Fixes and optimizations for the SQPnP solver
* Fixes and optimizations
- optimized the calculation of qa_sum by moving equal elements outside the loop
- unrolled copying of the lower triangle of omega
- substituted SVD with eigendecomposition in the factorization of omega (2-3 times faster)
- fixed the initialization of lambda in FOAM
- added a cheirality test that checks a solution on all 3D points rather than on their mean. The old test rejected valid poses in some cases
- fixed some typos & errors in comments
* reverted to SVD
Eigen decomposition seems to yield larger errors in certain tests, reverted to SVD
* nearestRotationMatrixSVD
Added nearestRotationMatrixSVD()
Previous nearestRotationMatrix() renamed to nearestRotationMatrixFOAM() and reverts to nearestRotationMatrixSVD() for singular matrices
* fixed checks order
Fixed the order of checks in PoseSolver::solveInternal()
GSoC module to save and load point cloud
* Add functionality to read point cloud data from files
* address issues found on review, add tests for mesh, refactor
* enable fail-safe execution and empty arrays as output
* Some improvements for point cloud io module
Co-authored-by: Julie Bareeva <julia.bareeva@xperience.ai>
Add undistortImagePoints function
* Add undistortImagePoints function
undistortPoints has unclear interface and additional functionality. New function computes only undistorted image points position
* Add undistortImagePoints test
* Add TermCriteria
* Fix layout
If there will be measurement before the next predict, `statePost` would be assigned to updated value. So I guess these steps are meant to handle when no measurement and KF only do the predict step.
```cpp
statePre.copyTo(statePost);
errorCovPre.copyTo(errorCovPost);
```
In test_imgproc.js, the test_filter suite's last test assigns a variable
to `size` without declaring it with `let`, polluting the global scope.
This commit adds `let` to the statement, so that the variable is scoped
to the test block.
Add distort/undistort test for fisheye::undistortPoints()
* Add distort/undistort test for fisheye::undistortPoints()
Lack of test has allowed error described in 19138 to be unnoticed.
In addition to random points, four corners and principal center
added to point set
* Add random distortion coefficients set
* Move undistortPoints test to google test, refactor
* Add fisheye::undistortPoints() perf test
* Add negative distortion coefficients to undistortPoints test, increase value
* Move to theRNG()
* Change test check from cvtest::norm(L2) to EXPECT_MAT_NEAR()
* Layout fix
* Add points number parameters, comments
[GAPI] Support basic inference in OAK backend
* Combined commit which enables basic inference and other extra capabilities of OAK backend
* Remove unnecessary target options from the cmakelist
Fixed out-of-bounds read in parallel version of ippGaussianBlur()
* Fixed out-of-memory read in parallel version of ippGaussianBlur()
* Fixed check
* Revert changes in CMakeLists.txt
Fixed handling of new stream, especially for stateful OCV kernels
* Fixed handling of new stream, especially for stateful OCV kernels
* Removed duplication from StateInitOnce tests
* Addressed review comments for PR #21731
- Fixed explanation comments
- Expanded test for stateful OCV kernels in Regular mode
* Addressed review comments for PR #21731
- Moved notification about new stream to the constructor
- Added test on state reset for Regular mode
* Addresed review comments
* Addressed review comments
Co-authored-by: Ruslan Garnov <ruslan.garnov@intel.com>
python binding for matches and inliers_mask attributes of cv2.detail_MatchesInfo class
* making matches and inliers_mask attributes of cv2.detail_MatchesInfo class accessible from python interface
* binding test for cv2.detail_MatchesInfo class
[G-API] Handle exceptions in streaming executor
* Handle exceptions in streaming executor
* Rethrow exception in non-streaming executor
* Clean up
* Put more tests
* Handle exceptions in IE backend
* Handle exception in IE callbacks
* Handle exception in GExecutor
* Handle all exceptions in IE backend
* Not only (std::exception& e)
* Fix comments to review
* Handle input exception in generic way
* Fix comment
* Clean up
* Apply review comments
* Put more comments
* Fix alignment
* Move test outside of HAVE_NGRAPH
* Fix compilation
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/vsx_utils.hpp:352:12: warning: 'vec_permi' macro redefined [-Wmacro-redefined]
