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

Author: alalek

cmake/OpenCVDetectInferenceEngine.cmake

@@ -129,9 +129,9 @@ endif()
 
 if(INF_ENGINE_TARGET)
   if(NOT INF_ENGINE_RELEASE)
-    message(WARNING "InferenceEngine version has not been set, 2021.1 will be used by default. Set INF_ENGINE_RELEASE variable if you experience build errors.")
+    message(WARNING "InferenceEngine version has not been set, 2021.2 will be used by default. Set INF_ENGINE_RELEASE variable if you experience build errors.")
   endif()
-  set(INF_ENGINE_RELEASE "2021010000" CACHE STRING "Force IE version, should be in form YYYYAABBCC (e.g. 2020.1.0.2 -> 2020010002)")
+  set(INF_ENGINE_RELEASE "2021020000" CACHE STRING "Force IE version, should be in form YYYYAABBCC (e.g. 2020.1.0.2 -> 2020010002)")
   set_target_properties(${INF_ENGINE_TARGET} PROPERTIES
     INTERFACE_COMPILE_DEFINITIONS "HAVE_INF_ENGINE=1;INF_ENGINE_RELEASE=${INF_ENGINE_RELEASE}"
   )

doc/js_tutorials/js_setup/js_usage/js_usage.markdown

@@ -4,7 +4,7 @@ Using OpenCV.js {#tutorial_js_usage}
 Steps
 -----
 
-In this tutorial, you will learn how to include and start to use `opencv.js` inside a web page. You can get a copy of `opencv.js` from `opencv-{VERSION_NUMBER}-docs.zip` in each [release](https://github.com/opencv/opencv/releases), or simply download the prebuilt script from the online documentations at "https://docs.opencv.org/{VERISON_NUMBER}/opencv.js" (For example, [https://docs.opencv.org/3.4.0/opencv.js](https://docs.opencv.org/3.4.0/opencv.js). Use `master` if you want the latest build). You can also build your own copy by following the tutorial on Build Opencv.js.
+In this tutorial, you will learn how to include and start to use `opencv.js` inside a web page. You can get a copy of `opencv.js` from `opencv-{VERSION_NUMBER}-docs.zip` in each [release](https://github.com/opencv/opencv/releases), or simply download the prebuilt script from the online documentations at "https://docs.opencv.org/{VERSION_NUMBER}/opencv.js" (For example, [https://docs.opencv.org/3.4.0/opencv.js](https://docs.opencv.org/3.4.0/opencv.js). Use `master` if you want the latest build). You can also build your own copy by following the tutorial on Build Opencv.js.
 
 ### Create a web page
 

modules/calib3d/include/opencv2/calib3d.hpp

@@ -492,6 +492,12 @@ TEST_F(fisheyeTest, EstimateUncertainties)
 
 TEST_F(fisheyeTest, stereoRectify)
 {
+    // For consistency purposes
+    CV_StaticAssert(
+        static_cast<int>(cv::CALIB_ZERO_DISPARITY) == static_cast<int>(cv::fisheye::CALIB_ZERO_DISPARITY),
+        "For the purpose of continuity the following should be true: cv::CALIB_ZERO_DISPARITY == cv::fisheye::CALIB_ZERO_DISPARITY"
+    );
+
     const std::string folder =combine(datasets_repository_path, "calib-3_stereo_from_JY");
 
     cv::Size calibration_size = this->imageSize, requested_size = calibration_size;
@@ -504,7 +510,7 @@ TEST_F(fisheyeTest, stereoRectify)
     double balance = 0.0, fov_scale = 1.1;
     cv::Mat R1, R2, P1, P2, Q;
     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);
+                      cv::fisheye::CALIB_ZERO_DISPARITY, requested_size, balance, fov_scale);
 
     // Collected with these CMake flags: -DWITH_IPP=OFF -DCV_ENABLE_INTRINSICS=OFF -DCV_DISABLE_OPTIMIZATION=ON -DCMAKE_BUILD_TYPE=Debug
     cv::Matx33d R1_ref(

modules/calib3d/test/test_fisheye.cpp

@@ -626,7 +626,12 @@ class CV_EXPORTS PlatformInfo
 
     String name() const;
     String vendor() const;
+
+    /// See CL_PLATFORM_VERSION
     String version() const;
+    int versionMajor() const;
+    int versionMinor() const;
+
     int deviceNumber() const;
     void getDevice(Device& device, int d) const;
 

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

@@ -154,7 +154,7 @@ static bool ocl_convertFp16( InputArray _src, OutputArray _dst, int sdepth, int
                               sdepth == CV_32F ? "half" : "float",
                               rowsPerWI,
                               sdepth == CV_32F ? " -D FLOAT_TO_HALF " : "");
-    ocl::Kernel k("convertFp16", ocl::core::halfconvert_oclsrc, build_opt);
+    ocl::Kernel k(sdepth == CV_32F ? "convertFp16_FP32_to_FP16" : "convertFp16_FP16_to_FP32", ocl::core::halfconvert_oclsrc, build_opt);
     if (k.empty())
         return false;
 

modules/core/src/convert.dispatch.cpp

@@ -1499,25 +1499,27 @@ Platform& Platform::getDefault()
 
