Reworked multiview calibration interface #26221
- Use InputArray / OutputArray
- Use enum for camera type
- Sort parameters according guidelines
- Made more outputs optional
- Introduce flags and added tests for intrinsics and extrinsics guess.
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Mirror most recent changes from https://github.com/terzakig/sqpnp/pull/24
- rank revealing QR in nullspace computation
- sqrt-free Cholesky (i.e., L*D*Lt) in the SQP solution
- replaced divisions with multiplications by inverses
- simplified checks in computeRowAndNullspace()
- removed unnecessary negations
- broke some dependency chains with parentheses
- minor other changes
HAL interface for Sharr derivatives needed for Lukas-Kanade algorithm #26163
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Documentation update for imagecodecs #26152
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Added HAL interface for Lukas-Kanade optical flow #26143
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Documentation update for minMaxLoc #25785Fixes#25784
Update documentation for minMaxLoc to be more specific about when multi-channel images are and are not supported.
Testing:
Built documentation locally to check that updates were incorporated correctly.
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Replace operators with wrapper functions on universal intrinsics backends #26109
This PR aims to replace the operators(logic, arithmetic, bit) with wrapper functions(v_add, v_eq, v_and...)
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❗ Potential conflicts with #25958
C-API cleanup: highgui, videoio #26025❗ Merge with: opencv/opencv_contrib#3780
This PR removes usage of C-API from highgui and videoio modules. Only source code is affected, tests were not using obsolete API.
It should be possible to backport these changes to 4.x branch preserving removed public headers and source files (`*_c.h` and `*_c.cpp`).
#### Checklist
I tried to verify as many backends as possible, though these checks were not as thorough as I'd like them to be. Below is the checklist covering all modified backends with their statuses.
> 🔹 - small changes
> 🟢 - consider working
> ⚪ - considered untested
##### highgui
Pass | Backend | Local check | CI check
-----|---------|-------------|---------
🟢 | GTK2 | build + test, plugin build | build + test ❔🟢 | GTK3 | build + test, plugin build | build + test
🟢 | QT | build + test, plugin build |
⚪ | Wayland 🔹 | |
🟢 | WIN32 🔹 | | build + test
🟢 | Cocoa 🔹 | | build + test
⚪ | WinRT | |
##### videoio
Pass | Backend | Local check | CI check
-----|---------|-------------|---------
🟢 | Android Camera/MediaNDK 🔹 | | build
🟢 | Aravis | build |
🟢 | AVFoundation OSX | | build + test
⚪ | AVFoundation iOS | | build
🟢 | DC1394 | build |
🟢 | DShow 🔹 | | build
🟢 | FFMpeg | build, plugin build | build + test
🟢 | GPhoto 🔹 | build |
🟢 | GStreamer | build, plugin build | build + test
🟢 | Images | build | build + test
🟢 | MSMF 🔹 | | build + test
🟢 | OpenNI | build |
🟢 | PVAPI | build |
🟢 | V4L | build + test | build
🟢 | XIMEA | build |
🟢 | XINE 🔹 | build |
#### Notes
- local linux build checks performed using [this framework](https://github.com/mshabunin/opencv-videoio-build-check)
- minor extra changes made in both `cap_avfoundation*.mm` to make them slightly more synchronized - it would be better to combine them into a single one in the future
- configurations with plugins have been build but not tested
- **moved unrelated changes to separate PRs** ~two issues have been fixed in separate commits:~
- ~imgproc: missing `cv::hal::` color conversion functions has been used in MediaSDK backend~
- ~videoio/V4L: wrong color conversion mode caused bad colors for NV12 camera input format (RGB instead of BGR)~
It would be nice to check following functionality manually:
- [ ] OSX: camera input
- [ ] iOS: camera and file input
- [ ] WinRT: build, some testing
- [x] Linux/Wayland: build
dnn(5.x): handle topk data type #26124
Resolves https://github.com/opencv/opencv/issues/26076
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Support for GatherND layer #26106
This PR adds support for GatherND layer. The layer was in comformance deny list initially.
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Add size() to CUDA PtrStepSz #26042
According to [cppreference.com compiler support table](https://en.cppreference.com/w/cpp/compiler_support/17), `nvcc` supports `[[nodiscard]]` from version 11.