# define vec_permi(a, b, c) vec_xxpermdi(b, a, (3 ^ (((c) & 1) << 1 | (c) >> 1)))
^
/usr/lib/clang/13.0.0/include/altivec.h:13077:9: note: previous definition is here
#define vec_permi(__a, __b, __c) \
^
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/vsx_utils.hpp:370:25: error: redefinition of 'vec_promote'
VSX_FINLINE(vec_dword2) vec_promote(long long a, int b)
^
/usr/lib/clang/13.0.0/include/altivec.h:14604:1: note: previous definition is here
vec_promote(signed long long __a, int __b) {
^
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/vsx_utils.hpp:377:26: error: redefinition of 'vec_promote'
VSX_FINLINE(vec_udword2) vec_promote(unsigned long long a, int b)
^
/usr/lib/clang/13.0.0/include/altivec.h:14611:1: note: previous definition is here
vec_promote(unsigned long long __a, int __b) {
^
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/hal/intrin_vsx.hpp:1045:22: error: call to 'vec_rsqrt' is ambiguous
{ return v_float32x4(vec_rsqrt(x.val)); }
^~~~~~~~~
/usr/lib/clang/13.0.0/include/altivec.h:8472:34: note: candidate function
static vector float __ATTRS_o_ai vec_rsqrt(vector float __a) {
^
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/vsx_utils.hpp:362:29: note: candidate function
VSX_FINLINE(vec_float4) vec_rsqrt(const vec_float4& a)
^
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/hal/intrin_vsx.hpp:1047:22: error: call to 'vec_rsqrt' is ambiguous
{ return v_float64x2(vec_rsqrt(x.val)); }
^~~~~~~~~
/usr/lib/clang/13.0.0/include/altivec.h:8477:35: note: candidate function
static vector double __ATTRS_o_ai vec_rsqrt(vector double __a) {
^
/wrkdirs/usr/ports/graphics/opencv/work/opencv-4.5.5/modules/core/include/opencv2/core/vsx_utils.hpp:365:30: note: candidate function
VSX_FINLINE(vec_double2) vec_rsqrt(const vec_double2& a)
^
1 warning and 4 errors generated.
The specific functions were added to altivec.h in LLVM's 1ff93618e58df210def48d26878c20a1b414d900, c3da07d216dd20fbdb7302fd085c0a59e189ae3d and 10cc5bcd868c433f9a781aef82178b04e98bd098.
* better accuracy of _rotatedRectangleIntersection
instead of just migrating to double-precision (which would work), some computations are scaled by a factor that depends on the length of the smallest vectors.
There is a better accuracy even with floats, so this is certainly better for very sensitive cases
* Update intersection.cpp
use L2SQR norm to tune the numeric scale
* Update intersection.cpp
adapt samePointEps with L2 norm
* Update intersection.cpp
move comment
* Update intersection.cpp
fix wrong numericalScalingFactor usage
* added tests
* fixed warnings returned by buildbot
* modifications suggested by reviewer
renaming numericalScaleFctor to normalizationScale
refactor some computations
more "const"
* modifications as suggested by reviewer
Fix LSTM support in ONNX
* fix LSTM and add peephole support
* disable old tests
* turn lambdas into functions
* more hacks for c++98
* add assertions
* slice fixes
* backport of cuda-related fixes
* address review comments
Add 10-12-14bit (integer) TIFF decoding support
* Add 12bit (integer) TIFF decoding support
An (slow) unpacking step is inserted when the native bpp is not equal to the dst_bpp
Currently, I do not know if there can be several packing flavours in TIFF data.
* added tests
* move sample files to opencv_extra
* added 10b and 14b unpacking
* fix compilation for non MSVC compilers by using more standard typedefs
* yet another typdef usage change to fix buildbot Mac compilation
* fixed unpacking of partial packets
* fixed warnings returned by buildbot
* modifications as suggested by reviewer
* add apply softmax option to ClassificationModel
* remove default arguments of ClassificationModel::setSoftMax()
* fix build for python
* fix docs warning for setSoftMax()
* add impl for ClassficationModel()
* fix failed build for docs by trailing whitespace
* move to implement classify() to ClassificationModel_Impl
* move to implement softmax() to ClassificationModel_Impl
* remove softmax from public method in ClassificationModel
All classes are registered in the scope that corresponds to C++
namespace or exported class.
Example:
`cv::ml::Boost` is exported as `cv.ml.Boost`
`cv::SimpleBlobDetector::Params` is exported as
`cv.SimpleBlobDetector.Params`
For backward compatibility all classes are registered in the global
module with their mangling name containing scope information.
