = IsColorPalette( m_palette, m_bpp );
                 }
                 else if( m_bpp == 16 && m_rle_code == BMP_BITFIELDS )
@@ -165,6 +167,7 @@ bool  BmpDecoder::readHeader()
     }
     catch(...)
     {
+        throw;
     }
 
     m_type = iscolor ? CV_8UC3 : CV_8UC1;
@@ -184,7 +187,7 @@ bool  BmpDecoder::readHeader()
 bool  BmpDecoder::readData( Mat& img )
 {
     uchar* data = img.data;
-    int step = (int)img.step;
+    int step = validateToInt(img.step);
     bool color = img.channels() > 1;
     uchar  gray_palette[256];
     bool   result = false;
@@ -197,7 +200,7 @@ bool  BmpDecoder::readData( Mat& img )
 
     if( m_origin == IPL_ORIGIN_BL )
     {
-        data += (m_height - 1)*step;
+        data += (m_height - 1)*(size_t)step;
         step = -step;
     }
 
@@ -282,7 +285,9 @@ bool  BmpDecoder::readData( Mat& img )
                     else if( code > 2 ) // absolute mode
                     {
                         if( data + code*nch > line_end ) goto decode_rle4_bad;
-                        m_strm.getBytes( src, (((code + 1)>>1) + 1) & -2 );
+                        int sz = (((code + 1)>>1) + 1) & (~1);
+                        CV_Assert((size_t)sz < _src.getSize());
+                        m_strm.getBytes(src, sz);
                         if( color )
                             data = FillColorRow4( data, src, code, m_palette );
                         else
@@ -363,6 +368,9 @@ decode_rle4_bad: ;
                                                 gray_palette[code] );
 
                         line_end_flag = y - prev_y;
+
+                        if( y >= m_height )
+                            break;
                     }
                     else if( code > 2 ) // absolute mode
                     {
@@ -371,7 +379,9 @@ decode_rle4_bad: ;
 
                         if( data + code3 > line_end )
                             goto decode_rle8_bad;
-                        m_strm.getBytes( src, (code + 1) & -2 );
+                        int sz = (code + 1) & (~1);
+                        CV_Assert((size_t)sz < _src.getSize());
+                        m_strm.getBytes(src, sz);
                         if( color )
                             data = FillColorRow8( data, src, code, m_palette );
                         else
@@ -464,17 +474,20 @@ decode_rle8_bad: ;
 
                 if( !color )
                     icvCvt_BGRA2Gray_8u_C4C1R( src, 0, data, 0, cvSize(m_width,1) );
-                else
+                else if( img.channels() == 3 )
-                    icvCvt_BGRA2BGR_8u_C4C3R( src, 0, data, 0, cvSize(m_width,1) );
+                    icvCvt_BGRA2BGR_8u_C4C3R(src, 0, data, 0, cvSize(m_width, 1));
+                else if( img.channels() == 4 )
+                    memcpy(data, src, m_width * 4);
             }
             result = true;
             break;
         default:
-            assert(0);
+            CV_Error(CV_StsError, "Invalid/unsupported mode");
         }
     }
     catch(...)
     {
+        throw;
     }
 
     return result;
@@ -517,7 +530,7 @@ bool  BmpEncoder::write( const Mat& img, const vector<int>& )
     int  bitmapHeaderSize = 40;
     int  paletteSize = channels > 1 ? 0 : 1024;
     int  headerSize = 14 /* fileheader */ + bitmapHeaderSize + paletteSize;
-    int  fileSize = fileStep*height + headerSize;
+    size_t fileSize = (size_t)fileStep*height + headerSize;
     PaletteEntry palette[256];
 
     if( m_buf )
@@ -527,7 +540,7 @@ bool  BmpEncoder::write( const Mat& img, const vector<int>& )
     strm.putBytes( fmtSignBmp, (int)strlen(fmtSignBmp) );
 
     // write file header
-    strm.putDWord( fileSize ); // file size
+    strm.putDWord( validateToInt(fileSize) ); // file size
     strm.putDWord( 0 );
     strm.putDWord( headerSize );
 

modules/highgui/src/grfmt_exr.cpp

@@ -188,7 +188,7 @@ bool  ExrDecoder::readData( Mat& img )
     bool color = img.channels() > 1;
 
     uchar* data = img.data;
-    int step = img.step;
+    size_t step = img.step;
     bool justcopy = m_native_depth;
     bool chromatorgb = false;
     bool rgbtogray = false;
@@ -196,8 +196,8 @@ bool  ExrDecoder::readData( Mat& img )
     FrameBuffer frame;
     int xsample[3] = {1, 1, 1};
     char *buffer;
-    int xstep;
+    size_t xstep = 0;
-    int ystep;
+    size_t ystep = 0;
 
     xstep = m_native_depth ? 4 : 1;
 
@@ -589,7 +589,7 @@ bool  ExrEncoder::write( const Mat& img, const vector<int>& )
     bool isfloat = depth == CV_32F || depth == CV_64F;
     depth = CV_ELEM_SIZE1(depth)*8;
     uchar* data = img.data;
-    int step = img.step;
+    size_t step = img.step;
 
     Header header( width, height );
     Imf::PixelType type;
@@ -619,7 +619,7 @@ bool  ExrEncoder::write( const Mat& img, const vector<int>& )
     FrameBuffer frame;
 
     char *buffer;
-    int bufferstep;
+    size_t bufferstep;
     int size;
     if( type == FLOAT && depth == 32 )
     {

modules/highgui/src/grfmt_jpeg.cpp

@@ -392,7 +392,7 @@ int my_jpeg_load_dht (struct jpeg_decompress_struct *info, unsigned char *dht,
 bool  JpegDecoder::readData( Mat& img )
 {
     bool result = false;
-    int step = (int)img.step;
+    size_t step = img.step;
     bool color = img.channels() > 1;
 
     if( m_state && m_width && m_height )

modules/highgui/src/grfmt_jpeg2000.cpp

@@ -77,7 +77,8 @@ static JasperInitializer initialize_jasper;
 
 Jpeg2KDecoder::Jpeg2KDecoder()
 {
-    m_signature = '\0' + string() + '\0' + string() + '\0' + string("\x0cjP  \r\n\x87\n");
+    static const unsigned char signature_[12] = { 0, 0, 0, 0x0c, 'j', 'P', ' ', ' ', 13, 10, 0x87, 10};
+    m_signature = string((const char*)signature_, (const char*)signature_ + sizeof(signature_));
     m_stream = 0;
     m_image = 0;
 }
@@ -121,6 +122,8 @@ bool  Jpeg2KDecoder::readHeader()
         jas_image_t* image = jas_image_decode( stream, -1, 0 );
         m_image = image;
         if( image ) {
+            CV_Assert(0 == (jas_image_tlx(image)) && "not supported");
+            CV_Assert(0 == (jas_image_tly(image)) && "not supported");
             m_width = jas_image_width( image );
             m_height = jas_image_height( image );
 
@@ -130,14 +133,31 @@ bool  Jpeg2KDecoder::readHeader()
             for( int i = 0; i < numcmpts; i++ )
             {
                 int depth_i = jas_image_cmptprec( image, i );
+                CV_Assert(depth == 0 || depth == depth_i); // component data type mismatch
                 depth = MAX(depth, depth_i);
                 if( jas_image_cmpttype( image, i ) > 2 )
                     continue;
+                int sgnd = jas_image_cmptsgnd(image, i);
+                int xstart = jas_image_cmpttlx(image, i);
+                int xend = jas_image_cmptbrx(image, i);
+                int xstep = jas_image_cmpthstep(image, i);
+                int ystart = jas_image_cmpttly(image, i);
+                int yend = jas_image_cmptbry(image, i);
+                int ystep = jas_image_cmptvstep(image, i);
+                CV_Assert(sgnd == 0 && "not supported");
+                CV_Assert(xstart == 0 && "not supported");
+                CV_Assert(ystart == 0 && "not supported");
+                CV_Assert(xstep == 1 && "not supported");
+                CV_Assert(ystep == 1 && "not supported");
+                CV_Assert(xend == m_width);
+                CV_Assert(yend == m_height);
                 cntcmpts++;
             }
 
             if( cntcmpts )
             {
+                CV_Assert(depth == 8 || depth == 16);
+                CV_Assert(cntcmpts == 1 || cntcmpts == 3);
                 m_type = CV_MAKETYPE(depth <= 8 ? CV_8U : CV_16U, cntcmpts > 1 ? 3 : 1);
                 result = true;
             }
@@ -150,13 +170,19 @@ bool  Jpeg2KDecoder::readHeader()
     return result;
 }
 
+static void Jpeg2KDecoder_close(Jpeg2KDecoder* ptr)
+{
+    ptr->close();
+}
+template<> void Ptr<Jpeg2KDecoder>::delete_obj() { Jpeg2KDecoder_close(obj); }
 
 bool  Jpeg2KDecoder::readData( Mat& img )
 {
+    Ptr<Jpeg2KDecoder> close_this(this);  // auto cleanup: Jpeg2KDecoder_close
     bool result = false;
     int color = img.channels() > 1;
     uchar* data = img.data;
-    int step = (int)img.step;
+    size_t step = img.step;
     jas_stream_t* stream = (jas_stream_t*)m_stream;
     jas_image_t* image = (jas_image_t*)m_image;
 
@@ -204,11 +230,16 @@ bool  Jpeg2KDecoder::readData( Mat& img )
                     result = true;
                 }
                 else
-                    fprintf(stderr, "JPEG 2000 LOADER ERROR: cannot convert colorspace\n");
+                {
+                    jas_cmprof_destroy(clrprof);
+                    CV_Error(CV_StsError, "JPEG 2000 LOADER ERROR: cannot convert colorspace");
+                }
                 jas_cmprof_destroy( clrprof );
             }
             else
-                fprintf(stderr, "JPEG 2000 LOADER ERROR: unable to create colorspace\n");
+            {
+                CV_Error(CV_StsError, "JPEG 2000 LOADER ERROR: unable to create colorspace");
+            }
         }
         else
             result = true;
@@ -252,13 +283,13 @@ bool  Jpeg2KDecoder::readData( Mat& img )
                         if( !jas_image_readcmpt( image, cmptlut[i], 0, 0, xend / xstep, yend / ystep, buffer ))
                         {
                             if( img.depth() == CV_8U )
-                                result = readComponent8u( data + i, buffer, step, cmptlut[i], maxval, offset, ncmpts );
+                                result = readComponent8u( data + i, buffer, validateToInt(step), cmptlut[i], maxval, offset, ncmpts );
                             else
-                                result = readComponent16u( ((unsigned short *)data) + i, buffer, step / 2, cmptlut[i], maxval, offset, ncmpts );
+                                result = readComponent16u( ((unsigned short *)data) + i, buffer, validateToInt(step / 2), cmptlut[i], maxval, offset, ncmpts );
                             if( !result )
                             {
-                                i = ncmpts;
+                                jas_matrix_destroy( buffer );
-                                result = false;
+                                CV_Error(CV_StsError, "JPEG2000 LOADER ERROR: failed to read component");
                             }
                         }
                         jas_matrix_destroy( buffer );
@@ -267,10 +298,12 @@ bool  Jpeg2KDecoder::readData( Mat& img )
             }
         }
         else
-            fprintf(stderr, "JPEG2000 LOADER ERROR: colorspace conversion failed\n" );
+        {
+            CV_Error(CV_StsError, "JPEG2000 LOADER ERROR: colorspace conversion failed");
+        }
     }
 