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Related: https://github.com/opencv/opencv/pull/25659
Switch off OpenVINO backend for Hardmax #26110
Fix Hardmax Issue with backend mentioned in #26107
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#25006#25314
This pull request removes hed_pretrained caffe model to the SOTA dexined onnx model for edge detection. Usage of conventional methods like canny has also been added
The obsolete cpp and python sample has been removed
TODO:
- [ ] Remove temporary hack for quantized models. Refer issue https://github.com/opencv/opencv_zoo/issues/273
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C-API cleanup: moved cvErrorStr to new interface, minor ts changes #26101
Merge with opencv/opencv_contrib#3786
**Note:** `toString` might be too generic name (even though it is in `cv::Error::` namespace), another variant is `codeToString` (we have `typeToString` and `depthToString` in check.hpp).
**Note:** _ts_ module seem to have no other C API usage except for `ArrayTest` class which requires refactoring.
Added more data types to OCL flip() and rotate() perf tests #26115
Connected PR with updated sanity data: https://github.com/opencv/opencv_extra/pull/1206
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Avoid uninitialized value read in resize. #26084
When there is no point falling right, an hypothetical value is computed (but unused) using an uninitialized ofst. This triggers warnings in the sanitizers.
Including those values in the for loops is also possible but messy when SIMD is involved.
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Remove the redundant codes of cv::convertMaps and mRGBA2RGBA<uchar> #26071
(1) cv::convertMaps: the branch [else if( m1type == CV_32FC2 && dstm1type == CV_16SC2 ) if( nninterpolate )] is unreachable,
as the condition is satisfied in lines 1959 to 1961, calculated in advance and return directly.
(2) mRGBA2RGBA<uchar>: dst[0], dst[1], dst[2] and dst[3] is calculated repeatedly. Introduced in https://github.com/opencv/opencv/pull/13440
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Update test_tiff.cpp #26093
related #22090
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Fix hfloat, float16_t, float collision in 5.x about v_exp and v_log #26023
This PR try to fix https://github.com/opencv/opencv/issues/25922
Because the `hfloat` is defined as explicit conversion, the test code should be modified as it. The `vx_setall_f16` problem has already been fixed.
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Add Support for Hardmax Layer #26079
This PR add support for `Hardmax` layer, which as previously listed in conformance deny list.
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Added offset for HAL as ofs2idx expects 1-based index #26080
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DNN(ONNX): Enabled several OpenCL conformance tests #26053
The tests also work in 5.x
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Fixed the simd bugs of iPow8u and iPow16u #26061
Add the following cases in opencv_perf_core:
* OCL_PowFixture_iPow.iPow/0, where GetParam() = (640x480, 8UC1)
* OCL_PowFixture_iPow.iPow/2, where GetParam() = (640x480, 16UC1)
iPow8u and iPow16u failed to call to simd accelerating while executing.
Fix the bug by changing the input type of iPow_SIMD function.
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Einsum buffer allocation fix#26059
This PR fixed buffer allocation issue in Einsum layer that causes segmentation fault on 32bit platforms. Related issue #26008
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Imgproc: use double to determine whether the corners points are within src #26022close#26016
Related https://github.com/opencv/opencv_contrib/pull/3778
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Split Javascript white-list to support contrib modules #25986
Single whitelist converted to several per-module json files. They are concatenated automatically and can be overriden by user config.
Related to https://github.com/opencv/opencv/pull/25656
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Increase neighbors search radius for corners in ChessBoardDetector:findQuadNeighbors #26014
I didn't do everything right the way I wanted at #25991. I forgot that `edge_len` is edge **squared** length as well as `thresh_scale` is threshold for **squared** scale. So, I wanted to increase scale by `sqrt(2)` times (idea is to use quad diagonal instead of quad side) and therefore `thresh_scale` should be equal to `sqrt(2)^2 = 2`.
