Merge remote-tracking branch 'upstream/3.4' into merge-3.4

chrisnicollo · May 23, 2019 · 166ecae · 166ecae
2 parents 2080e06 + 1810702
commit 166ecae
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Showing 33 changed files with 5,687 additions and 2,433 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -252,8 +252,8 @@ OCV_OPTION(WITH_CUBLAS "Include NVidia Cuda Basic Linear Algebra Subprograms (BL
 OCV_OPTION(WITH_NVCUVID "Include NVidia Video Decoding library support" WITH_CUDA
   VISIBLE_IF WITH_CUDA
   VERIFY HAVE_NVCUVID)
-OCV_OPTION(WITH_EIGEN "Include Eigen2/Eigen3 support" (NOT CV_DISABLE_OPTIMIZATION)
-  VISIBLE_IF NOT WINRT AND NOT CMAKE_CROSSCOMPILING
+OCV_OPTION(WITH_EIGEN "Include Eigen2/Eigen3 support" (NOT CV_DISABLE_OPTIMIZATION AND NOT CMAKE_CROSSCOMPILING)
+  VISIBLE_IF NOT WINRT
   VERIFY HAVE_EIGEN)
 OCV_OPTION(WITH_FFMPEG "Include FFMPEG support" (NOT ANDROID)
   VISIBLE_IF NOT IOS AND NOT WINRT

diff --git a/apps/traincascade/haarfeatures.cpp b/apps/traincascade/haarfeatures.cpp
@@ -153,14 +153,14 @@ void CvHaarEvaluator::generateFeatures()
                     {
                         features.push_back( Feature( offset, false,
                             x,    y, dx*3, dy, -1,
-                            x+dx, y, dx  , dy, +3 ) );
+                            x+dx, y, dx  , dy, +2 ) );
                     }
                     // haar_y3
                     if ( (x+dx <= winSize.width) && (y+dy*3 <= winSize.height) )
                     {
                         features.push_back( Feature( offset, false,
                             x, y,    dx, dy*3, -1,
-                            x, y+dy, dx, dy,   +3 ) );
+                            x, y+dy, dx, dy,   +2 ) );
                     }
                     if( mode != CvHaarFeatureParams::BASIC )
                     {

diff --git a/cmake/OpenCVFindLAPACK.cmake b/cmake/OpenCVFindLAPACK.cmake
@@ -31,27 +31,33 @@ macro(ocv_lapack_check)
   else()
     # adding proxy opencv_lapack.h header
     set(CBLAS_H_PROXY_PATH ${CMAKE_BINARY_DIR}/opencv_lapack.h)
-    if((APPLE OR OPENCV_SKIP_LAPACK_EXTERN_C) AND NOT OPENCV_FORCE_LAPACK_EXTERN_C)
-        set(_lapack_include_str_extern_C "")
-        set(_lapack_include_str_extern_C_end "")
-    else()
-        set(_lapack_include_str_extern_C "extern \"C\" {\n")
-        set(_lapack_include_str_extern_C_end "}\n")
+
+    set(_lapack_add_extern_c NOT (APPLE OR OPENCV_SKIP_LAPACK_EXTERN_C) OR OPENCV_FORCE_LAPACK_EXTERN_C)
+
+    set(_lapack_content "// This file is auto-generated\n")
+    if(${_lapack_add_extern_c})
+      list(APPEND _lapack_content "extern \"C\" {")
     endif()
-    set(_lapack_include_str "${_lapack_include_str_extern_C}\#include \"${OPENCV_CBLAS_H_PATH_${_lapack_impl}}\"")
-    if(NOT "${OPENCV_CBLAS_H_PATH_${_lapack_impl}}" STREQUAL "${OPENCV_LAPACKE_H_PATH_${_lapack_impl}}")
-      set(_lapack_include_str "${_lapack_include_str}\n#include \"${OPENCV_LAPACKE_H_PATH_${_lapack_impl}}\"")
+    if(NOT OPENCV_SKIP_LAPACK_MSVC_FIX)
+      list(APPEND _lapack_content "
+#ifdef _MSC_VER
+#include <complex.h>
+#define lapack_complex_float _Fcomplex
+#define lapack_complex_double _Dcomplex
+#endif
+")
     endif()
-    set(_lapack_include_str "${_lapack_include_str}\n${_lapack_include_str_extern_C_end}")
-    # update file contents (if required)
-    set(__content_str "")
-    if(EXISTS "${CBLAS_H_PROXY_PATH}")
-      file(READ "${CBLAS_H_PROXY_PATH}" __content_str)
+    list(APPEND _lapack_content "#include \"${OPENCV_CBLAS_H_PATH_${_lapack_impl}}\"")
+    if(NOT "${OPENCV_CBLAS_H_PATH_${_lapack_impl}}" STREQUAL "${OPENCV_LAPACKE_H_PATH_${_lapack_impl}}")
+      list(APPEND _lapack_content "#include \"${OPENCV_LAPACKE_H_PATH_${_lapack_impl}}\"")
     endif()
-    if(NOT " ${__content_str}" STREQUAL " ${_lapack_include_str}")
-      file(WRITE "${CBLAS_H_PROXY_PATH}" "${_lapack_include_str}")
+    if(${_lapack_add_extern_c})
+      list(APPEND _lapack_content "}")
     endif()
 