-    close();
+    CV_Assert(result == true);
 
 #ifndef WIN32
     if (!clr.empty())

modules/highgui/src/grfmt_pxm.cpp

@@ -43,50 +43,58 @@
 #include "precomp.hpp"
 #include "utils.hpp"
 #include "grfmt_pxm.hpp"
+#include <iostream>
 
 namespace cv
 {
 
 ///////////////////////// P?M reader //////////////////////////////
 
-static int ReadNumber( RLByteStream& strm, int maxdigits )
+static int ReadNumber(RLByteStream& strm, int maxdigits = 0)
 {
     int code;
-    int val = 0;
+    int64 val = 0;
     int digits = 0;
 
     code = strm.getByte();
 
-    if( !isdigit(code))
+    while (!isdigit(code))
     {
-        do
+        if (code == '#' )
         {
-            if( code == '#' )
+            do
             {
-                do
+                code = strm.getByte();
-                {
-                    code = strm.getByte();
-                }
-                while( code != '\n' && code != '\r' );
             }
-
+            while (code != '\n' && code != '\r');
             code = strm.getByte();
-
+        }
-            while( isspace(code))
+        else if (isspace(code))
+        {
+            while (isspace(code))
                 code = strm.getByte();
         }
-        while( !isdigit( code ));
+        else
+        {
+#if 1
+            CV_Error_(CV_StsError, ("PXM: Unexpected code in ReadNumber(): 0x%x (%d)", code, code));
+#else
+            code = strm.getByte();
+#endif
+        }
     }
 
     do
     {
-        val = val*10 + code - '0';
+        val = val*10 + (code - '0');
-        if( ++digits >= maxdigits ) break;
+        CV_Assert(val <= INT_MAX && "PXM: ReadNumber(): result is too large");
+        digits++;
+        if (maxdigits != 0 && digits >= maxdigits) break;
         code = strm.getByte();
     }
-    while( isdigit(code));
+    while (isdigit(code));
 
-    return val;
+    return (int)val;
 }
 
 
@@ -119,13 +127,13 @@ ImageDecoder PxMDecoder::newDecoder() const
     return new PxMDecoder;
 }
 
-void  PxMDecoder::close()
+void PxMDecoder::close()
 {
     m_strm.close();
 }
 
 
-bool  PxMDecoder::readHeader()
+bool PxMDecoder::readHeader()
 {
     bool result = false;
 
@@ -155,10 +163,10 @@ bool  PxMDecoder::readHeader()
         m_binary = code >= '4';
         m_type = m_bpp > 8 ? CV_8UC3 : CV_8UC1;
 
-        m_width = ReadNumber( m_strm, INT_MAX );
+        m_width = ReadNumber(m_strm);
-        m_height = ReadNumber( m_strm, INT_MAX );
+        m_height = ReadNumber(m_strm);
 
-        m_maxval = m_bpp == 1 ? 1 : ReadNumber( m_strm, INT_MAX );
+        m_maxval = m_bpp == 1 ? 1 : ReadNumber(m_strm);
         if( m_maxval > 65535 )
             throw RBS_BAD_HEADER;
 
@@ -172,8 +180,14 @@ bool  PxMDecoder::readHeader()
             result = true;
         }
     }
-    catch(...)
+    catch (const cv::Exception&)
     {
+        throw;
+    }
+    catch (...)
+    {
+        std::cerr << "PXM::readHeader(): unknown C++ exception" << std::endl << std::flush;
+        throw;
     }
 
     if( !result )
@@ -193,27 +207,23 @@ bool  PxMDecoder::readData( Mat& img )
     int step = (int)img.step;
     PaletteEntry palette[256];
     bool   result = false;
-    int  bit_depth = CV_ELEM_SIZE1(m_type)*8;
+    const int bit_depth = CV_ELEM_SIZE1(m_type)*8;
-    int  src_pitch = (m_width*m_bpp*bit_depth/8 + 7)/8;
+    const int src_pitch = (m_width*m_bpp*(bit_depth/8) + 7) / 8;
+
     int  nch = CV_MAT_CN(m_type);
     int  width3 = m_width*nch;
-    int  i, x, y;
 
     if( m_offset < 0 || !m_strm.isOpened())
         return false;
 
-    AutoBuffer<uchar,1024> _src(src_pitch + 32);
+    uchar gray_palette[256] = {0};
-    uchar* src = _src;
-    AutoBuffer<uchar,1024> _gray_palette;
-    uchar* gray_palette = _gray_palette;
 
     // create LUT for converting colors
     if( bit_depth == 8 )
     {
-        _gray_palette.allocate(m_maxval + 1);
+        CV_Assert(m_maxval < 256);
-        gray_palette = _gray_palette;
 
-        for( i = 0; i <= m_maxval; i++ )
+        for (int i = 0; i <= m_maxval; i++)
             gray_palette[i] = (uchar)((i*255/m_maxval)^(m_bpp == 1 ? 255 : 0));
 
         FillGrayPalette( palette, m_bpp==1 ? 1 : 8 , m_bpp == 1 );
@@ -227,12 +237,16 @@ bool  PxMDecoder::readData( Mat& img )
         {
         ////////////////////////// 1 BPP /////////////////////////
         case 1:
+            CV_Assert(CV_MAT_DEPTH(m_type) == CV_8U);
             if( !m_binary )
             {
-                for( y = 0; y < m_height; y++, data += step )
+                AutoBuffer<uchar> _src(m_width);
+                uchar* src = _src;
+
+                for (int y = 0; y < m_height; y++, data += step)
                 {
-                    for( x = 0; x < m_width; x++ )
+                    for (int x = 0; x < m_width; x++)
-                        src[x] = ReadNumber( m_strm, 1 ) != 0;
+                        src[x] = ReadNumber(m_strm, 1) != 0;
 
                     if( color )
                         FillColorRow8( data, src, m_width, palette );
@@ -242,7 +256,10 @@ bool  PxMDecoder::readData( Mat& img )
             }
             else
             {
-                for( y = 0; y < m_height; y++, data += step )
+                AutoBuffer<uchar> _src(src_pitch);
+                uchar* src = _src;
+
+                for (int y = 0; y < m_height; y++, data += step)
                 {
                     m_strm.getBytes( src, src_pitch );
 
@@ -258,11 +275,15 @@ bool  PxMDecoder::readData( Mat& img )
         ////////////////////////// 8 BPP /////////////////////////
         case 8:
         case 24:
-            for( y = 0; y < m_height; y++, data += step )
+        {
+            AutoBuffer<uchar> _src(std::max<size_t>(width3*2, src_pitch));
+            uchar* src = _src;
+
+            for (int y = 0; y < m_height; y++, data += step)
             {
                 if( !m_binary )
                 {
-                    for( x = 0; x < width3; x++ )
+                    for (int x = 0; x < width3; x++)
                     {
                         int code = ReadNumber( m_strm, INT_MAX );
                         if( (unsigned)code > (unsigned)m_maxval ) code = m_maxval;
@@ -277,7 +298,7 @@ bool  PxMDecoder::readData( Mat& img )
                     m_strm.getBytes( src, src_pitch );
                     if( bit_depth == 16 && !isBigEndian() )
                     {
-                        for( x = 0; x < width3; x++ )
+                        for (int x = 0; x < width3; x++)
                         {
                             uchar v = src[x * 2];
                             src[x * 2] = src[x * 2 + 1];
@@ -288,7 +309,7 @@ bool  PxMDecoder::readData( Mat& img )
 
                 if( img.depth() == CV_8U && bit_depth == 16 )
                 {
-                    for( x = 0; x < width3; x++ )
+                    for (int x = 0; x < width3; x++)
                     {
                         int v = ((ushort *)src)[x];
                         src[x] = (uchar)(v >> 8);
@@ -310,7 +331,7 @@ bool  PxMDecoder::readData( Mat& img )
                         }
                     }
                     else
-                        memcpy( data, src, m_width*(bit_depth/8) );
+                        memcpy(data, src, img.elemSize1()*m_width);
                 }
                 else
                 {
@@ -329,12 +350,19 @@ bool  PxMDecoder::readData( Mat& img )
             }
             result = true;
             break;
+        }
         default:
-            assert(0);
+            CV_Error(CV_StsError, "m_bpp is not supported");
         }
     }
-    catch(...)
+    catch (const cv::Exception&)
     {
+        throw;
+    }
+    catch (...)
+    {
+        std::cerr << "PXM::readData(): unknown exception" << std::endl << std::flush;
+        throw;
     }
 
     return result;
@@ -410,8 +438,9 @@ bool  PxMEncoder::write( const Mat& img, const vector<int>& params )
     char* buffer = _buffer;
 
     // write header;
-    sprintf( buffer, "P%c\n%d %d\n%d\n",
+    sprintf( buffer, "P%c\n# Generated by OpenCV %s\n%d %d\n%d\n",
              '2' + (channels > 1 ? 1 : 0) + (isBinary ? 3 : 0),
+             CV_VERSION,
              width, height, (1 << depth) - 1 );
 
     strm.putBytes( buffer, (int)strlen(buffer) );

modules/highgui/src/grfmt_sunras.cpp

@@ -120,7 +120,7 @@ bool  SunRasterDecoder::readHeader()
                     m_type = IsColorPalette( m_palette, m_bpp ) ? CV_8UC3 : CV_8UC1;
                     m_offset = m_strm.getPos();
 
-                    assert( m_offset == 32 + m_maplength );
+                    CV_Assert(m_offset == 32 + m_maplength);
                     result = true;
                 }
             }
@@ -133,7 +133,7 @@ bool  SunRasterDecoder::readHeader()
 
                 m_offset = m_strm.getPos();
 
-                assert( m_offset == 32 + m_maplength );
+                CV_Assert(m_offset == 32 + m_maplength);
                 result = true;
             }
         }
@@ -156,7 +156,7 @@ bool  SunRasterDecoder::readData( Mat& img )
 {
     int color = img.channels() > 1;
     uchar* data = img.data;
-    int step = (int)img.step;
+    size_t step = img.step;
     uchar  gray_palette[256];
     bool   result = false;
     int  src_pitch = ((m_width*m_bpp + 7)/8 + 1) & -2;
@@ -226,7 +226,7 @@ bool  SunRasterDecoder::readData( Mat& img )
                         code = m_strm.getByte();
                         if( len > line_end - tsrc )
                         {
-                            assert(0);
+                            CV_Error(CV_StsInternal, "");
                             goto bad_decoding_1bpp;
                         }
 
