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

Author: alalek

3rdparty/protobuf/CMakeLists.txt

@@ -153,6 +153,11 @@ set_target_properties(libprotobuf
     ARCHIVE_OUTPUT_DIRECTORY ${3P_LIBRARY_OUTPUT_PATH}
     )
 
+if(ANDROID)
+  # https://github.com/opencv/opencv/issues/17282
+  target_link_libraries(libprotobuf INTERFACE "-landroid" "-llog")
+endif()
+
 get_protobuf_version(Protobuf_VERSION "${PROTOBUF_ROOT}/src")
 set(Protobuf_VERSION ${Protobuf_VERSION} CACHE INTERNAL "" FORCE)
 

cmake/OpenCVFindMKL.cmake

@@ -3,7 +3,14 @@
 # installation/package
 #
 # Parameters:
-# MKL_WITH_TBB
+# MKL_ROOT_DIR / ENV{MKLROOT}
+# MKL_INCLUDE_DIR
+# MKL_LIBRARIES
+# MKL_USE_SINGLE_DYNAMIC_LIBRARY - use single dynamic library mkl_rt.lib / libmkl_rt.so
+# MKL_WITH_TBB / MKL_WITH_OPENMP
+#
+# Extra:
+# MKL_LIB_FIND_PATHS
 #
 # On return this will define:
 #
@@ -13,12 +20,6 @@
 # MKL_LIBRARIES     - MKL libraries that are used by OpenCV
 #
 
-macro (mkl_find_lib VAR NAME DIRS)
-    find_path(${VAR} ${NAME} ${DIRS} NO_DEFAULT_PATH)
-    set(${VAR} ${${VAR}}/${NAME})
-    unset(${VAR} CACHE)
-endmacro()
-
 macro(mkl_fail)
     set(HAVE_MKL OFF)
     set(MKL_ROOT_DIR "${MKL_ROOT_DIR}" CACHE PATH "Path to MKL directory")
@@ -39,43 +40,50 @@ macro(get_mkl_version VERSION_FILE)
     set(MKL_VERSION_STR "${MKL_VERSION_MAJOR}.${MKL_VERSION_MINOR}.${MKL_VERSION_UPDATE}" CACHE STRING "MKL version" FORCE)
 endmacro()
 
+OCV_OPTION(MKL_USE_SINGLE_DYNAMIC_LIBRARY "Use MKL Single Dynamic Library thorugh mkl_rt.lib / libmkl_rt.so" OFF)
+OCV_OPTION(MKL_WITH_TBB "Use MKL with TBB multithreading" OFF)#ON IF WITH_TBB)
+OCV_OPTION(MKL_WITH_OPENMP "Use MKL with OpenMP multithreading" OFF)#ON IF WITH_OPENMP)
 
-if(NOT DEFINED MKL_USE_MULTITHREAD)
-    OCV_OPTION(MKL_WITH_TBB "Use MKL with TBB multithreading" OFF)#ON IF WITH_TBB)
-    OCV_OPTION(MKL_WITH_OPENMP "Use MKL with OpenMP multithreading" OFF)#ON IF WITH_OPENMP)
+if(NOT MKL_ROOT_DIR AND DEFINED MKL_INCLUDE_DIR AND EXISTS "${MKL_INCLUDE_DIR}/mkl.h")
+  file(TO_CMAKE_PATH "${MKL_INCLUDE_DIR}" MKL_INCLUDE_DIR)
+  get_filename_component(MKL_ROOT_DIR "${MKL_INCLUDE_DIR}/.." ABSOLUTE)
 endif()
-
-#check current MKL_ROOT_DIR
-if(NOT MKL_ROOT_DIR OR NOT EXISTS "${MKL_ROOT_DIR}/include/mkl.h")
-    set(mkl_root_paths "${MKL_ROOT_DIR}")
-    if(DEFINED ENV{MKLROOT})
-        list(APPEND mkl_root_paths "$ENV{MKLROOT}")
+if(NOT MKL_ROOT_DIR)
+  file(TO_CMAKE_PATH "${MKL_ROOT_DIR}" mkl_root_paths)
+  if(DEFINED ENV{MKLROOT})
+      file(TO_CMAKE_PATH "$ENV{MKLROOT}" path)
+      list(APPEND mkl_root_paths "${path}")
+  endif()
+
+  if(WITH_MKL AND NOT mkl_root_paths)
+    if(WIN32)
+      set(ProgramFilesx86 "ProgramFiles(x86)")
+      file(TO_CMAKE_PATH "$ENV{${ProgramFilesx86}}" path)
+      list(APPEND mkl_root_paths ${path}/IntelSWTools/compilers_and_libraries/windows/mkl)
     endif()
-
-    if(WITH_MKL AND NOT mkl_root_paths)
-      if(WIN32)
-        set(ProgramFilesx86 "ProgramFiles(x86)")
-        list(APPEND mkl_root_paths $ENV{${ProgramFilesx86}}/IntelSWTools/compilers_and_libraries/windows/mkl)
-      endif()
-      if(UNIX)
-        list(APPEND mkl_root_paths "/opt/intel/mkl")
-      endif()
+    if(UNIX)
+      list(APPEND mkl_root_paths "/opt/intel/mkl")
     endif()
+  endif()
 