And refactor variables names to explicitly indicate that they are squared, so that no one else falls into this trap
I tested this PR with benchmark
```
python3 objdetect_benchmark.py --configuration=generate_run --board_x=7 --path=res_chessboard --synthetic_object=chessboard
```
PR increases detected chessboards number by `1/2%`:
```
cell_img_size = 100 (default)
before
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.941667 13560 14400 0.596726
Total detected time: 136.68963200000007 sec
after
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.952083 13710 14400 0.595984
Total detected time: 136.55770600000014 sec
----------------------------------------------------------------------------------------------------------------------------------------------
cell_img_size = 10
before
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.579167 8340 14400 4.198448
Total detected time: 2.535998999999999 sec
after
category detected chessboard total detected chessboard total chessboard average detected error
all 0.591389 8516 14400 4.155250
Total detected time: 2.700832999999997 sec
```
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dnn: add ONNX TopK #23279
Merge with https://github.com/opencv/opencv_extra/pull/1200
Partially fixes#22890 and #20258
To-do:
- [x] TopK forward impl
- [x] add tests
- [x] support Opset 1 & 10 if possible
- [ ] ~Support other backends~ (TopK has two outputs, which is not supported by other backends, such as openvino)
Perf:
M1 (time in millisecond)
| input shape | axis | dnn | ort |
| --------------- | ---- | ---- | ---- |
| (1000, 100) | 0 | 1.68 | 4.07 |
| (1000, 100) K5 | 0 | 1.13 | 0.12 |
| (1000, 100) | 1 | 0.96 | 0.77 |
| (100, 100, 100) | 0 | 10.00 | 31.13 |
| (100, 100, 100) | 1 | 7.33 | 9.17 |
| (100, 100, 100) | 2 | 7.52 | 9.48 |
M2 (time in milisecond)
| input shape | axis | dnn | ort |
| --------------- | ---- | ---- | ---- |
| (1000, 100) | 0 | 0.76 | 2.44 |
| (1000, 100) K5 | 0 | 0.68 | 0.07 |
| (1000, 100) | 1 | 0.41 | 0.50 |
| (100, 100, 100) | 0 | 4.83 | 17.52|
| (100, 100, 100) | 1 | 3.60 | 5.08 |
| (100, 100, 100) | 2 | 3.73 | 5.10 |
ONNXRuntime performance testing script: https://gist.github.com/fengyuentau/a119f94fd16721ec9974b8c7b0a45d4c
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Correct Bayer2Gray u8 SIMD #25968
SIMD version of CV_DESCALE is not correct. It should be implemented using v_dotprod.
What's more, the stop condition of vector operation should be `bayer < bayer_end - 14` because we just need to make sure result is safely stored into `dst`.
Closes: https://github.com/opencv/opencv/issues/25823
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Unified build.gradle files into one template #26009
Issue #24686
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Add support for boolan input/outputs in python bindings #26026
This PR add support boolean input/output binding in python. The issue what mention in ticket https://github.com/opencv/opencv/issues/26024 and the PR soleves it. Data and models are located in [here](https://github.com/opencv/opencv_extra/pull/1201)
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Fix typos #26038
Fix typos
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imgproc: add specific error code when cvtColor is used on an image with an invalid number of channels #25981close#25971
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Add support for QNX #25832
Build and test instruction for QNX:
https://github.com/chachoi-world/qnx-ports/blob/main/opencv/README.md
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pyrDown: offset HAL added, IPP removed #25970Resolves#25976
### Changes
* HAL added for offset support so that border pixels can be fetched from outside of the image ROI (see `BORDER_ISOLATED` parameter)
* IPP removed since there is `pyrUp` instead of `pyrDown` and there's no easy way to fix this other than rewriting it from scratch
* replaced old C call by modern `cv::pyrDown`
### Pull Request Readiness Checklist
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Added xxxApprox overloads for YUV color conversions in HAL and AlgorithmHint to cvtColor #25932
The xxxApprox to implement HAL functions with less bits for arithmetic of FP.
The hint was introduced in #25792 and #25911
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Improved classification sample #25519#25006#25314
This pull requests replaces the caffe model for classification with onnx versions. It also adds resnet in model.yml.