@@ -304,11 +304,11 @@ bad_decoding_1bpp:
                         code = m_strm.getByte();
 
                         if( color )
-                            data = FillUniColor( data, line_end, step, width3,
+                            data = FillUniColor( data, line_end, validateToInt(step), width3,
                                                  y, m_height, len,
                                                  m_palette[code] );
                         else
-                            data = FillUniGray( data, line_end, step, width3,
+                            data = FillUniGray( data, line_end, validateToInt(step), width3,
                                                 y, m_height, len,
                                                 gray_palette[code] );
                         if( y >= m_height )
@@ -367,7 +367,7 @@ bad_decoding_end:
             result = true;
             break;
         default:
-            assert(0);
+            CV_Error(CV_StsInternal, "");
         }
     }
     catch( ... )

modules/highgui/src/loadsave.cpp

@@ -48,12 +48,32 @@
 #undef min
 #undef max
 
+#include <iostream>
+
 /****************************************************************************************\
 *                                      Image Codecs                                      *
 \****************************************************************************************/
 namespace cv
 {
 
+// TODO Add runtime configuration
+#define CV_IO_MAX_IMAGE_PARAMS (50)
+#define CV_IO_MAX_IMAGE_WIDTH (1<<20)
+#define CV_IO_MAX_IMAGE_HEIGHT (1<<20)
+#define CV_IO_MAX_IMAGE_PIXELS (1<<30) // 1 Gigapixel
+
+static Size validateInputImageSize(const Size& size)
+{
+    CV_Assert(size.width > 0);
+    CV_Assert(size.width <= CV_IO_MAX_IMAGE_WIDTH);
+    CV_Assert(size.height > 0);
+    CV_Assert(size.height <= CV_IO_MAX_IMAGE_HEIGHT);
+    uint64 pixels = (uint64)size.width * (uint64)size.height;
+    CV_Assert(pixels <= CV_IO_MAX_IMAGE_PIXELS);
+    return size;
+}
+
+
 struct ImageCodecInitializer
 {
     ImageCodecInitializer()
@@ -203,12 +223,26 @@ imread_( const string& filename, int flags, int hdrtype, Mat* mat=0 )
     if( decoder.empty() )
         return 0;
     decoder->setSource(filename);
-    if( !decoder->readHeader() )
-        return 0;
 
-    CvSize size;
+    try
-    size.width = decoder->width();
+    {
-    size.height = decoder->height();
+        // read the header to make sure it succeeds
+        if (!decoder->readHeader())
+            return 0;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read header: " << e.what() << std::endl << std::flush;
+        return 0;
+    }
+    catch (...)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read header: unknown exception" << std::endl << std::flush;
+        return 0;
+    }
+
+
+    Size size = validateInputImageSize(Size(decoder->width(), decoder->height()));
 
     int type = decoder->type();
     if( flags != -1 )
@@ -242,7 +276,21 @@ imread_( const string& filename, int flags, int hdrtype, Mat* mat=0 )
         temp = cvarrToMat(image);
     }
 
-    if( !decoder->readData( *data ))
+    bool success = false;
+    try
+    {
+        if (decoder->readData(*data))
+            success = true;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read data: " << e.what() << std::endl << std::flush;
+    }
+    catch (...)
+    {
+        std::cerr << "imread_('" << filename << "'): can't read data: unknown exception" << std::endl << std::flush;
+    }
+    if (!success)
     {
         cvReleaseImage( &image );
         cvReleaseMat( &matrix );
@@ -288,6 +336,7 @@ static bool imwrite_( const string& filename, const Mat& image,
     }
 
     encoder->setDestination( filename );
+    CV_Assert(params.size() <= CV_IO_MAX_IMAGE_PARAMS*2);
     bool code = encoder->write( *pimage, params );
 
     //    CV_Assert( code );
@@ -326,16 +375,34 @@ imdecode_( const Mat& buf, int flags, int hdrtype, Mat* mat=0 )
         decoder->setSource(filename);
     }
 
-    if( !decoder->readHeader() )
+    bool success = false;
+    try
     {
-        if( !filename.empty() )
+        if (decoder->readHeader())
-            remove(filename.c_str());
+            success = true;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read header: " << e.what() << std::endl << std::flush;
+    }
+    catch (...)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read header: unknown exception" << std::endl << std::flush;
+    }
+    if (!success)
+    {
+        if (!filename.empty())
+        {
+            if (0 != remove(filename.c_str()))
+            {
+                std::cerr << "unable to remove temporary file:" << filename << std::endl << std::flush;
+            }
+        }
         return 0;
     }
 
-    CvSize size;
+    // established the required input image size
-    size.width = decoder->width();
+    Size size = validateInputImageSize(Size(decoder->width(), decoder->height()));
-    size.height = decoder->height();
 
     int type = decoder->type();
     if( flags != -1 )
@@ -369,11 +436,30 @@ imdecode_( const Mat& buf, int flags, int hdrtype, Mat* mat=0 )
         temp = cvarrToMat(image);
     }
 
-    bool code = decoder->readData( *data );
+    success = false;
-    if( !filename.empty() )
+    try
-        remove(filename.c_str());
+    {
+        if (decoder->readData(*data))
+            success = true;
+    }
+    catch (const cv::Exception& e)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read data: " << e.what() << std::endl << std::flush;
+    }
+    catch (...)
+    {
+        std::cerr << "imdecode_('" << filename << "'): can't read data: unknown exception" << std::endl << std::flush;
+    }
 
-    if( !code )
+    if (!filename.empty())
+    {
+        if (0 != remove(filename.c_str()))
+        {
+            std::cerr << "unable to remove temporary file:" << filename << std::endl << std::flush;
+        }
+    }
+
+    if (!success)
     {
         cvReleaseImage( &image );
         cvReleaseMat( &matrix );
@@ -490,7 +576,7 @@ cvSaveImage( const char* filename, const CvArr* arr, const int* _params )
     if( _params )
     {
         for( ; _params[i] > 0; i += 2 )
-            ;
+            CV_Assert(i < CV_IO_MAX_IMAGE_PARAMS*2); // Limit number of params for security reasons
     }
     return cv::imwrite_(filename, cv::cvarrToMat(arr),
         i > 0 ? cv::vector<int>(_params, _params+i) : cv::vector<int>(),
@@ -521,7 +607,7 @@ cvEncodeImage( const char* ext, const CvArr* arr, const int* _params )
     if( _params )
     {
         for( ; _params[i] > 0; i += 2 )
-            ;
+            CV_Assert(i < CV_IO_MAX_IMAGE_PARAMS*2); // Limit number of params for security reasons
     }
     cv::Mat img = cv::cvarrToMat(arr);
     if( CV_IS_IMAGE(arr) && ((const IplImage*)arr)->origin == IPL_ORIGIN_BL )

modules/highgui/src/precomp.hpp

@@ -54,7 +54,7 @@
 #include <string.h>
 #include <limits.h>
 #include <ctype.h>
-#include <assert.h>
+#include <assert.h>  // FIX IT: remove this
 
 #if defined WIN32 || defined WINCE
     #if !defined _WIN32_WINNT

modules/highgui/src/utils.cpp

@@ -42,6 +42,13 @@
 #include "precomp.hpp"
 #include "utils.hpp"
 
+int validateToInt(size_t sz)
+{
+    int valueInt = (int)sz;
+    CV_Assert((size_t)valueInt == sz);
+    return valueInt;
+}
+
 #define  SCALE  14
 #define  cR  (int)(0.299*(1 << SCALE) + 0.5)
 #define  cG  (int)(0.587*(1 << SCALE) + 0.5)
@@ -537,23 +544,25 @@ uchar* FillColorRow1( uchar* data, uchar* indices, int len, PaletteEntry* palett
 {
     uchar* end = data + len*3;
 
+    const PaletteEntry p0 = palette[0], p1 = palette[1];
+
     while( (data += 24) < end )
     {
         int idx = *indices++;
-        *((PaletteEntry*)(data - 24)) = palette[(idx & 128) != 0];
+        *((PaletteEntry*)(data - 24)) = (idx & 128) ? p1 : p0;
-        *((PaletteEntry*)(data - 21)) = palette[(idx & 64) != 0];
+        *((PaletteEntry*)(data - 21)) = (idx & 64) ? p1 : p0;
-        *((PaletteEntry*)(data - 18)) = palette[(idx & 32) != 0];
+        *((PaletteEntry*)(data - 18)) = (idx & 32) ? p1 : p0;
-        *((PaletteEntry*)(data - 15)) = palette[(idx & 16) != 0];
+        *((PaletteEntry*)(data - 15)) = (idx & 16) ? p1 : p0;
-        *((PaletteEntry*)(data - 12)) = palette[(idx & 8) != 0];
+        *((PaletteEntry*)(data - 12)) = (idx & 8) ? p1 : p0;
-        *((PaletteEntry*)(data - 9)) = palette[(idx & 4) != 0];
+        *((PaletteEntry*)(data - 9)) = (idx & 4) ? p1 : p0;
-        *((PaletteEntry*)(data - 6)) = palette[(idx & 2) != 0];
+        *((PaletteEntry*)(data - 6)) = (idx & 2) ? p1 : p0;
-        *((PaletteEntry*)(data - 3)) = palette[(idx & 1) != 0];
+        *((PaletteEntry*)(data - 3)) = (idx & 1) ? p1 : p0;
     }
 
-    int idx = indices[0] << 24;
+    int idx = indices[0];
     for( data -= 24; data < end; data += 3, idx += idx )
     {
-        PaletteEntry clr = palette[idx < 0];
+        const PaletteEntry clr = (idx & 128) ? p1 : p0;
         WRITE_PIX( data, clr );
     }
 
@@ -565,23 +574,25 @@ uchar* FillGrayRow1( uchar* data, uchar* indices, int len, uchar* palette )
 {
     uchar* end = data + len;
 
+    const uchar p0 = palette[0], p1 = palette[1];
+
     while( (data += 8) < end )
     {
         int idx = *indices++;
-        *((uchar*)(data - 8)) = palette[(idx & 128) != 0];
+        *((uchar*)(data - 8)) = (idx & 128) ? p1 : p0;
-        *((uchar*)(data - 7)) = palette[(idx & 64) != 0];
+        *((uchar*)(data - 7)) = (idx & 64) ? p1 : p0;
-        *((uchar*)(data - 6)) = palette[(idx & 32) != 0];
+        *((uchar*)(data - 6)) = (idx & 32) ? p1 : p0;
-        *((uchar*)(data - 5)) = palette[(idx & 16) != 0];
+        *((uchar*)(data - 5)) = (idx & 16) ? p1 : p0;
-        *((uchar*)(data - 4)) = palette[(idx & 8) != 0];
+        *((uchar*)(data - 4)) = (idx & 8) ? p1 : p0;
-        *((uchar*)(data - 3)) = palette[(idx & 4) != 0];
+        *((uchar*)(data - 3)) = (idx & 4) ? p1 : p0;
-        *((uchar*)(data - 2)) = palette[(idx & 2) != 0];
+        *((uchar*)(data - 2)) = (idx & 2) ? p1 : p0;
-        *((uchar*)(data - 1)) = palette[(idx & 1) != 0];
+        *((uchar*)(data - 1)) = (idx & 1) ? p1 : p0;
     }
 