-    find_path(MKL_ROOT_DIR include/mkl.h PATHS ${mkl_root_paths})
+  find_path(MKL_ROOT_DIR include/mkl.h PATHS ${mkl_root_paths})
 endif()
 
-set(MKL_INCLUDE_DIRS "${MKL_ROOT_DIR}/include" CACHE PATH "Path to MKL include directory")
+if(NOT MKL_ROOT_DIR OR NOT EXISTS "${MKL_ROOT_DIR}/include/mkl.h")
+  mkl_fail()
+endif()
+
+set(MKL_INCLUDE_DIR "${MKL_ROOT_DIR}/include" CACHE PATH "Path to MKL include directory")
 
 if(NOT MKL_ROOT_DIR
     OR NOT EXISTS "${MKL_ROOT_DIR}"
-    OR NOT EXISTS "${MKL_INCLUDE_DIRS}"
-    OR NOT EXISTS "${MKL_INCLUDE_DIRS}/mkl_version.h"
+    OR NOT EXISTS "${MKL_INCLUDE_DIR}"
+    OR NOT EXISTS "${MKL_INCLUDE_DIR}/mkl_version.h"
 )
-    mkl_fail()
+  mkl_fail()
 endif()
 
-get_mkl_version(${MKL_INCLUDE_DIRS}/mkl_version.h)
+get_mkl_version(${MKL_INCLUDE_DIR}/mkl_version.h)
 
 #determine arch
 if(CMAKE_CXX_SIZEOF_DATA_PTR EQUAL 8)
@@ -95,52 +103,66 @@ else()
     set(MKL_ARCH_SUFFIX "c")
 endif()
 
-if(MKL_VERSION_STR VERSION_GREATER "11.3.0" OR MKL_VERSION_STR VERSION_EQUAL "11.3.0")
-    set(mkl_lib_find_paths
-        ${MKL_ROOT_DIR}/lib)
-    foreach(MKL_ARCH ${MKL_ARCH_LIST})
-      list(APPEND mkl_lib_find_paths
-        ${MKL_ROOT_DIR}/lib/${MKL_ARCH}
-        ${MKL_ROOT_DIR}/../tbb/lib/${MKL_ARCH}
-        ${MKL_ROOT_DIR}/${MKL_ARCH})
-    endforeach()
-
-    set(mkl_lib_list "mkl_intel_${MKL_ARCH_SUFFIX}")
-
-    if(MKL_WITH_TBB)
-        list(APPEND mkl_lib_list mkl_tbb_thread tbb)
-    elseif(MKL_WITH_OPENMP)
-        if(MSVC)
-            list(APPEND mkl_lib_list mkl_intel_thread libiomp5md)
-        else()
-            list(APPEND mkl_lib_list mkl_gnu_thread)
-        endif()
+set(mkl_lib_find_paths ${MKL_LIB_FIND_PATHS} ${MKL_ROOT_DIR}/lib)
+foreach(MKL_ARCH ${MKL_ARCH_LIST})
+  list(APPEND mkl_lib_find_paths
+    ${MKL_ROOT_DIR}/lib/${MKL_ARCH}
+    ${MKL_ROOT_DIR}/${MKL_ARCH}
+  )
+endforeach()
+
+if(MKL_USE_SINGLE_DYNAMIC_LIBRARY AND NOT (MKL_VERSION_STR VERSION_LESS "10.3.0"))
+
+  # https://software.intel.com/content/www/us/en/develop/articles/a-new-linking-model-single-dynamic-library-mkl_rt-since-intel-mkl-103.html
+  set(mkl_lib_list "mkl_rt")
+
+elseif(NOT (MKL_VERSION_STR VERSION_LESS "11.3.0"))
+
+  foreach(MKL_ARCH ${MKL_ARCH_LIST})
+    list(APPEND mkl_lib_find_paths
+      ${MKL_ROOT_DIR}/../tbb/lib/${MKL_ARCH}
+    )
+  endforeach()
+
+  set(mkl_lib_list "mkl_intel_${MKL_ARCH_SUFFIX}")
+
+  if(MKL_WITH_TBB)
+    list(APPEND mkl_lib_list mkl_tbb_thread tbb)
+  elseif(MKL_WITH_OPENMP)
+    if(MSVC)
+      list(APPEND mkl_lib_list mkl_intel_thread libiomp5md)
     else()
-        list(APPEND mkl_lib_list mkl_sequential)
+      list(APPEND mkl_lib_list mkl_gnu_thread)
     endif()
+  else()
+    list(APPEND mkl_lib_list mkl_sequential)
+  endif()
 