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Improve corners matching in ChessBoardDetector::NeighborsFinder::findCornerNeighbor #25991
### Pull Request Readiness Checklist
Idea was mentioned in `Section III-B. New Heuristic for Quadrangle Linking` of `Rufli, Martin & Scaramuzza, Davide & Siegwart, Roland. (2008). Automatic Detection of Checkerboards on Blurred and Distorted Images. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 3121-3126. 10.1109/IROS.2008.4650703` (https://rpg.ifi.uzh.ch/docs/IROS08_scaramuzza_b.pdf):
```
* For each candidate pair, focus on the quadrangles they belong to and draw two straight lines passing through the midsections of the respective quadrangle edges (see Fig. 6).
* If the candidate corner and the source corner are on the same side of every of the four straight lines drawn this way (this corresponds to the yellow shaded area in Fig. 6), then the corners are successfully matched.
```
By improving corners matching, we can increase the search radius (`thresh_scale`).
I tested this PR with benchmark
```
python3 objdetect_benchmark.py --configuration=generate_run --board_x=7 --path=res_chessboard --synthetic_object=chessboard
```
PR increases detected chessboards number by `3/7%`:
```
cell_img_size = 100 (default)
before
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.910417 13110 14400 0.599746
Total detected time: 147.50906700000002 sec
after
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.941667 13560 14400 0.596726
Total detected time: 136.68963200000007 sec
----------------------------------------------------------------------------------------------------------------------------------------------
cell_img_size = 10
before
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.539792 7773 14400 4.208237
Total detected time: 2.668964 sec
after
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.579167 8340 14400 4.198448
Total detected time: 2.535998999999999 sec
```
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
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Patch to opencv_extra has the same branch name.
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Current code using CMAKE_SOURCE_DIR and it works well if opencv is standalone CMake project,
but in case of building OpenCV as part of a larger CMake project (e.g. one that includes
opencv and opencv_contrib) this path is incorrect, unlike OpenCV_SOURCE_DIR
To be on par with `cv::Mat`, let's add `cv::cuda::GpuMat::getStdAllocator()`
This is useful anyway, because when a user wants to use custom allocators, he might want to resort to the standard default allocator behaviour, not some other allocator that could have been set by `setDefaultAllocator()`
Removed obsolete python samples #25268
Clean Samples #25006
This PR removes 36 obsolete python samples from the project, as part of an effort to keep the codebase clean and focused on current best practices. Some of these samples will be updated with latest algorithms or will be combined with other existing samples.
Removed Samples:
> browse.py
camshift.py
coherence.py
color_histogram.py
contours.py
deconvolution.py
dft.py
dis_opt_flow.py
distrans.py
edge.py
feature_homography.py
find_obj.py
fitline.py
gabor_threads.py
hist.py
houghcircles.py
houghlines.py
inpaint.py
kalman.py
kmeans.py
laplace.py
lk_homography.py
lk_track.py
logpolar.py
mosse.py
mser.py
opt_flow.py
plane_ar.py
squares.py
stitching.py
text_skewness_correction.py
texture_flow.py
turing.py
video_threaded.py
video_v4l2.py
watershed.py
These changes aim to improve the repository's clarity and usability by removing examples that are no longer relevant or have been superseded by more up-to-date techniques.
[GSoC] dnn: Blockwise quantization support #25644
This PR introduces blockwise quantization in DNN allowing the parsing of ONNX models quantized in blockwise style. In particular it modifies the `Quantize` and `Dequantize` operations. The related PR opencv/opencv_extra#1181 contains the test data.
Additional notes:
- The original quantization issue has been fixed. Previously, for 1D scale and zero-point, the operation applied was $y = int8(x/s - z)$ instead of $y = int8(x/s + z)$. Note that the operation was already correctly implemented when the scale and zero-point were scalars. The previous implementation failed the ONNX test cases, but now all have passed successfully. [Reference](https://github.com/onnx/onnx/blob/main/docs/Operators.md#QuantizeLinear)
- the function `block_repeat` broadcasts scale and zero-point to the input shape. It repeats all the elements of a given axis n times. This function generalizes the behavior of `repeat` from the core module which is defined just for 2 axis assuming `Mat` has 2 dimensions. If appropriate and useful, you might consider moving `block_repeat` to the core module.