-    int idx = indices[0] << 24;
+    int idx = indices[0];
     for( data -= 8; data < end; data++, idx += idx )
     {
-        data[0] = palette[idx < 0];
+        data[0] = (idx & 128) ? p1 : p0;
     }
 
     return data;
@@ -659,7 +670,7 @@ cvConvertImage( const CvArr* srcarr, CvArr* dstarr, int flags )
             icvCvt_BGR2Gray_8u_C3C1R( s, s_step, d, d_step, size, swap_rb );
             break;
         case 33:
-            assert( swap_rb );
+            CV_Assert(swap_rb);
             icvCvt_RGB2BGR_8u_C3R( s, s_step, d, d_step, size );
             break;
         case 41:

modules/highgui/src/utils.hpp

@@ -42,6 +42,8 @@
 #ifndef _UTILS_H_
 #define _UTILS_H_
 
+int validateToInt(size_t step);
+
 struct PaletteEntry
 {
     unsigned char b, g, r, a;

modules/highgui/test/test_drawing.cpp

@@ -409,9 +409,143 @@ int CV_DrawingTest_C::checkLineIterator( Mat& _img )
     return 0;
 }
 
+class CV_DrawingTest_Far : public CV_DrawingTest_CPP
+{
+public:
+    CV_DrawingTest_Far() {}
+protected:
+    virtual void draw(Mat& img);
+};
+
+void CV_DrawingTest_Far::draw(Mat& img)
+{
+    Size imgSize(32768 + 600, 400);
+    img.create(imgSize, CV_8UC3);
+
+    vector<Point> polyline(4);
+    polyline[0] = Point(32768 + 0, 0);
+    polyline[1] = Point(imgSize.width, 0);
+    polyline[2] = Point(imgSize.width, imgSize.height);
+    polyline[3] = Point(32768 + 0, imgSize.height);
+    const Point* pts = &polyline[0];
+    int n = (int)polyline.size();
+    fillPoly(img, &pts, &n, 1, Scalar::all(255));
+
+    Point p1(32768 + 1, 1), p2(32768 + 3, 3);
+    if (clipLine(Rect(32768 + 0, 0, imgSize.width, imgSize.height), p1, p2) && clipLine(imgSize, p1, p2))
+        circle(img, Point(32768 + 300, 100), 40, Scalar(0, 0, 255), 3); // draw
+
+    p2 = Point(32768 + 3, imgSize.height + 1000);
+    if (clipLine(Rect(32768 + 0, 0, imgSize.width, imgSize.height), p1, p2) && clipLine(imgSize, p1, p2))
+        circle(img, Point(65536 + 500, 300), 50, cvColorToScalar(255, CV_8UC3), 5, 8, 1); // draw
+
+    p1 = Point(imgSize.width, 1), p2 = Point(imgSize.width, 3);
+    if (clipLine(Rect(32768 + 0, 0, imgSize.width, imgSize.height), p1, p2) && clipLine(imgSize, p1, p2))
+        circle(img, Point(32768 + 390, 100), 10, Scalar(0, 0, 255), 3); // not draw
+
+    p1 = Point(imgSize.width - 1, 1), p2 = Point(imgSize.width, 3);
+    if (clipLine(Rect(32768 + 0, 0, imgSize.width, imgSize.height), p1, p2) && clipLine(imgSize, p1, p2))
+        ellipse(img, Point(32768 + 390, 100), Size(20, 30), 60, 0, 220.0, Scalar(0, 200, 0), 4); //draw
+
+    ellipse(img, RotatedRect(Point(32768 + 100, 200), Size(200, 100), 160), Scalar(200, 200, 255), 5);
+
+    polyline.clear();
+    ellipse2Poly(Point(32768 + 430, 180), Size(100, 150), 30, 0, 150, 20, polyline);
+    pts = &polyline[0];
+    n = (int)polyline.size();
+    polylines(img, &pts, &n, 1, false, Scalar(0, 0, 150), 4, CV_AA);
+    n = 0;
+    for (vector<Point>::const_iterator it = polyline.begin(); n < (int)polyline.size() - 1; ++it, n++)
+    {
+        line(img, *it, *(it + 1), Scalar(50, 250, 100));
+    }
+
+    polyline.clear();
+    ellipse2Poly(Point(32768 + 500, 300), Size(50, 80), 0, 0, 180, 10, polyline);
+    pts = &polyline[0];
+    n = (int)polyline.size();
+    polylines(img, &pts, &n, 1, true, Scalar(100, 200, 100), 20);
+    fillConvexPoly(img, pts, n, Scalar(0, 80, 0));
+
+    polyline.resize(8);
+    // external rectengular
+    polyline[0] = Point(32768 + 0, 0);
+    polyline[1] = Point(32768 + 80, 0);
+    polyline[2] = Point(32768 + 80, 80);
+    polyline[3] = Point(32768 + 0, 80);
+    // internal rectangular
+    polyline[4] = Point(32768 + 20, 20);
+    polyline[5] = Point(32768 + 60, 20);
+    polyline[6] = Point(32768 + 60, 60);
+    polyline[7] = Point(32768 + 20, 60);
+    const Point* ppts[] = { &polyline[0], &polyline[0] + 4 };
+    int pn[] = { 4, 4 };
+    fillPoly(img, ppts, pn, 2, Scalar(100, 100, 0), 8, 0, Point(500, 20));
+
+    rectangle(img, Point(32768 + 0, 300), Point(32768 + 50, 398), Scalar(0, 0, 255));
+
+    string text1 = "OpenCV";
+    int baseline = 0, thickness = 3, fontFace = FONT_HERSHEY_SCRIPT_SIMPLEX;
+    float fontScale = 2;
+    Size textSize = getTextSize(text1, fontFace, fontScale, thickness, &baseline);
+    baseline += thickness;
+    Point textOrg((32768 + img.cols - textSize.width) / 2, (img.rows + textSize.height) / 2);
+    rectangle(img, textOrg + Point(0, baseline), textOrg + Point(textSize.width, -textSize.height), Scalar(0, 0, 255));
+    line(img, textOrg + Point(0, thickness), textOrg + Point(textSize.width, thickness), Scalar(0, 0, 255));
+    putText(img, text1, textOrg, fontFace, fontScale, Scalar(150, 0, 150), thickness, 8);
+
+    string text2 = "abcdefghijklmnopqrstuvwxyz1234567890";
+    Scalar color(200, 0, 0);
+    fontScale = 0.5, thickness = 1;
+    int dist = 5;
+
+    textSize = getTextSize(text2, FONT_HERSHEY_SIMPLEX, fontScale, thickness, &baseline);
+    textOrg = Point(32768 + 5, 5) + Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_SIMPLEX, fontScale, color, thickness, CV_AA);
+
+    fontScale = 1;
+    textSize = getTextSize(text2, FONT_HERSHEY_PLAIN, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_PLAIN, fontScale, color, thickness, CV_AA);
+
+    fontScale = 0.5;
+    textSize = getTextSize(text2, FONT_HERSHEY_DUPLEX, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_DUPLEX, fontScale, color, thickness, CV_AA);
+
+    textSize = getTextSize(text2, FONT_HERSHEY_COMPLEX, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_COMPLEX, fontScale, color, thickness, CV_AA);
+
+    textSize = getTextSize(text2, FONT_HERSHEY_TRIPLEX, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_TRIPLEX, fontScale, color, thickness, CV_AA);
+
+    fontScale = 1;
+    textSize = getTextSize(text2, FONT_HERSHEY_COMPLEX_SMALL, fontScale, thickness, &baseline);
+    textOrg += Point(0, 180) + Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_COMPLEX_SMALL, fontScale, color, thickness, CV_AA);
+
+    textSize = getTextSize(text2, FONT_HERSHEY_SCRIPT_SIMPLEX, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_SCRIPT_SIMPLEX, fontScale, color, thickness, CV_AA);
+
+    textSize = getTextSize(text2, FONT_HERSHEY_SCRIPT_COMPLEX, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_HERSHEY_SCRIPT_COMPLEX, fontScale, color, thickness, CV_AA);
+
+    dist = 15, fontScale = 0.5;
+    textSize = getTextSize(text2, FONT_ITALIC, fontScale, thickness, &baseline);
+    textOrg += Point(0, textSize.height + dist);
+    putText(img, text2, textOrg, FONT_ITALIC, fontScale, color, thickness, CV_AA);
+
+    img = img(Rect(32768, 0, 600, 400)).clone();
+}
+
 #ifdef HAVE_JPEG
 TEST(Highgui_Drawing,    cpp_regression) { CV_DrawingTest_CPP test; test.safe_run(); }
 TEST(Highgui_Drawing,      c_regression) { CV_DrawingTest_C   test; test.safe_run(); }
+TEST(Highgui_Drawing,    far_regression) { CV_DrawingTest_Far test; test.safe_run(); }
 #endif
 
 class CV_FillConvexPolyTest : public cvtest::BaseTest

modules/highgui/test/test_ffmpeg.cpp

@@ -320,6 +320,7 @@ public:
 
             for (unsigned int i = 0; i < frameCount && next; ++i)
             {
+                SCOPED_TRACE(cv::format("frame=%d", (int)i));
                 Mat actual;
                 (*capture) >> actual;
 

modules/imgproc/src/color.cpp

@@ -102,6 +102,38 @@ static IppStatus sts = ippInit();
 
 namespace cv
 {
+//constants for conversion from/to RGB and Gray, YUV, YCrCb according to BT.601
+const float B2YF = 0.114f;
+const float G2YF = 0.587f;
+const float R2YF = 0.299f;
+//to YCbCr
+const float YCBF = 0.564f; // == 1/2/(1-B2YF)
+const float YCRF = 0.713f; // == 1/2/(1-R2YF)
+const int YCBI = 9241;  // == YCBF*16384
+const int YCRI = 11682; // == YCRF*16384
+//to YUV
+const float B2UF = 0.492f;
+const float R2VF = 0.877f;
+const int B2UI = 8061;  // == B2UF*16384
+const int R2VI = 14369; // == R2VF*16384
+//from YUV
+const float U2BF = 2.032f;
+const float U2GF = -0.395f;
+const float V2GF = -0.581f;
+const float V2RF = 1.140f;
+const int U2BI = 33292;
+const int U2GI = -6472;
+const int V2GI = -9519;
+const int V2RI = 18678;
+//from YCrCb
+const float CR2RF = 1.403f;
+const float CB2GF = -0.344f;
+const float CR2GF = -0.714f;
+const float CB2BF = 1.773f;
+const int CR2RI = 22987;
+const int CB2GI = -5636;
+const int CR2GI = -11698;
+const int CB2BI = 29049;
 