 /////////////////////////////////////// Device ////////////////////////////////////////////
 
-// deviceVersion has format
+// Version has format:
 //   OpenCL<space><major_version.minor_version><space><vendor-specific information>
 // by specification
 //   http://www.khronos.org/registry/cl/sdk/1.1/docs/man/xhtml/clGetDeviceInfo.html
 //   http://www.khronos.org/registry/cl/sdk/1.2/docs/man/xhtml/clGetDeviceInfo.html
-static void parseDeviceVersion(const String &deviceVersion, int &major, int &minor)
+//   https://www.khronos.org/registry/OpenCL/sdk/1.1/docs/man/xhtml/clGetPlatformInfo.html
+//   https://www.khronos.org/registry/OpenCL/sdk/1.2/docs/man/xhtml/clGetPlatformInfo.html
+static void parseOpenCLVersion(const String &version, int &major, int &minor)
 {
     major = minor = 0;
-    if (10 >= deviceVersion.length())
+    if (10 >= version.length())
         return;
-    const char *pstr = deviceVersion.c_str();
+    const char *pstr = version.c_str();
     if (0 != strncmp(pstr, "OpenCL ", 7))
         return;
-    size_t ppos = deviceVersion.find('.', 7);
+    size_t ppos = version.find('.', 7);
     if (String::npos == ppos)
         return;
-    String temp = deviceVersion.substr(7, ppos - 7);
+    String temp = version.substr(7, ppos - 7);
     major = atoi(temp.c_str());
-    temp = deviceVersion.substr(ppos + 1);
+    temp = version.substr(ppos + 1);
     minor = atoi(temp.c_str());
 }
 
@@ -1555,7 +1557,7 @@ struct Device::Impl
         addressBits_ = getProp<cl_uint, int>(CL_DEVICE_ADDRESS_BITS);
 
         String deviceVersion_ = getStrProp(CL_DEVICE_VERSION);
-        parseDeviceVersion(deviceVersion_, deviceVersionMajor_, deviceVersionMinor_);
+        parseOpenCLVersion(deviceVersion_, deviceVersionMajor_, deviceVersionMinor_);
 
         size_t pos = 0;
         while (pos < extensions_.size())
@@ -3529,6 +3531,15 @@ bool Kernel::empty() const
     return ptr() == 0;
 }
 
+static cv::String dumpValue(size_t sz, const void* p)
+{
+    if (sz == 4)
+        return cv::format("%d / %uu / 0x%08x / %g", *(int*)p, *(int*)p, *(int*)p, *(float*)p);
+    if (sz == 8)
+        return cv::format("%lld / %lluu / 0x%16llx / %g", *(long long*)p, *(long long*)p, *(long long*)p, *(double*)p);
+    return cv::format("%p", p);
+}
+
 int Kernel::set(int i, const void* value, size_t sz)
 {
     if (!p || !p->handle)
@@ -3539,7 +3550,7 @@ int Kernel::set(int i, const void* value, size_t sz)
         p->cleanupUMats();
 
     cl_int retval = clSetKernelArg(p->handle, (cl_uint)i, sz, value);
-    CV_OCL_DBG_CHECK_RESULT(retval, cv::format("clSetKernelArg('%s', arg_index=%d, size=%d, value=%p)", p->name.c_str(), (int)i, (int)sz, (void*)value).c_str());
+    CV_OCL_DBG_CHECK_RESULT(retval, cv::format("clSetKernelArg('%s', arg_index=%d, size=%d, value=%s)", p->name.c_str(), (int)i, (int)sz, dumpValue(sz, value).c_str()).c_str());
     if (retval != CL_SUCCESS)
         return -1;
     return i+1;
@@ -6566,6 +6577,9 @@ struct PlatformInfo::Impl
         refcount = 1;
         handle = *(cl_platform_id*)id;
         getDevices(devices, handle);
+
+        version_ = getStrProp(CL_PLATFORM_VERSION);
+        parseOpenCLVersion(version_, versionMajor_, versionMinor_);
     }
 
     String getStrProp(cl_platform_info prop) const
@@ -6579,6 +6593,10 @@ struct PlatformInfo::Impl
     IMPLEMENT_REFCOUNTABLE();
     std::vector<cl_device_id> devices;
     cl_platform_id handle;
+
+    String version_;
+    int versionMajor_;
+    int versionMinor_;
 };
 
 PlatformInfo::PlatformInfo()
@@ -6641,7 +6659,19 @@ String PlatformInfo::vendor() const
 