+    string(REPLACE ";" "\n" _lapack_content "${_lapack_content}")
+    ocv_update_file("${CBLAS_H_PROXY_PATH}" "${_lapack_content}")
+
     try_compile(__VALID_LAPACK
         "${OpenCV_BINARY_DIR}"
         "${OpenCV_SOURCE_DIR}/cmake/checks/lapack_check.cpp"

diff --git a/cmake/OpenCVFindLibsGUI.cmake b/cmake/OpenCVFindLibsGUI.cmake
@@ -64,7 +64,7 @@ if(WITH_GTK AND NOT HAVE_QT)
   if(WITH_OPENGL AND NOT HAVE_GTK3)
     ocv_check_modules(GTKGLEXT gtkglext-1.0)
     if(HAVE_GTKGLEXT)
-      ocv_append_build_options(GTKGLEXT GTHREAD)
+      ocv_append_build_options(HIGHGUI GTKGLEXT)
     endif()
   endif()
 endif()

diff --git a/cmake/OpenCVFindLibsPerf.cmake b/cmake/OpenCVFindLibsPerf.cmake
@@ -40,19 +40,67 @@ To eliminate this warning remove WITH_CUDA=ON CMake configuration option.
 endif(WITH_CUDA)
 
 # --- Eigen ---
-if(WITH_EIGEN)
-  find_path(EIGEN_INCLUDE_PATH "Eigen/Core"
-            PATHS /usr/local /opt /usr $ENV{EIGEN_ROOT}/include ENV ProgramFiles ENV ProgramW6432
-            PATH_SUFFIXES include/eigen3 include/eigen2 Eigen/include/eigen3 Eigen/include/eigen2
-            DOC "The path to Eigen3/Eigen2 headers"
-            CMAKE_FIND_ROOT_PATH_BOTH)
+if(WITH_EIGEN AND NOT HAVE_EIGEN)
+  find_package(Eigen3 QUIET)
 