 // computes cubic spline coefficients for a function: (xi=i, yi=f[i]), i=0..n
 template<typename _Tp> static void splineBuild(const _Tp* f, int n, _Tp* tab)
@@ -402,9 +434,9 @@ struct IPPColor2GrayFunctor
 {
     IPPColor2GrayFunctor(ippiColor2GrayFunc _func) : func(_func)
     {
-        coeffs[0] = 0.114f;
+        coeffs[0] = B2YF;
-        coeffs[1] = 0.587f;
+        coeffs[1] = G2YF;
-        coeffs[2] = 0.299f;
+        coeffs[2] = R2YF;
     }
     bool operator()(const void *src, int srcStep, void *dst, int dstStep, int cols, int rows) const
     {
@@ -668,9 +700,9 @@ enum
 {
     yuv_shift = 14,
     xyz_shift = 12,
-    R2Y = 4899,
+    R2Y = 4899, // B2YF*16384
-    G2Y = 9617,
+    G2Y = 9617, // G2YF*16384
-    B2Y = 1868,
+    B2Y = 1868, // B2YF*16384
     BLOCK_SIZE = 256
 };
 
@@ -709,7 +741,7 @@ template<typename _Tp> struct RGB2Gray
 
     RGB2Gray(int _srccn, int blueIdx, const float* _coeffs) : srccn(_srccn)
     {
-        static const float coeffs0[] = { 0.299f, 0.587f, 0.114f };
+        static const float coeffs0[] = { R2YF, G2YF, B2YF };
         memcpy( coeffs, _coeffs ? _coeffs : coeffs0, 3*sizeof(coeffs[0]) );
         if(blueIdx == 0)
             std::swap(coeffs[0], coeffs[2]);
@@ -787,16 +819,18 @@ template<typename _Tp> struct RGB2YCrCb_f
 {
     typedef _Tp channel_type;
 
-    RGB2YCrCb_f(int _srccn, int _blueIdx, const float* _coeffs) : srccn(_srccn), blueIdx(_blueIdx)
+    RGB2YCrCb_f(int _srccn, int _blueIdx, bool _isCrCb) : srccn(_srccn), blueIdx(_blueIdx), isCrCb(_isCrCb)
     {
-        static const float coeffs0[] = {0.299f, 0.587f, 0.114f, 0.713f, 0.564f};
+        static const float coeffs_crb[] = { R2YF, G2YF, B2YF, YCRF, YCBF };
-        memcpy(coeffs, _coeffs ? _coeffs : coeffs0, 5*sizeof(coeffs[0]));
+        static const float coeffs_yuv[] = { R2YF, G2YF, B2YF, R2VF, B2UF };
+        memcpy(coeffs, isCrCb ? coeffs_crb : coeffs_yuv, 5*sizeof(coeffs[0]));
         if(blueIdx==0) std::swap(coeffs[0], coeffs[2]);
     }
 
     void operator()(const _Tp* src, _Tp* dst, int n) const
     {
         int scn = srccn, bidx = blueIdx;
+        int yuvOrder = !isCrCb; //1 if YUV, 0 if YCrCb
         const _Tp delta = ColorChannel<_Tp>::half();
         float C0 = coeffs[0], C1 = coeffs[1], C2 = coeffs[2], C3 = coeffs[3], C4 = coeffs[4];
         n *= 3;
@@ -805,10 +839,11 @@ template<typename _Tp> struct RGB2YCrCb_f
             _Tp Y = saturate_cast<_Tp>(src[0]*C0 + src[1]*C1 + src[2]*C2);
             _Tp Cr = saturate_cast<_Tp>((src[bidx^2] - Y)*C3 + delta);
             _Tp Cb = saturate_cast<_Tp>((src[bidx] - Y)*C4 + delta);
-            dst[i] = Y; dst[i+1] = Cr; dst[i+2] = Cb;
+            dst[i] = Y; dst[i+1+yuvOrder] = Cr; dst[i+2-yuvOrder] = Cb;
         }
     }
     int srccn, blueIdx;
+    bool isCrCb;
     float coeffs[5];
 };
 
@@ -817,16 +852,18 @@ template<typename _Tp> struct RGB2YCrCb_i
 {
     typedef _Tp channel_type;
 
-    RGB2YCrCb_i(int _srccn, int _blueIdx, const int* _coeffs)
+    RGB2YCrCb_i(int _srccn, int _blueIdx, bool _isCrCb)
-        : srccn(_srccn), blueIdx(_blueIdx)
+        : srccn(_srccn), blueIdx(_blueIdx), isCrCb(_isCrCb)
     {
-        static const int coeffs0[] = {R2Y, G2Y, B2Y, 11682, 9241};
+        static const int coeffs_crb[] = { R2Y, G2Y, B2Y, YCRI, YCBI };
-        memcpy(coeffs, _coeffs ? _coeffs : coeffs0, 5*sizeof(coeffs[0]));
+        static const int coeffs_yuv[] = { R2Y, G2Y, B2Y, R2VI, B2UI };
+        memcpy(coeffs, isCrCb ? coeffs_crb : coeffs_yuv, 5*sizeof(coeffs[0]));
         if(blueIdx==0) std::swap(coeffs[0], coeffs[2]);
     }
     void operator()(const _Tp* src, _Tp* dst, int n) const
     {
         int scn = srccn, bidx = blueIdx;
+        int yuvOrder = !isCrCb; //1 if YUV, 0 if YCrCb
         int C0 = coeffs[0], C1 = coeffs[1], C2 = coeffs[2], C3 = coeffs[3], C4 = coeffs[4];
         int delta = ColorChannel<_Tp>::half()*(1 << yuv_shift);
         n *= 3;
@@ -836,11 +873,12 @@ template<typename _Tp> struct RGB2YCrCb_i
             int Cr = CV_DESCALE((src[bidx^2] - Y)*C3 + delta, yuv_shift);
             int Cb = CV_DESCALE((src[bidx] - Y)*C4 + delta, yuv_shift);
             dst[i] = saturate_cast<_Tp>(Y);
-            dst[i+1] = saturate_cast<_Tp>(Cr);
+            dst[i+1+yuvOrder] = saturate_cast<_Tp>(Cr);
-            dst[i+2] = saturate_cast<_Tp>(Cb);
+            dst[i+2-yuvOrder] = saturate_cast<_Tp>(Cb);
         }
     }
     int srccn, blueIdx;
+    bool isCrCb;
     int coeffs[5];
 };
 
@@ -849,23 +887,25 @@ template<typename _Tp> struct YCrCb2RGB_f
 {
     typedef _Tp channel_type;
 
-    YCrCb2RGB_f(int _dstcn, int _blueIdx, const float* _coeffs)
+    YCrCb2RGB_f(int _dstcn, int _blueIdx, bool _isCrCb)
-        : dstcn(_dstcn), blueIdx(_blueIdx)
+        : dstcn(_dstcn), blueIdx(_blueIdx), isCrCb(_isCrCb)
     {
-        static const float coeffs0[] = {1.403f, -0.714f, -0.344f, 1.773f};
+        static const float coeffs_cbr[] = {CR2RF, CR2GF, CB2GF, CB2BF};
-        memcpy(coeffs, _coeffs ? _coeffs : coeffs0, 4*sizeof(coeffs[0]));
+        static const float coeffs_yuv[] = { V2RF,  V2GF,  U2GF,  U2BF};
+        memcpy(coeffs, isCrCb ? coeffs_cbr : coeffs_yuv, 4*sizeof(coeffs[0]));
     }
     void operator()(const _Tp* src, _Tp* dst, int n) const
     {
         int dcn = dstcn, bidx = blueIdx;
+        int yuvOrder = !isCrCb; //1 if YUV, 0 if YCrCb
         const _Tp delta = ColorChannel<_Tp>::half(), alpha = ColorChannel<_Tp>::max();
         float C0 = coeffs[0], C1 = coeffs[1], C2 = coeffs[2], C3 = coeffs[3];
         n *= 3;
         for(int i = 0; i < n; i += 3, dst += dcn)
         {
             _Tp Y = src[i];
-            _Tp Cr = src[i+1];
+            _Tp Cr = src[i+1+yuvOrder];
-            _Tp Cb = src[i+2];
+            _Tp Cb = src[i+2-yuvOrder];
 
             _Tp b = saturate_cast<_Tp>(Y + (Cb - delta)*C3);
             _Tp g = saturate_cast<_Tp>(Y + (Cb - delta)*C2 + (Cr - delta)*C1);
@@ -877,6 +917,7 @@ template<typename _Tp> struct YCrCb2RGB_f
         }
     }
     int dstcn, blueIdx;
+    bool isCrCb;
     float coeffs[4];
 };
 
@@ -885,24 +926,26 @@ template<typename _Tp> struct YCrCb2RGB_i
 {
     typedef _Tp channel_type;
 
-    YCrCb2RGB_i(int _dstcn, int _blueIdx, const int* _coeffs)
+    YCrCb2RGB_i(int _dstcn, int _blueIdx, bool _isCrCb)
-        : dstcn(_dstcn), blueIdx(_blueIdx)
+        : dstcn(_dstcn), blueIdx(_blueIdx), isCrCb(_isCrCb)
     {
-        static const int coeffs0[] = {22987, -11698, -5636, 29049};
+        static const int coeffs_crb[] = { CR2RI, CR2GI, CB2GI, CB2BI};
-        memcpy(coeffs, _coeffs ? _coeffs : coeffs0, 4*sizeof(coeffs[0]));
+        static const int coeffs_yuv[] = {  V2RI,  V2GI,  U2GI, U2BI };
+        memcpy(coeffs, isCrCb ? coeffs_crb : coeffs_yuv, 4*sizeof(coeffs[0]));
     }
 
     void operator()(const _Tp* src, _Tp* dst, int n) const
     {
         int dcn = dstcn, bidx = blueIdx;
+        int yuvOrder = !isCrCb; //1 if YUV, 0 if YCrCb
         const _Tp delta = ColorChannel<_Tp>::half(), alpha = ColorChannel<_Tp>::max();
         int C0 = coeffs[0], C1 = coeffs[1], C2 = coeffs[2], C3 = coeffs[3];
         n *= 3;
         for(int i = 0; i < n; i += 3, dst += dcn)
         {
             _Tp Y = src[i];
-            _Tp Cr = src[i+1];
+            _Tp Cr = src[i+1+yuvOrder];
-            _Tp Cb = src[i+2];
+            _Tp Cb = src[i+2-yuvOrder];
 
             int b = Y + CV_DESCALE((Cb - delta)*C3, yuv_shift);
             int g = Y + CV_DESCALE((Cb - delta)*C2 + (Cr - delta)*C1, yuv_shift);
@@ -916,6 +959,7 @@ template<typename _Tp> struct YCrCb2RGB_i
         }
     }
     int dstcn, blueIdx;
+    bool isCrCb;
     int coeffs[4];
 };
 