Example:
`cv::ml::Boost` has `cv.ml_Boost` alias to `cv.ml.Boost` type
Optimize cv::applyColorMap() for simple case
* Optimize cv::applyColorMap() for simple case
PR for 21640
For regular cv::Mat CV_8UC1 src, applying the colormap is simpler than calling the cv::LUT() mechanism.
* add support for src as CV_8UC3
src as CV_8UC3 is handled with a BGR2GRAY conversion, the same optimized code being used afterwards
* code style
rely on cv::Mat.ptr() to index data
* Move new implementation to ColorMap::operator()
Changes as suggested by reviewer
* style
improvements suggsted by reviewer
* typo
* tune parallel work
* better usage of parallel_for_
use nstripes parameter of parallel_for_
assume _lut is continuous to bring faster pixel indexing
optimize src/dst access by contiguous rows of pixels
do not locally copy the LUT any more, it is no more relevant with the new optimizations
* Added NEON support in builds for Windows on ARM
* Fixed `HAVE_CPU_NEON_SUPPORT` display broken during compiler test
* Fixed a build error prior to Visual Studio 2022
4.x: submodule or a class scope for exported classes
* feature: submodule or a class scope for exported classes
All classes are registered in the scope that corresponds to C++
namespace or exported class.
Example:
`cv::ml::Boost` is exported as `cv.ml.Boost`
`cv::SimpleBlobDetector::Params` is exported as
`cv.SimpleBlobDetector.Params`
For backward compatibility all classes are registered in the global
module with their mangling name containing scope information.
Example:
`cv::ml::Boost` has `cv.ml_Boost` alias to `cv.ml.Boost` type
* refactor: remove redundant GAPI aliases
* fix: use explicit string literals in CVPY_TYPE macro
* fix: add handling for class aliases
Use YuNet of fixed input shape to fix not-supported-dynamic-zero-shape for FaceDetectorYN
* use yunet with input of fixed shape
* update yunet used in face recognition regression
Thread Sanitizer identified an incorrect implementation of double checked locking.
Replaced it with a static, which therefore can only be created once.
Default FFMPEG VideoCapture backend to rtsp_flags=prefer_tcp
* Make the VideoCapture ffmpeg backends default rtsp connection type prefer_tcp.
* Ensure that the ffmpeg version of avformat is checked.
Per intel docs for libva, when vaDeriveImage fails vaCreateImage +
vaPutImage should be tried. This is important as mesa with AMD HW
will always fail because the image is interlaced so a indirect
method must be used to get the surface to/from and image
Fixes https://github.com/opencv/opencv/issues/21536
* Fix wrong MSAN errors.
Because Fortran is called in Lapack, MSAN does not think the memory
has been written even though it is the case.
MSAN does no support well cross-language memory analysis.
* Make a dedicated check.
- Add special case handling when submodule has the same name as parent
- `PyDict_SetItemString` doesn't steal reference, so reference count
should be explicitly decremented to transfer object life-time
ownership
- Add sanity checks for module registration input
- Add Python 2 and Python 3 reference counting handling
G-API: Wrap GStreamerSource
* Wrap GStreamerSource into python
* Fixed test skipping when can't make Gst-src
* Wrapped GStreamerPipeline class, added dummy test for it
* Fix no_gst testing
* Changed wrap for GStreamerPipeline::getStreamingSource() : now python-specific in-class method GStreamerPipeline::get_streaming_source()
* Added accuracy tests vs OCV:VideoCapture(Gstreamer)
* Add skipping when can't use VideoCapture(GSTREAMER);
Add better handling of GStreamer backend unavailable;
Changed video to avoid terminations
* Applying comments
* back to a separate get_streaming_source function, with comment
Co-authored-by: OrestChura <orest.chura@intel.com>
G-API: oneVPL DX11 inference
* Draft GPU infer
* Fix incorrect subresource_id for array of textures
* Fix for TheOneSurface in different Frames
* Turn on VPP param configuration
* Add cropIn params
* Remove infer sync sample
* Remove comments
* Remove DX11AllocResource extra init
* Add condition for NV12 processing in giebackend
* Add VPP frames pool param configurable
* -M Remove extra WARN & INFOs, Fix custom MAC
* Remove global vars from example, Fix some comments, Disable blobParam due to OV issue
* Conflict resolving
* Revert back pointer cast for cv::any
clang-cl defines both __clang__ and _MSC_VER, yet uses `#pragma GCC` to disable certain diagnostics.
At the time `-Wreturn-type-c-linkage` was reported by clang-cl.
This PR fixes this behavior by reordering defines.