- Now, the scale and zero-point can be taken as layer inputs. This increases the ONNX layers' coverage and enables us to run the ONNX test cases (previously disabled) being fully compliant with ONNX standards. Since they are now supported, I have enabled the test cases for: `test_dequantizelinear`, `test_dequantizelinear_axis`, `test_dequantizelinear_blocked`, `test_quantizelinear`, `test_quantizelinear_axis`, `test_quantizelinear_blocked` just in CPU backend. All of them pass successfully.
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Fix size() for 0d matrix #25945
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modules/js/perf/perf_helpfunc.js and target tests, e.g. perf_gaussianBlur.js contained "const isNodeJs", leading to re-definition when using associated *.html files.
Mask support with CV_Bool in ts and core #25902
Partially cover https://github.com/opencv/opencv/issues/25895
### Pull Request Readiness Checklist
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Search in two directions when try to add new quad in addOuterQuad #25807
In ChessBoardDetector::addOuterQuad, previous code try to connect new quad with inner quad, if possible, but only search for one direction. I have made three test images, one is normal(a.jpg), one lossed an outer quad(b.jpg), and then i flipped it vertically(c.jpg). Only last one fails. I fixed it by check two directions and row/col.
Here is the test code and images:
```
Mat img;
vector<Point2f> corners;
auto size = cv::Size(6, 6);
img = imread("D:/tmp/a.jpg", 0);
std::cout<<cv::findChessboardCorners(img, size, corners)<<"\n";
std::cout << corners.size() << "\n";
img = imread("D:/tmp/b.jpg", 0);
std::cout<<cv::findChessboardCorners(img, size, corners)<<"\n";
std::cout << corners.size() << "\n";
img = imread("D:/tmp/c.jpg", 0);
std::cout<<cv::findChessboardCorners(img, size, corners)<<"\n";
std::cout << corners.size() << "\n";
```
a
b
c
Properly check markers when none are provided. #25938
CharucoDetectorImpl::detectBoard finds temporary markers when none are provided but those are discarded when
charucoDetectorImpl::checkBoard is called.
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HAL for dot product added #25936
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videoio: fix cv::VideoWriter with FFmpeg encapsulation timestamps #25874
Fix https://github.com/opencv/opencv/issues/25873 by modifying `cv::VideoWriter` to use provided presentation indices (pts).
### Pull Request Readiness Checklist
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dnn: optimize activations with v_exp #25881
Merge with https://github.com/opencv/opencv_extra/pull/1191.
This PR optimizes the following activations:
- [x] Swish
- [x] Mish
- [x] Elu
- [x] Celu
- [x] Selu
- [x] HardSwish
### Performance (Updated on 2024-07-18)
#### AmLogic A311D2 (ARM Cortex A73 + A53)
```
Geometric mean (ms)
Name of Test activations activations.patch activations.patch
vs
activations
(x-factor)
Celu::Layer_Elementwise::OCV/CPU 115.859 27.930 4.15
Elu::Layer_Elementwise::OCV/CPU 27.846 27.003 1.03
Gelu::Layer_Elementwise::OCV/CPU 0.657 0.602 1.09
HardSwish::Layer_Elementwise::OCV/CPU 31.885 6.781 4.70
Mish::Layer_Elementwise::OCV/CPU 35.729 32.089 1.11
Selu::Layer_Elementwise::OCV/CPU 61.955 27.850 2.22
Swish::Layer_Elementwise::OCV/CPU 30.819 26.688 1.15
```
#### Apple M1
```
Geometric mean (ms)
Name of Test activations activations.patch activations.patch
vs
activations
(x-factor)
Celu::Layer_Elementwise::OCV/CPU 16.184 2.118 7.64
Celu::Layer_Elementwise::OCV/CPU_FP16 16.280 2.123 7.67
Elu::Layer_Elementwise::OCV/CPU 9.123 1.878 4.86
Elu::Layer_Elementwise::OCV/CPU_FP16 9.085 1.897 4.79
Gelu::Layer_Elementwise::OCV/CPU 0.089 0.081 1.11
Gelu::Layer_Elementwise::OCV/CPU_FP16 0.086 0.074 1.17
HardSwish::Layer_Elementwise::OCV/CPU 1.560 1.555 1.00
HardSwish::Layer_Elementwise::OCV/CPU_FP16 1.536 1.523 1.01
Mish::Layer_Elementwise::OCV/CPU 6.077 2.476 2.45
Mish::Layer_Elementwise::OCV/CPU_FP16 5.990 2.496 2.40