@@ -3832,10 +3876,7 @@ void cv::cvtColor( InputArray _src, OutputArray _dst, int code, int dcn )
             {
             CV_Assert( scn == 3 || scn == 4 );
             bidx = code == CV_BGR2YCrCb || code == CV_BGR2YUV ? 0 : 2;
-            static const float yuv_f[] = { 0.114f, 0.587f, 0.299f, 0.492f, 0.877f };
+            const bool isCrCb = (code == CV_BGR2YCrCb || code == CV_RGB2YCrCb);
-            static const int yuv_i[] = { B2Y, G2Y, R2Y, 8061, 14369 };
-            const float* coeffs_f = code == CV_BGR2YCrCb || code == CV_RGB2YCrCb ? 0 : yuv_f;
-            const int* coeffs_i = code == CV_BGR2YCrCb || code == CV_RGB2YCrCb ? 0 : yuv_i;
 
             _dst.create(sz, CV_MAKETYPE(depth, 3));
             dst = _dst.getMat();
@@ -3846,12 +3887,12 @@ void cv::cvtColor( InputArray _src, OutputArray _dst, int code, int dcn )
                 if((code == CV_RGB2YCrCb || code == CV_BGR2YCrCb) && tegra::cvtRGB2YCrCb(src, dst, bidx))
                     break;
 #endif
-                CvtColorLoop(src, dst, RGB2YCrCb_i<uchar>(scn, bidx, coeffs_i));
+                CvtColorLoop(src, dst, RGB2YCrCb_i<uchar>(scn, bidx, isCrCb));
             }
             else if( depth == CV_16U )
-                CvtColorLoop(src, dst, RGB2YCrCb_i<ushort>(scn, bidx, coeffs_i));
+                CvtColorLoop(src, dst, RGB2YCrCb_i<ushort>(scn, bidx, isCrCb));
             else
-                CvtColorLoop(src, dst, RGB2YCrCb_f<float>(scn, bidx, coeffs_f));
+                CvtColorLoop(src, dst, RGB2YCrCb_f<float>(scn, bidx, isCrCb));
             }
             break;
 
@@ -3861,20 +3902,17 @@ void cv::cvtColor( InputArray _src, OutputArray _dst, int code, int dcn )
             if( dcn <= 0 ) dcn = 3;
             CV_Assert( scn == 3 && (dcn == 3 || dcn == 4) );
             bidx = code == CV_YCrCb2BGR || code == CV_YUV2BGR ? 0 : 2;
-            static const float yuv_f[] = { 2.032f, -0.395f, -0.581f, 1.140f };
+            const bool isCrCb = (code == CV_YCrCb2BGR || code == CV_YCrCb2RGB);
-            static const int yuv_i[] = { 33292, -6472, -9519, 18678 };
-            const float* coeffs_f = code == CV_YCrCb2BGR || code == CV_YCrCb2RGB ? 0 : yuv_f;
-            const int* coeffs_i = code == CV_YCrCb2BGR || code == CV_YCrCb2RGB ? 0 : yuv_i;
 
             _dst.create(sz, CV_MAKETYPE(depth, dcn));
             dst = _dst.getMat();
 
             if( depth == CV_8U )
-                CvtColorLoop(src, dst, YCrCb2RGB_i<uchar>(dcn, bidx, coeffs_i));
+                CvtColorLoop(src, dst, YCrCb2RGB_i<uchar>(dcn, bidx, isCrCb));
             else if( depth == CV_16U )
-                CvtColorLoop(src, dst, YCrCb2RGB_i<ushort>(dcn, bidx, coeffs_i));
+                CvtColorLoop(src, dst, YCrCb2RGB_i<ushort>(dcn, bidx, isCrCb));
             else
-                CvtColorLoop(src, dst, YCrCb2RGB_f<float>(dcn, bidx, coeffs_f));
+                CvtColorLoop(src, dst, YCrCb2RGB_f<float>(dcn, bidx, isCrCb));
             }
             break;
 

modules/java/CMakeLists.txt

@@ -314,25 +314,26 @@ if(BUILD_FAT_JAVA_LIB)
   endif()
   if(APPLE)
     foreach(_dep ${__deps})
-      target_link_libraries(${the_module} -Wl,-force_load "${_dep}")
+      target_link_libraries(${the_module} LINK_PRIVATE -Wl,-force_load "${_dep}")
     endforeach()
   else()
-    target_link_libraries(${the_module} -Wl,-whole-archive ${__deps} -Wl,-no-whole-archive)
+    target_link_libraries(${the_module} LINK_PRIVATE -Wl,-whole-archive ${__deps} -Wl,-no-whole-archive)
   endif()
-  target_link_libraries(${the_module} ${__extradeps} ${OPENCV_LINKER_LIBS})
+  target_link_libraries(${the_module} LINK_PRIVATE ${__extradeps} ${OPENCV_LINKER_LIBS})
 else()
-  target_link_libraries(${the_module} ${OPENCV_MODULE_${the_module}_DEPS} ${OPENCV_LINKER_LIBS})
+  target_link_libraries(${the_module} LINK_PRIVATE ${OPENCV_MODULE_${the_module}_DEPS} ${OPENCV_LINKER_LIBS})
 endif()
 
 if(ANDROID)
-  target_link_libraries(${the_module} jnigraphics) # for Mat <=> Bitmap converters
+  target_link_libraries(${the_module} LINK_PUBLIC jnigraphics) # for Mat <=> Bitmap converters
+  target_link_libraries(${the_module} LINK_PUBLIC log dl z)
+  target_link_libraries(${the_module} LINK_PRIVATE ${OPENCV_LINKER_LIBS})
 
   # force strip library after the build command
   # because samples and tests will make a copy of the library before install
-  get_target_property(__opencv_java_location ${the_module} LOCATION)
   # Turn off stripping in debug build
   if ( NOT (CMAKE_BUILD_TYPE MATCHES "Debug"))
-    add_custom_command(TARGET ${the_module} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "${__opencv_java_location}")
+    add_custom_command(TARGET ${the_module} POST_BUILD COMMAND ${CMAKE_STRIP} --strip-unneeded "$<TARGET_FILE:${the_module}>")
   endif()
 endif()
 
@@ -342,8 +343,6 @@ set_target_properties(${the_module} PROPERTIES
     ARCHIVE_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
     LIBRARY_OUTPUT_DIRECTORY ${LIBRARY_OUTPUT_PATH}
     RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH}
-    INSTALL_NAME_DIR ${OPENCV_LIB_INSTALL_PATH}
-    LINK_INTERFACE_LIBRARIES ""
     )
 
 if(WIN32)

modules/nonfree/src/sift.cpp

@@ -170,10 +170,12 @@ static Mat createInitialImage( const Mat& img, bool doubleImageSize, float sigma
 {
     Mat gray, gray_fpt;
     if( img.channels() == 3 || img.channels() == 4 )
+    {
         cvtColor(img, gray, COLOR_BGR2GRAY);
+        gray.convertTo(gray_fpt, DataType<sift_wt>::type, SIFT_FIXPT_SCALE, 0);
+    }
     else
-        img.copyTo(gray);
+        img.convertTo(gray_fpt, DataType<sift_wt>::type, SIFT_FIXPT_SCALE, 0);
-    gray.convertTo(gray_fpt, DataType<sift_wt>::type, SIFT_FIXPT_SCALE, 0);
 
     float sig_diff;
 
@@ -181,7 +183,7 @@ static Mat createInitialImage( const Mat& img, bool doubleImageSize, float sigma
     {
         sig_diff = sqrtf( std::max(sigma * sigma - SIFT_INIT_SIGMA * SIFT_INIT_SIGMA * 4, 0.01f) );
         Mat dbl;
-        resize(gray_fpt, dbl, Size(gray.cols*2, gray.rows*2), 0, 0, INTER_LINEAR);
+        resize(gray_fpt, dbl, Size(gray_fpt.cols*2, gray_fpt.rows*2), 0, 0, INTER_LINEAR);
         GaussianBlur(dbl, dbl, Size(), sig_diff, sig_diff);
         return dbl;
     }

modules/ocl/src/opencl/cvt_color.cl

@@ -115,9 +115,42 @@ enum
     BLOCK_SIZE = 256
 };
 
+//constants for conversion from/to RGB and Gray, YUV, YCrCb according to BT.601
+#define B2YF 0.114f
+#define G2YF 0.587f
+#define R2YF 0.299f
+//to YCbCr
+#define YCBF 0.564f
+#define YCRF 0.713f
+#define YCBI 9241
+#define YCRI 11682
+//to YUV
+#define B2UF 0.492f
+#define R2VF 0.877f
+#define B2UI 8061
+#define R2VI 14369
+//from YUV
+#define U2BF 2.032f
+#define U2GF -0.395f
+#define V2GF -0.581f
+#define V2RF 1.140f
+#define U2BI 33292
+#define U2GI -6472
+#define V2GI -9519
+#define V2RI 18678
+//from YCrCb
+#define CR2RF 1.403f
+#define CB2GF -0.344f
+#define CR2GF -0.714f
+#define CB2BF 1.773f
+#define CR2RI 22987
+#define CB2GI -5636
+#define CR2GI -11698
+#define CB2BI 29049
+
 ///////////////////////////////////// RGB <-> GRAY //////////////////////////////////////
 
-__constant float c_RGB2GrayCoeffs_f[3]  = { 0.114f, 0.587f, 0.299f };
+__constant float c_RGB2GrayCoeffs_f[3]  = { B2YF, G2YF, R2YF };
 __constant int   c_RGB2GrayCoeffs_i[3]  = { B2Y, G2Y, R2Y };
 
 __kernel void RGB2Gray(int cols, int rows, int src_step, int dst_step,
@@ -135,7 +168,7 @@ __kernel void RGB2Gray(int cols, int rows, int src_step, int dst_step,
 #ifndef INTEL_DEVICE
 
 #ifdef DEPTH_5
-        dst[dst_idx] = src[src_idx + bidx] * 0.114f + src[src_idx + 1] * 0.587f + src[src_idx + (bidx^2)] * 0.299f;
+        dst[dst_idx] = src[src_idx + bidx] * B2YF + src[src_idx + 1] * G2YF + src[src_idx + (bidx^2)] * R2YF;
 #else
         dst[dst_idx] = (DATA_TYPE)CV_DESCALE((src[src_idx + bidx] * B2Y + src[src_idx + 1] * G2Y + src[src_idx + (bidx^2)] * R2Y), yuv_shift);
 #endif
@@ -221,8 +254,8 @@ __kernel void Gray2RGB(int cols, int rows, int src_step, int dst_step,
 
 ///////////////////////////////////// RGB <-> YUV //////////////////////////////////////
 
-__constant float c_RGB2YUVCoeffs_f[5]  = { 0.114f, 0.587f, 0.299f, 0.492f, 0.877f };
+__constant float c_RGB2YUVCoeffs_f[5]  = { B2YF, G2YF, R2YF, B2UF, R2VF };
-__constant int   c_RGB2YUVCoeffs_i[5]  = { B2Y, G2Y, R2Y, 8061, 14369 };
+__constant int   c_RGB2YUVCoeffs_i[5]  = { B2Y, G2Y, R2Y, B2UI, R2VI };
 