-  if(EIGEN_INCLUDE_PATH)
-    ocv_include_directories(${EIGEN_INCLUDE_PATH})
-    ocv_parse_header("${EIGEN_INCLUDE_PATH}/Eigen/src/Core/util/Macros.h" EIGEN_VERSION_LINES EIGEN_WORLD_VERSION EIGEN_MAJOR_VERSION EIGEN_MINOR_VERSION)
-    set(HAVE_EIGEN 1)
+  if(Eigen3_FOUND)
+    if(TARGET Eigen3::Eigen)
+      # Use Eigen3 imported target if possible
+      list(APPEND OPENCV_LINKER_LIBS Eigen3::Eigen)
+      set(HAVE_EIGEN 1)
+    else()
+      if(DEFINED EIGEN3_INCLUDE_DIRS)
+        set(EIGEN_INCLUDE_PATH ${EIGEN3_INCLUDE_DIRS})
+        set(HAVE_EIGEN 1)
+      elseif(DEFINED EIGEN3_INCLUDE_DIR)
+        set(EIGEN_INCLUDE_PATH ${EIGEN3_INCLUDE_DIR})
+        set(HAVE_EIGEN 1)
+      endif()
+    endif()
+    if(HAVE_EIGEN)
+      if(DEFINED EIGEN3_WORLD_VERSION)  # CMake module
+        set(EIGEN_WORLD_VERSION ${EIGEN3_WORLD_VERSION})
+        set(EIGEN_MAJOR_VERSION ${EIGEN3_MAJOR_VERSION})
+        set(EIGEN_MINOR_VERSION ${EIGEN3_MINOR_VERSION})
+      else()  # Eigen config file
+        set(EIGEN_WORLD_VERSION ${EIGEN3_VERSION_MAJOR})
+        set(EIGEN_MAJOR_VERSION ${EIGEN3_VERSION_MINOR})
+        set(EIGEN_MINOR_VERSION ${EIGEN3_VERSION_PATCH})
+      endif()
+    endif()
+  endif()
+
+  if(NOT HAVE_EIGEN)
+    if(NOT EIGEN_INCLUDE_PATH OR NOT EXISTS "${EIGEN_INCLUDE_PATH}")
+      set(__find_paths "")
+      set(__find_path_extra_options "")
+      if(NOT CMAKE_CROSSCOMPILING)
+        list(APPEND __find_paths /opt)
+      endif()
+      if(DEFINED ENV{EIGEN_ROOT})
+        set(__find_paths "$ENV{EIGEN_ROOT}/include")
+        list(APPEND __find_path_extra_options NO_DEFAULT_PATH)
+      else()
+        set(__find_paths ENV ProgramFiles ENV ProgramW6432)
+      endif()
+      find_path(EIGEN_INCLUDE_PATH "Eigen/Core"
+                PATHS ${__find_paths}
+                PATH_SUFFIXES include/eigen3 include/eigen2 Eigen/include/eigen3 Eigen/include/eigen2
+                DOC "The path to Eigen3/Eigen2 headers"
+                ${__find_path_extra_options}
+      )
+    endif()
+    if(EIGEN_INCLUDE_PATH AND EXISTS "${EIGEN_INCLUDE_PATH}")
+      ocv_parse_header("${EIGEN_INCLUDE_PATH}/Eigen/src/Core/util/Macros.h" EIGEN_VERSION_LINES EIGEN_WORLD_VERSION EIGEN_MAJOR_VERSION EIGEN_MINOR_VERSION)
+      set(HAVE_EIGEN 1)
+    endif()
   endif()
-endif(WITH_EIGEN)
+endif()
+if(HAVE_EIGEN)
+  if(EIGEN_INCLUDE_PATH AND EXISTS "${EIGEN_INCLUDE_PATH}")
+    ocv_include_directories(SYSTEM ${EIGEN_INCLUDE_PATH})
+  endif()
+endif()
 
 # --- Clp ---
 # Ubuntu: sudo apt-get install coinor-libclp-dev coinor-libcoinutils-dev

diff --git a/doc/opencv.bib b/doc/opencv.bib
@@ -209,7 +209,21 @@ @article{Chaumette06
   hal_id = {inria-00350283},
   hal_version = {v1},
 }
-
+@article{Collins14
+  year = {2014},
+  issn = {0920-5691},
+  journal = {International Journal of Computer Vision},
+  volume = {109},
+  number = {3},
+  doi = {10.1007/s11263-014-0725-5},
+  title = {Infinitesimal Plane-Based Pose Estimation},
+  url = {http://dx.doi.org/10.1007/s11263-014-0725-5},
+  publisher = {Springer US},
+  keywords = {Plane; Pose; SfM; PnP; Homography},
+  author = {Collins, Toby and Bartoli, Adrien},
+  pages = {252-286},
+  language = {English}
+}
 @article{Daniilidis98,
   author = {Konstantinos Daniilidis},
   title = {Hand-Eye Calibration Using Dual Quaternions},

diff --git a/doc/py_tutorials/py_ml/py_knn/py_knn_opencv/py_knn_opencv.markdown b/doc/py_tutorials/py_ml/py_knn/py_knn_opencv/py_knn_opencv.markdown
@@ -21,7 +21,6 @@ train_data, and next 250 samples as test_data. So let's prepare them first.
 @code{.py}
 import numpy as np
 import cv2 as cv
-from matplotlib import pyplot as plt
 
 img = cv.imread('digits.png')
 gray = cv.cvtColor(img,cv.COLOR_BGR2GRAY)
@@ -89,7 +88,6 @@ alphabets directly.
 @code{.py}
 import cv2 as cv
 import numpy as np
-import matplotlib.pyplot as plt
 
 # Load the data, converters convert the letter to a number
 data= np.loadtxt('letter-recognition.data', dtype= 'float32', delimiter = ',',