Selu::Layer_Elementwise::OCV/CPU 11.351 1.976 5.74
Selu::Layer_Elementwise::OCV/CPU_FP16 11.533 1.985 5.81
Swish::Layer_Elementwise::OCV/CPU 4.687 1.890 2.48
Swish::Layer_Elementwise::OCV/CPU_FP16 4.715 1.873 2.52
```
#### Intel i7-12700K
```
Geometric mean (ms)
Name of Test activations activations.patch activations.patch
vs
activations
(x-factor)
Celu::Layer_Elementwise::OCV/CPU 17.106 3.560 4.81
Elu::Layer_Elementwise::OCV/CPU 5.064 3.478 1.46
Gelu::Layer_Elementwise::OCV/CPU 0.036 0.035 1.04
HardSwish::Layer_Elementwise::OCV/CPU 2.914 2.893 1.01
Mish::Layer_Elementwise::OCV/CPU 3.820 3.529 1.08
Selu::Layer_Elementwise::OCV/CPU 10.799 3.593 3.01
Swish::Layer_Elementwise::OCV/CPU 3.651 3.473 1.05
```
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Upgrade RISC-V Vector intrinsic and cleanup the obsolete RVV backend. #25883
This patch upgrade RISC-V Vector intrinsic from `v0.10` to `v0.12`/`v1.0`:
- Update cmake check and options;
- Upgrade RVV implement for Universal Intrinsic;
- Upgrade RVV optimized DNN kernel.
- Cleanup the obsolete RVV backend (`intrin_rvv.hpp`) and compatable header file.
With this patch, RVV backend require Clang 17+ or GCC 14+ (which means `__riscv_v_intrinsic >= 12000`, see https://godbolt.org/z/es7ncETE3)
This patch is test with Clang 17.0.6 (require extra `-DWITH_PNG=OFF` due to ICE), Clang 18.1.8 and GCC 14.1.0 on QEMU and k230 (with `--gtest_filter="*hal_*"`).
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Add a check for src == dst in ocl warpTransform #25898
As mentioned in #25853, when doing WarpAffine with Mat and UMat respectively, if you force the use of the in-place operation (so that src and dst are passed the same variables), Mat produces the correct results, but UMat produces unexpected results.
Obviously in-place operations are not possible with this transformation. When Mat performs the operation, if dst and src are the same variable, the function inherently makes a copy of src without telling the user.
74b50c7af0/modules/imgproc/src/imgwarp.cpp (L2831-L2834)
So I did the same check in UMat, but I'm not sure if it's appropriate, should we just do a copy operation without telling the user (even if the user thinks he's doing an in-place operation), or should we throw an exception to indicate that we shouldn't pass in two same variables here?
The possible reason for this problem is that there is a create function here, so it gives the developer the false impression that this create function has allocated new memory for dst, however it does not.
74b50c7af0/modules/imgproc/src/imgwarp.cpp (L2607-L2609)
Because by the time the check is done here, the function has returned back.
74b50c7af0/modules/core/src/umatrix.cpp (L668-L675)
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code clean #25931
Align code and remove redundant CMake code
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Add sample for GPT2 inference #25868
### Pull Request Readiness Checklist
This PR adds sample for inferencing GPT-2 model. More specificly implementation of GPT-2 from [this repository](https://github.com/karpathy/build-nanogpt). Currently inference in OpenCV is only possible to do with fixed window size due to not supported dynamic shapes.
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
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1D test for Reduce layer #25101
This PR introduces test for `Reduce` layer to test its functionality for 1D arrays
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Fix Reduce layer for cosnt inputs #25917
### Pull Request Readiness Checklist
This PR adds support for const inputs for reducing the layer. Particularly, it fixes the following case. The test model and data are located in [1194](https://github.com/opencv/opencv_extra/pull/1194)
<img width="190" alt="image" src="https://github.com/user-attachments/assets/45a90f0a-b798-4529-bece-24c7bfc9e7ba">
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