 __kernel void RGB2YUV(int cols, int rows, int src_step, int dst_step,
                       __global const DATA_TYPE* src, __global DATA_TYPE* dst,
@@ -252,13 +285,13 @@ __kernel void RGB2YUV(int cols, int rows, int src_step, int dst_step,
             const DATA_TYPE rgb[] = {src_ptr[0], src_ptr[1], src_ptr[2]};
 
 #ifdef DEPTH_5
-            float Y = rgb[0] * coeffs[bidx^2] + rgb[1] * coeffs[1] + rgb[2] * coeffs[bidx];
+            float Y = rgb[0] * coeffs[bidx] + rgb[1] * coeffs[1] + rgb[2] * coeffs[bidx^2];
-            float U = (rgb[bidx^2] - Y) * coeffs[3] + HALF_MAX;
+            float U = (rgb[bidx] - Y) * coeffs[3] + HALF_MAX;
-            float V = (rgb[bidx] - Y) * coeffs[4] + HALF_MAX;
+            float V = (rgb[bidx^2] - Y) * coeffs[4] + HALF_MAX;
 #else
-            int Y = CV_DESCALE(rgb[0] * coeffs[bidx^2] + rgb[1] * coeffs[1] + rgb[2] * coeffs[bidx], yuv_shift);
+            int Y = CV_DESCALE(rgb[0] * coeffs[bidx] + rgb[1] * coeffs[1] + rgb[2] * coeffs[bidx^2], yuv_shift);
-            int U = CV_DESCALE((rgb[bidx^2] - Y) * coeffs[3] + delta, yuv_shift);
+            int U = CV_DESCALE((rgb[bidx] - Y) * coeffs[3] + delta, yuv_shift);
-            int V = CV_DESCALE((rgb[bidx] - Y) * coeffs[4] + delta, yuv_shift);
+            int V = CV_DESCALE((rgb[bidx^2] - Y) * coeffs[4] + delta, yuv_shift);
 #endif
 
             dst_ptr[0] = SAT_CAST( Y );
@@ -274,23 +307,22 @@ __kernel void RGB2YUV(int cols, int rows, int src_step, int dst_step,
             const float2 c1 = r0.s15;
             const float2 c2 = r0.s26;
 
-            const float2 Y = (bidx == 0) ? (c0 * coeffs[2] + c1 * coeffs[1] + c2 * coeffs[0]) : (c0 * coeffs[0] + c1 * coeffs[1] + c2 * coeffs[2]);
+            const float2 Y = (bidx == 0) ? (c0 * coeffs[0] + c1 * coeffs[1] + c2 * coeffs[2]) : (c0 * coeffs[2] + c1 * coeffs[1] + c2 * coeffs[0]);
-            const float2 U = (bidx == 0) ? ((c2 - Y) * coeffs[3] + HALF_MAX) : ((c0 - Y) * coeffs[3] + HALF_MAX);
+            const float2 U = (bidx == 0) ? ((c0 - Y) * coeffs[3] + HALF_MAX) : ((c2 - Y) * coeffs[3] + HALF_MAX);
-            const float2 V = (bidx == 0) ? ((c0 - Y) * coeffs[4] + HALF_MAX) : ((c2 - Y) * coeffs[4] + HALF_MAX);
+            const float2 V = (bidx == 0) ? ((c2 - Y) * coeffs[4] + HALF_MAX) : ((c0 - Y) * coeffs[4] + HALF_MAX);
 #else
             const int2 c0 = convert_int2(r0.s04);
             const int2 c1 = convert_int2(r0.s15);
             const int2 c2 = convert_int2(r0.s26);
 
-            const int2 yi = (bidx == 0) ? CV_DESCALE(c0 * coeffs[2] + c1 * coeffs[1] + c2 * coeffs[0], yuv_shift) : CV_DESCALE(c0 * coeffs[0] + c1 * coeffs[1] + c2 * coeffs[2], yuv_shift);
+            const int2 yi = (bidx == 0) ? CV_DESCALE(c0 * coeffs[0] + c1 * coeffs[1] + c2 * coeffs[2], yuv_shift) : CV_DESCALE(c0 * coeffs[2] + c1 * coeffs[1] + c2 * coeffs[0], yuv_shift);
-            const int2 ui = (bidx == 0) ? CV_DESCALE((c2 - yi) * coeffs[3] + delta, yuv_shift) : CV_DESCALE((c0 - yi) * coeffs[3] + delta, yuv_shift);
+            const int2 ui = (bidx == 0) ? CV_DESCALE((c0 - yi) * coeffs[3] + delta, yuv_shift) : CV_DESCALE((c2 - yi) * coeffs[3] + delta, yuv_shift);
-            const int2 vi = (bidx == 0) ? CV_DESCALE((c0 - yi) * coeffs[4] + delta, yuv_shift) : CV_DESCALE((c2 - yi) * coeffs[4] + delta, yuv_shift);
+            const int2 vi = (bidx == 0) ? CV_DESCALE((c2 - yi) * coeffs[4] + delta, yuv_shift) : CV_DESCALE((c0 - yi) * coeffs[4] + delta, yuv_shift);
 
             const VECTOR2 Y = SAT_CAST2(yi);
             const VECTOR2 U = SAT_CAST2(ui);
             const VECTOR2 V = SAT_CAST2(vi);
 #endif
-
             vstore8((VECTOR8)(Y.s0, U.s0, V.s0, 0, Y.s1, U.s1, V.s1, 0), 0, dst_ptr);
         }
 #elif (4 == pixels_per_work_item)
@@ -302,14 +334,13 @@ __kernel void RGB2YUV(int cols, int rows, int src_step, int dst_step,
             const int4 c1 = convert_int4(r0.s159d);
             const int4 c2 = convert_int4(r0.s26ae);
 
-            const int4 yi = (bidx == 0) ? CV_DESCALE(c0 * coeffs[2] + c1 * coeffs[1] + c2 * coeffs[0], yuv_shift) : CV_DESCALE(c0 * coeffs[0] + c1 * coeffs[1] + c2 * coeffs[2], yuv_shift);
+            const int4 yi = (bidx == 0) ? CV_DESCALE(c0 * coeffs[0] + c1 * coeffs[1] + c2 * coeffs[2], yuv_shift) : CV_DESCALE(c0 * coeffs[2] + c1 * coeffs[1] + c2 * coeffs[0], yuv_shift);
-            const int4 ui = (bidx == 0) ? CV_DESCALE((c2 - yi) * coeffs[3] + delta, yuv_shift) : CV_DESCALE((c0 - yi) * coeffs[3] + delta, yuv_shift);
+            const int4 ui = (bidx == 0) ? CV_DESCALE((c0 - yi) * coeffs[3] + delta, yuv_shift) : CV_DESCALE((c2 - yi) * coeffs[3] + delta, yuv_shift);
-            const int4 vi = (bidx == 0) ? CV_DESCALE((c0 - yi) * coeffs[4] + delta, yuv_shift) : CV_DESCALE((c2 - yi) * coeffs[4] + delta, yuv_shift);
+            const int4 vi = (bidx == 0) ? CV_DESCALE((c2 - yi) * coeffs[4] + delta, yuv_shift) : CV_DESCALE((c0 - yi) * coeffs[4] + delta, yuv_shift);
 
             const VECTOR4 Y = SAT_CAST4(yi);
             const VECTOR4 U = SAT_CAST4(ui);
             const VECTOR4 V = SAT_CAST4(vi);
-
             vstore16((VECTOR16)(Y.s0, U.s0, V.s0, 0, Y.s1, U.s1, V.s1, 0, Y.s2, U.s2, V.s2, 0, Y.s3, U.s3, V.s3, 0), 0, dst_ptr);
 #endif
         }
@@ -317,8 +348,8 @@ __kernel void RGB2YUV(int cols, int rows, int src_step, int dst_step,
     }
 }
 
-__constant float c_YUV2RGBCoeffs_f[5] = { 2.032f, -0.395f, -0.581f, 1.140f };
+__constant float c_YUV2RGBCoeffs_f[5] = { U2BF, U2GF, V2GF, V2RF };
-__constant int   c_YUV2RGBCoeffs_i[5] = { 33292, -6472, -9519, 18678 };
+__constant int   c_YUV2RGBCoeffs_i[5] = { U2BI, U2GI, V2GI, V2RI };
 
 __kernel void YUV2RGB(int cols, int rows, int src_step, int dst_step,
                       __global const DATA_TYPE* src, __global DATA_TYPE* dst,
@@ -347,13 +378,13 @@ __kernel void YUV2RGB(int cols, int rows, int src_step, int dst_step,
             const DATA_TYPE yuv[] = {src_ptr[0], src_ptr[1], src_ptr[2]};
 
 #ifdef DEPTH_5
-            float B = yuv[0] + (yuv[2] - HALF_MAX) * coeffs[3];
+            float B = yuv[0] + (yuv[1] - HALF_MAX) * coeffs[0];
-            float G = yuv[0] + (yuv[2] - HALF_MAX) * coeffs[2] + (yuv[1] - HALF_MAX) * coeffs[1];
+            float G = yuv[0] + (yuv[1] - HALF_MAX) * coeffs[1] + (yuv[2] - HALF_MAX) * coeffs[2];
-            float R = yuv[0] + (yuv[1] - HALF_MAX) * coeffs[0];
+            float R = yuv[0] + (yuv[2] - HALF_MAX) * coeffs[3];
 #else
-            int B = yuv[0] + CV_DESCALE((yuv[2] - HALF_MAX) * coeffs[3], yuv_shift);
+            int B = yuv[0] + CV_DESCALE((yuv[1] - HALF_MAX) * coeffs[0], yuv_shift);
-            int G = yuv[0] + CV_DESCALE((yuv[2] - HALF_MAX) * coeffs[2] + (yuv[1] - HALF_MAX) * coeffs[1], yuv_shift);
+            int G = yuv[0] + CV_DESCALE((yuv[1] - HALF_MAX) * coeffs[1] + (yuv[2] - HALF_MAX) * coeffs[2], yuv_shift);
-            int R = yuv[0] + CV_DESCALE((yuv[1] - HALF_MAX) * coeffs[0], yuv_shift);
+            int R = yuv[0] + CV_DESCALE((yuv[2] - HALF_MAX) * coeffs[3], yuv_shift);
 #endif
 
             dst_ptr[bidx]     = SAT_CAST( B );
@@ -372,17 +403,17 @@ __kernel void YUV2RGB(int cols, int rows, int src_step, int dst_step,
             const float2 U = r0.s15;
             const float2 V = r0.s26;
 