 String PlatformInfo::version() const
 {
-    return p ? p->getStrProp(CL_PLATFORM_VERSION) : String();
+    return p ? p->version_ : String();
+}
+
+int PlatformInfo::versionMajor() const
+{
+    CV_Assert(p);
+    return p->versionMajor_;
+}
+
+int PlatformInfo::versionMinor() const
+{
+    CV_Assert(p);
+    return p->versionMinor_;
 }
 
 static void getPlatforms(std::vector<cl_platform_id>& platforms)

modules/core/src/ocl.cpp

@@ -47,8 +47,17 @@
 #endif
 #endif
 
-__kernel void convertFp16(__global const uchar * srcptr, int src_step, int src_offset,
-                          __global uchar * dstptr, int dst_step, int dst_offset, int dst_rows, int dst_cols)
+__kernel void
+#ifdef FLOAT_TO_HALF
+    convertFp16_FP32_to_FP16
+#else
+    convertFp16_FP16_to_FP32
+#endif
+(
+    __global const uchar * srcptr, int src_step, int src_offset,
+    __global uchar * dstptr, int dst_step, int dst_offset,
+    int dst_rows, int dst_cols
+)
 {
     int x = get_global_id(0);
     int y0 = get_global_id(1) * rowsPerWI;

modules/core/src/opencl/halfconvert.cl

@@ -1575,6 +1575,7 @@ void cv::ogl::render(const ogl::Arrays& arr, InputArray indices, int mode, Scala
 // CL-GL Interoperability
 
 #ifdef HAVE_OPENCL
+#  include "opencv2/core/opencl/runtime/opencl_core.hpp"
 #  include "opencv2/core/opencl/runtime/opencl_gl.hpp"
 #  ifdef cl_khr_gl_sharing
 #    define HAVE_OPENCL_OPENGL_SHARING
@@ -1595,6 +1596,34 @@ void cv::ogl::render(const ogl::Arrays& arr, InputArray indices, int mode, Scala
 
 namespace cv { namespace ogl {
 
+#if defined(HAVE_OPENCL) && defined(HAVE_OPENGL) && defined(HAVE_OPENCL_OPENGL_SHARING)
+// Check to avoid crash in OpenCL runtime: https://github.com/opencv/opencv/issues/5209
+static void checkOpenCLVersion()
+{
+    using namespace cv::ocl;
+    const Device& device = Device::getDefault();
+    //CV_Assert(!device.empty());
+    cl_device_id dev = (cl_device_id)device.ptr();
+    CV_Assert(dev);
+
+    cl_platform_id platform_id = 0;
+    size_t sz = 0;
+
+    cl_int status = clGetDeviceInfo(dev, CL_DEVICE_PLATFORM, sizeof(platform_id), &platform_id, &sz);
+    CV_Assert(status == CL_SUCCESS && sz == sizeof(cl_platform_id));
+    CV_Assert(platform_id);
+
+    PlatformInfo pi(&platform_id);
+    int versionMajor = pi.versionMajor();
+    int versionMinor = pi.versionMinor();
+    if (versionMajor < 1 || (versionMajor == 1 && versionMinor <= 1))
+        CV_Error_(cv::Error::OpenCLApiCallError,
+            ("OpenCL: clCreateFromGLTexture requires OpenCL 1.2+ version: %d.%d - %s (%s)",
+                versionMajor, versionMinor, pi.name().c_str(), pi.version().c_str())
+        );
+}
+#endif
+
 namespace ocl {
 
 Context& initializeContextFromGL()
@@ -1719,6 +1748,8 @@ void convertToGLTexture2D(InputArray src, Texture2D& texture)
     Context& ctx = Context::getDefault();
     cl_context context = (cl_context)ctx.ptr();
 
+    checkOpenCLVersion();  // clCreateFromGLTexture requires OpenCL 1.2
+
     UMat u = src.getUMat();
 
     // TODO Add support for roi
@@ -1777,6 +1808,8 @@ void convertFromGLTexture2D(const Texture2D& texture, OutputArray dst)
     Context& ctx = Context::getDefault();
     cl_context context = (cl_context)ctx.ptr();
 
+    checkOpenCLVersion();  // clCreateFromGLTexture requires OpenCL 1.2
+
     // TODO Need to specify ACCESS_WRITE here somehow to prevent useless data copying!
     dst.create(texture.size(), textureType);
     UMat u = dst.getUMat();

modules/core/src/opengl.cpp

@@ -189,7 +189,7 @@ TEST(Core_OutputArrayCreate, _13772)
 TEST(Core_String, find_last_of__with__empty_string)
 {
     cv::String s;
-    size_t p = s.find_last_of("q", 0);
+    size_t p = s.find_last_of('q', 0);
     // npos is not exported: EXPECT_EQ(cv::String::npos, p);
     EXPECT_EQ(std::string::npos, p);
 }