-    list(APPEND mkl_lib_list mkl_core)
+  list(APPEND mkl_lib_list mkl_core)
 else()
-    message(STATUS "MKL version ${MKL_VERSION_STR} is not supported")
-    mkl_fail()
+  message(STATUS "MKL version ${MKL_VERSION_STR} is not supported")
+  mkl_fail()
 endif()
 
-set(MKL_LIBRARIES "")
-foreach(lib ${mkl_lib_list})
-    find_library(${lib} NAMES ${lib} ${lib}_dll HINTS ${mkl_lib_find_paths})
-    mark_as_advanced(${lib})
-    if(NOT ${lib})
-        mkl_fail()
+if(NOT MKL_LIBRARIES)
+  set(MKL_LIBRARIES "")
+  foreach(lib ${mkl_lib_list})
+    set(lib_var_name MKL_LIBRARY_${lib})
+    find_library(${lib_var_name} NAMES ${lib} ${lib}_dll HINTS ${mkl_lib_find_paths})
+    mark_as_advanced(${lib_var_name})
+    if(NOT ${lib_var_name})
+      mkl_fail()
     endif()
-    list(APPEND MKL_LIBRARIES ${${lib}})
-endforeach()
+    list(APPEND MKL_LIBRARIES ${${lib_var_name}})
+  endforeach()
+endif()
 
 message(STATUS "Found MKL ${MKL_VERSION_STR} at: ${MKL_ROOT_DIR}")
 set(HAVE_MKL ON)
 set(MKL_ROOT_DIR "${MKL_ROOT_DIR}" CACHE PATH "Path to MKL directory")
-set(MKL_INCLUDE_DIRS "${MKL_INCLUDE_DIRS}" CACHE PATH "Path to MKL include directory")
-set(MKL_LIBRARIES "${MKL_LIBRARIES}" CACHE STRING "MKL libraries")
-if(UNIX AND NOT MKL_LIBRARIES_DONT_HACK)
+set(MKL_INCLUDE_DIRS "${MKL_INCLUDE_DIR}")
+set(MKL_LIBRARIES "${MKL_LIBRARIES}")
+if(UNIX AND NOT MKL_USE_SINGLE_DYNAMIC_LIBRARY AND NOT MKL_LIBRARIES_DONT_HACK)
     #it's ugly but helps to avoid cyclic lib problem
     set(MKL_LIBRARIES ${MKL_LIBRARIES} ${MKL_LIBRARIES} ${MKL_LIBRARIES} "-lpthread" "-lm" "-ldl")
 endif()

modules/calib3d/include/opencv2/calib3d.hpp

@@ -1670,6 +1670,7 @@ typedef CirclesGridFinderParameters CirclesGridFinderParameters2;
 -   **CALIB_CB_CLUSTERING** uses a special algorithm for grid detection. It is more robust to
 perspective distortions but much more sensitive to background clutter.
 @param blobDetector feature detector that finds blobs like dark circles on light background.
+                    If `blobDetector` is NULL then `image` represents Point2f array of candidates.
 @param parameters struct for finding circles in a grid pattern.
 
 The function attempts to determine whether the input image contains a grid of circles. If it is, the

modules/calib3d/src/calibinit.cpp

@@ -2178,13 +2178,6 @@ void drawChessboardCorners( InputOutputArray image, Size patternSize,
     }
 }
 
-static int quiet_error(int /*status*/, const char* /*func_name*/,
-                       const char* /*err_msg*/, const char* /*file_name*/,
-                       int /*line*/, void* /*userdata*/)
-{
-    return 0;
-}
-
 bool findCirclesGrid( InputArray _image, Size patternSize,
                           OutputArray _centers, int flags, const Ptr<FeatureDetector> &blobDetector,
                           const CirclesGridFinderParameters& parameters_)
@@ -2197,15 +2190,22 @@ bool findCirclesGrid( InputArray _image, Size patternSize,
     bool isSymmetricGrid  = (flags & CALIB_CB_SYMMETRIC_GRID ) ? true : false;
     CV_Assert(isAsymmetricGrid ^ isSymmetricGrid);
 
-    Mat image = _image.getMat();
     std::vector<Point2f> centers;
 