-            const float2 c0 = (bidx == 0) ? (Y + (V - HALF_MAX) * coeffs[3]) : (Y + (U - HALF_MAX) * coeffs[0]);
+            const float2 c0 = (bidx != 0) ? (Y + (V - HALF_MAX) * coeffs[3]) : (Y + (U - HALF_MAX) * coeffs[0]);
             const float2 c1 = Y + (V - HALF_MAX) * coeffs[2] + (U - HALF_MAX) * coeffs[1];
-            const float2 c2 = (bidx == 0) ? (Y + (U - HALF_MAX) * coeffs[0]) : (Y + (V - HALF_MAX) * coeffs[3]);
+            const float2 c2 = (bidx != 0) ? (Y + (U - HALF_MAX) * coeffs[0]) : (Y + (V - HALF_MAX) * coeffs[3]);
 #else
             const int2 Y = convert_int2(r0.s04);
             const int2 U = convert_int2(r0.s15);
             const int2 V = convert_int2(r0.s26);
 
-            const int2 c0i = (bidx == 0) ? (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift)) : (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift));
+            const int2 c0i = (bidx != 0) ? (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift)) : (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift));
             const int2 c1i = Y + CV_DESCALE((V - HALF_MAX) * coeffs[2] + (U - HALF_MAX) * coeffs[1], yuv_shift);
-            const int2 c2i = (bidx == 0) ? (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift)) : (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift));
+            const int2 c2i = (bidx != 0) ? (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift)) : (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift));
 
             const VECTOR2 c0 = SAT_CAST2(c0i);
             const VECTOR2 c1 = SAT_CAST2(c1i);
@@ -404,9 +435,9 @@ __kernel void YUV2RGB(int cols, int rows, int src_step, int dst_step,
             const int4 U = convert_int4(r0.s159d);
             const int4 V = convert_int4(r0.s26ae);
 
-            const int4 c0i = (bidx == 0) ? (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift)) : (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift));
+            const int4 c0i = (bidx != 0) ? (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift)) : (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift));
             const int4 c1i = Y + CV_DESCALE((V - HALF_MAX) * coeffs[2] + (U - HALF_MAX) * coeffs[1], yuv_shift);
-            const int4 c2i = (bidx == 0) ? (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift)) : (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift));
+            const int4 c2i = (bidx != 0) ? (Y + CV_DESCALE((U - HALF_MAX) * coeffs[0], yuv_shift)) : (Y + CV_DESCALE((V - HALF_MAX) * coeffs[3], yuv_shift));
 
             const VECTOR4 c0 = SAT_CAST4(c0i);
             const VECTOR4 c1 = SAT_CAST4(c1i);
@@ -484,8 +515,8 @@ __kernel void YUV2RGBA_NV12(int cols, int rows, int src_step, int dst_step,
 
 ///////////////////////////////////// RGB <-> YCrCb //////////////////////////////////////
 
-__constant float c_RGB2YCrCbCoeffs_f[5] = {0.299f, 0.587f, 0.114f, 0.713f, 0.564f};
+__constant float c_RGB2YCrCbCoeffs_f[5] = {R2YF, G2YF, B2YF, YCRF, YCBF};
-__constant int   c_RGB2YCrCbCoeffs_i[5] = {R2Y, G2Y, B2Y, 11682, 9241};
+__constant int   c_RGB2YCrCbCoeffs_i[5] = {R2Y, G2Y, B2Y, YCRI, YCBI};
 
 __kernel void RGB2YCrCb(int cols, int rows, int src_step, int dst_step,
                       __global const DATA_TYPE* src, __global DATA_TYPE* dst,
@@ -579,8 +610,8 @@ __kernel void RGB2YCrCb(int cols, int rows, int src_step, int dst_step,
     }
 }
 
-__constant float c_YCrCb2RGBCoeffs_f[4] = { 1.403f, -0.714f, -0.344f, 1.773f };
+__constant float c_YCrCb2RGBCoeffs_f[4] = { CR2RF, CR2GF, CB2GF, CB2BF };
-__constant int   c_YCrCb2RGBCoeffs_i[4] = { 22987, -11698, -5636, 29049 };
+__constant int   c_YCrCb2RGBCoeffs_i[4] = { CR2RI, CR2GI, CB2GI, CB2BI };
 
 __kernel void YCrCb2RGB(int cols, int rows, int src_step, int dst_step,
                       __global const DATA_TYPE* src, __global DATA_TYPE* dst,

modules/photo/doc/denoising.rst

@@ -40,7 +40,7 @@ Modification of ``fastNlMeansDenoising`` function for colored images
 
     :param h: Parameter regulating filter strength for luminance component. Bigger h value perfectly removes noise but also removes image details, smaller h value preserves details but also preserves some noise
 
-    :param hForColorComponents: The same as h but for color components. For most images value equals 10 will be enought to remove colored noise and do not distort colors
+    :param hColor: The same as h but for color components. For most images value equals 10 will be enought to remove colored noise and do not distort colors
 
 The function converts image to CIELAB colorspace and then separately denoise L and AB components with given h parameters using ``fastNlMeansDenoising`` function.
 
@@ -85,6 +85,6 @@ Modification of ``fastNlMeansDenoisingMulti`` function for colored images sequen
 
     :param h: Parameter regulating filter strength for luminance component. Bigger h value perfectly removes noise but also removes image details, smaller h value preserves details but also preserves some noise.
 
-    :param hForColorComponents: The same as h but for color components.
+    :param hColor: The same as h but for color components.
 
 The function converts images to CIELAB colorspace and then separately denoise L and AB components with given h parameters using ``fastNlMeansDenoisingMulti`` function.

modules/python/CMakeLists.txt

@@ -97,6 +97,8 @@ if(MSVC AND NOT ENABLE_NOISY_WARNINGS)
   string(REPLACE "/W4" "/W3" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 endif()
 
+ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef) # accurate guard via #pragma doesn't work (C++ preprocessor doesn't handle #pragma)
+
 if(MSVC AND NOT BUILD_SHARED_LIBS)
   set_target_properties(${the_module} PROPERTIES LINK_FLAGS "/NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:atlsd.lib /DEBUG")
 endif()

modules/viz/CMakeLists.txt

@@ -7,7 +7,7 @@ set(the_description "Viz")
 ocv_define_module(viz opencv_core ${VTK_LIBRARIES})
 
 if(APPLE AND BUILD_opencv_viz)
-  target_link_libraries(opencv_viz "-framework Cocoa")
+  target_link_libraries(opencv_viz LINK_PRIVATE "-framework Cocoa")
 endif()
 
 if(TARGET opencv_test_viz)

platforms/ios/build_framework.py

@@ -49,6 +49,7 @@ def build_opencv(srcroot, buildroot, target, arch):
     # for some reason, if you do not specify CMAKE_BUILD_TYPE, it puts libs to "RELEASE" rather than "Release"
     cmakeargs = ("-GXcode " +
                 "-DCMAKE_BUILD_TYPE=Release " +
+                ("-DIOS_ARCH=%s " % arch) +
                 "-DCMAKE_TOOLCHAIN_FILE=%s/platforms/ios/cmake/Toolchains/Toolchain-%s_Xcode.cmake " +
                 "-DBUILD_opencv_world=ON " +
                 "-DCMAKE_C_FLAGS=\"-Wno-implicit-function-declaration\" " +

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

@@ -43,7 +43,10 @@ set (no_warn "-Wno-unused-function -Wno-overloaded-virtual")
 set (CMAKE_C_FLAGS "${no_warn}")
 set (CMAKE_CXX_FLAGS "-stdlib=libc++ -fvisibility=hidden -fvisibility-inlines-hidden ${no_warn}")
 
-set (CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -fomit-frame-pointer -ffast-math")
+set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -ffast-math")
+if(NOT IOS_ARCH STREQUAL "armv7" AND NOT IOS_ARCH STREQUAL "armv7s")
+  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -fomit-frame-pointer")
+endif()
 
 if (HAVE_FLAG_SEARCH_PATHS_FIRST)
     set (CMAKE_C_LINK_FLAGS "-Wl,-search_paths_first ${CMAKE_C_LINK_FLAGS}")

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

@@ -2,7 +2,10 @@ message (STATUS "Setting up iPhoneOS toolchain")
 set (IPHONEOS TRUE)
 
 # Standard settings
-set (CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_VERSION 6.0)
+set(CMAKE_SYSTEM_PROCESSOR "${IOS_ARCH}")
+
 # Include extra modules for the iOS platform files
 set (CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/platforms/ios/cmake/Modules")
 

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

@@ -2,7 +2,10 @@ message (STATUS "Setting up iPhoneSimulator toolchain")
 set (IPHONESIMULATOR TRUE)
 
 # Standard settings
-set (CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_NAME iOS)
+set(CMAKE_SYSTEM_VERSION 6.0)
+set(CMAKE_SYSTEM_PROCESSOR "${IOS_ARCH}")
+
 # Include extra modules for the iOS platform files
 set (CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/platforms/ios/cmake/Modules")
 

samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp

@@ -101,7 +101,7 @@ public:
             }
             else
             {
-                if (readStringList(input, imageList))
+                if (isListOfImages(input) && readStringList(input, imageList))
                     {
                         inputType = IMAGE_LIST;
                         nrFrames = (nrFrames < (int)imageList.size()) ? nrFrames : (int)imageList.size();
@@ -169,6 +169,16 @@ public:
             l.push_back((string)*it);
         return true;
     }
+
+    static bool isListOfImages( const string& filename)
+    {
+        string s(filename);
+        // Look for file extension
+        if( s.find(".xml") == string::npos && s.find(".yaml") == string::npos && s.find(".yml") == string::npos )
+            return false;
+        else
+            return true;
+    }
 public:
     Size boardSize;            // The size of the board -> Number of items by width and height
     Pattern calibrationPattern;// One of the Chessboard, circles, or asymmetric circle pattern

samples/gpu/pyrlk_optical_flow_multithreading.cpp

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

samples/python2/feature_homography.py

@@ -8,9 +8,9 @@ Example of using features2d framework for interactive video homography matching.
 ORB features and FLANN matcher are used. The actual tracking is implemented by
 PlaneTracker class in plane_tracker.py
 
-Inspired by http://www.youtube.com/watch?v=-ZNYoL8rzPY
+Inspired by https://www.youtube.com/watch?v=-ZNYoL8rzPY
 
-video: http://www.youtube.com/watch?v=FirtmYcC0Vc
+video: https://www.youtube.com/watch?v=FirtmYcC0Vc
 
 Usage
 -----

samples/python2/plane_ar.py

@@ -8,7 +8,7 @@ This sample shows an example of augmented reality overlay over a planar object
 tracked by PlaneTracker from plane_tracker.py. solvePnP funciton is used to
 estimate the tracked object location in 3d space.
 
-video: http://www.youtube.com/watch?v=pzVbhxx6aog
+video: https://www.youtube.com/watch?v=pzVbhxx6aog
 
 Usage
 -----

samples/python2/plane_tracker.py

@@ -8,7 +8,7 @@ Example of using features2d framework for interactive video homography matching.
 ORB features and FLANN matcher are used. This sample provides PlaneTracker class
 and an example of its usage.
 
-video: http://www.youtube.com/watch?v=pzVbhxx6aog
+video: https://www.youtube.com/watch?v=pzVbhxx6aog
 
 Usage
 -----