-    std::vector<KeyPoint> keypoints;
-    blobDetector->detect(image, keypoints);
     std::vector<Point2f> points;
-    for (size_t i = 0; i < keypoints.size(); i++)
+    if (blobDetector)
+    {
+        std::vector<KeyPoint> keypoints;
+        blobDetector->detect(_image, keypoints);
+        for (size_t i = 0; i < keypoints.size(); i++)
+        {
+            points.push_back(keypoints[i].pt);
+        }
+    }
+    else
     {
-      points.push_back (keypoints[i].pt);
+        CV_CheckTypeEQ(_image.type(), CV_32FC2, "blobDetector must be provided or image must contains Point2f array (std::vector<Point2f>) with candidates");
+        _image.copyTo(points);
     }
 
     if(flags & CALIB_CB_ASYMMETRIC_GRID)
@@ -2221,64 +2221,59 @@ bool findCirclesGrid( InputArray _image, Size patternSize,
       return !centers.empty();
     }
 
+    bool isValid = false;
     const int attempts = 2;
     const size_t minHomographyPoints = 4;
     Mat H;
     for (int i = 0; i < attempts; i++)
     {
-      centers.clear();
-      CirclesGridFinder boxFinder(patternSize, points, parameters);
-      bool isFound = false;
-#define BE_QUIET 1
-#if BE_QUIET
-      void* oldCbkData;
-      ErrorCallback oldCbk = redirectError(quiet_error, 0, &oldCbkData); // FIXIT not thread safe
-#endif
-      try
-      {
-        isFound = boxFinder.findHoles();
-      }
-      catch (const cv::Exception &)
-      {
-
-      }
-#if BE_QUIET
-      redirectError(oldCbk, oldCbkData);
-#endif
-      if (isFound)
-      {
-        switch(parameters.gridType)
+        centers.clear();
+        CirclesGridFinder boxFinder(patternSize, points, parameters);
+        try
         {
-          case CirclesGridFinderParameters::SYMMETRIC_GRID:
-            boxFinder.getHoles(centers);
-            break;
-          case CirclesGridFinderParameters::ASYMMETRIC_GRID:
-        boxFinder.getAsymmetricHoles(centers);
-        break;
-          default:
-            CV_Error(Error::StsBadArg, "Unknown pattern type");
+            bool isFound = boxFinder.findHoles();
+            if (isFound)
+            {
+                switch(parameters.gridType)
+                {
+                case CirclesGridFinderParameters::SYMMETRIC_GRID:
+                    boxFinder.getHoles(centers);
+                    break;
+                case CirclesGridFinderParameters::ASYMMETRIC_GRID:
+                    boxFinder.getAsymmetricHoles(centers);
+                    break;
+                default:
+                    CV_Error(Error::StsBadArg, "Unknown pattern type");
+                }
+
+                isValid = true;
+                break;  // done, return result
+            }
+        }
+        catch (const cv::Exception& e)
+        {
+            CV_UNUSED(e);
+            CV_LOG_DEBUG(NULL, "findCirclesGrid2: attempt=" << i << ": " << e.what());
+            // nothing, next attempt
         }
 
-        if (i != 0)
+        boxFinder.getHoles(centers);
+        if (i != attempts - 1)
         {
-          Mat orgPointsMat;
-          transform(centers, orgPointsMat, H.inv());
-          convertPointsFromHomogeneous(orgPointsMat, centers);
+            if (centers.size() < minHomographyPoints)
+                break;
+            H = CirclesGridFinder::rectifyGrid(boxFinder.getDetectedGridSize(), centers, points, points);
         }
-        Mat(centers).copyTo(_centers);
-        return true;
-      }
-
-      boxFinder.getHoles(centers);
-      if (i != attempts - 1)
-      {
-        if (centers.size() < minHomographyPoints)
-          break;
-        H = CirclesGridFinder::rectifyGrid(boxFinder.getDetectedGridSize(), centers, points, points);
-      }
+    }
+
+    if (!H.empty())  // undone rectification
+    {
+        Mat orgPointsMat;
+        transform(centers, orgPointsMat, H.inv());
+        convertPointsFromHomogeneous(orgPointsMat, centers);
     }
     Mat(centers).copyTo(_centers);
-    return false;
+    return isValid;
 }
 
 bool findCirclesGrid(InputArray _image, Size patternSize,

modules/calib3d/src/circlesgrid.cpp

@@ -1614,7 +1614,7 @@ size_t CirclesGridFinder::getFirstCorner(std::vector<Point> &largeCornerIndices,
   int cornerIdx = 0;
   bool waitOutsider = true;
 
-  for(;;)
+  for (size_t i = 0; i < cornersCount * 2; ++i)
   {
     if (waitOutsider)
     {
@@ -1624,11 +1624,11 @@ size_t CirclesGridFinder::getFirstCorner(std::vector<Point> &largeCornerIndices,
     else
     {
       if (isInsider[(cornerIdx + 1) % cornersCount])
-        break;
+        return cornerIdx;
     }
 
     cornerIdx = (cornerIdx + 1) % cornersCount;
   }
 
-  return cornerIdx;
+  CV_Error(Error::StsNoConv, "isInsider array has the same values");
 }