5.x merge 4.x

3rdparty/fastcv/fastcv.cmake

@@ -1,7 +1,7 @@
 function(download_fastcv root_dir)
 
   # Commit SHA in the opencv_3rdparty repo
-  set(FASTCV_COMMIT "abe340d0fb7f19fa9315080e3c8616642e98a296")
+  set(FASTCV_COMMIT "2265e79b3b9a8512a9c615b8c4d0244e88f45a9d")
 
   # Define actual FastCV versions
   if(ANDROID)
@@ -16,8 +16,8 @@ function(download_fastcv root_dir)
     endif()
   elseif(UNIX AND NOT APPLE AND NOT IOS AND NOT XROS)
     if(AARCH64)
-      set(FCV_PACKAGE_NAME  "fastcv_linux_aarch64_2025_04_29.tgz")
-      set(FCV_PACKAGE_HASH  "e2ce60e25c8e4113a7af2bd243118f4c")
+      set(FCV_PACKAGE_NAME  "fastcv_linux_aarch64_2025_05_29.tgz")
+      set(FCV_PACKAGE_HASH  "decd490524f786e103125b8b948151f3")
     else()
       message("FastCV: fastcv lib for 32-bit Linux is not supported for now!")
     endif()

3rdparty/ippicv/ippicv.cmake

@@ -17,9 +17,15 @@ function(download_ippicv root_var)
       set(OPENCV_ICV_NAME "ippicv_2022.0.0_lnx_intel64_20240904_general.tgz")
       set(OPENCV_ICV_HASH "63717ee0f918ad72fb5a737992a206d1")
     else()
-      set(IPPICV_COMMIT "7f55c0c26be418d494615afca15218566775c725")
-      set(OPENCV_ICV_NAME "ippicv_2021.12.0_lnx_ia32_20240425_general.tgz")
-      set(OPENCV_ICV_HASH "85ffa2b9ed7802b93c23fa27b0097d36")
+      if(ANDROID)
+        set(IPPICV_COMMIT "c7c6d527dde5fee7cb914ee9e4e20f7436aab3a1")
+        set(OPENCV_ICV_NAME "ippicv_2021.10.1_lnx_ia32_20231206_general.tgz")
+        set(OPENCV_ICV_HASH "d9510f3ce08f6074aac472a5c19a3b53")
+      else()
+        set(IPPICV_COMMIT "7f55c0c26be418d494615afca15218566775c725")
+        set(OPENCV_ICV_NAME "ippicv_2021.12.0_lnx_ia32_20240425_general.tgz")
+        set(OPENCV_ICV_HASH "85ffa2b9ed7802b93c23fa27b0097d36")
+      endif()
     endif()
   elseif(WIN32 AND NOT ARM)
     set(OPENCV_ICV_PLATFORM "windows")

doc/opencv.bib

@@ -276,6 +276,13 @@ @article{ChambolleEtAl
   publisher = {Walter de Gruyter},
   url = {https://hal.science/hal-00437581v1}
 }
+@misc{Chatfield2017,
+  author = {Chatfield, Carl},
+  title = {A Simple Method for Distance to Ellipse},
+  year = {2017},
+  publisher = {GitHub},
+  howpublished = {\url{https://blog.chatfield.io/simple-method-for-distance-to-ellipse/}},
+}
 @article{Chaumette06,
   author = {Chaumette, Fran{\c c}ois and Hutchinson, S.},
   title = {{Visual servo control, Part I: Basic approaches}},

doc/tutorials/introduction/building_fastcv/building_fastcv.markdown

@@ -137,11 +137,12 @@ HAL and Extension list of APIs
 |               |                  |fcvFilterSobel7x7u8s16                         |
 |               |boxFilter         |fcvBoxFilter3x3u8_v3                           |
 |               |                  |fcvBoxFilter5x5u8_v2                           |
+|               |                  |fcvBoxFilterNxNf32                             |
 |               |adaptiveThreshold |fcvAdaptiveThresholdGaussian3x3u8_v2           |
 |               |                  |fcvAdaptiveThresholdGaussian5x5u8_v2           |
 |               |                  |fcvAdaptiveThresholdMean3x3u8_v2               |
 |               |                  |fcvAdaptiveThresholdMean5x5u8_v2               |
-|               |pyrUp & pyrDown   |fcvPyramidCreateu8_v4                          |
+|               |pyrDown           |fcvPyramidCreateu8_v4                          |
 |               |cvtColor          |fcvColorRGB888toYCrCbu8_v3                     |
 |               |                  |fcvColorRGB888ToHSV888u8                       |
 |               |gaussianBlur      |fcvFilterGaussian5x5u8_v3                      |
@@ -167,10 +168,15 @@ HAL and Extension list of APIs
 |               |addWeighted       |fcvAddWeightedu8_v2                            |
 |               |subtract          |fcvImageDiffu8f32_v2                           |
 |               |SVD & solve       |fcvSVDf32_v2                                   |
+|               |gemm              |fcvMatrixMultiplyf32_v2                        |
+|               |                  |fcvMultiplyScalarf32                           |
+|               |                  |fcvAddf32_v2                                   |
 
 
 **FastCV based OpenCV Extensions APIs list :**
 
+These OpenCV extension APIs are implemented under the **cv::fastcv** namespace.
+
 |OpenCV Extension APIs |Underlying FastCV API for OpenCV acceleration |
 |----------------------|----------------------------------------------|
 |matmuls8s32           |fcvMatrixMultiplys8s32                        |
@@ -195,8 +201,10 @@ HAL and Extension list of APIs
 |remap                 |fcvRemapu8_v2                                 |
 |remapRGBA             |fcvRemapRGBA8888BLu8                          |
 |                      |fcvRemapRGBA8888NNu8                          |
-|resizeDownBy2         |fcvScaleDownBy2u8_v2                          |
-|resizeDownBy4         |fcvScaleDownBy4u8_v2                          |
+|resizeDown            |fcvScaleDownBy2u8_v2                          |
+|                      |fcvScaleDownBy4u8_v2                          |
+|                      |fcvScaleDownMNInterleaveu8                    |
+|                      |fcvScaleDownMNu8                              |
 |meanShift             |fcvMeanShiftu8                                |
 |                      |fcvMeanShifts32                               |
 |                      |fcvMeanShiftf32                               |
@@ -246,3 +254,65 @@ HAL and Extension list of APIs
 |                      |fcvTrackLKOpticalFlowu8                       |
 |warpPerspective2Plane |fcv2PlaneWarpPerspectiveu8                    |
 |warpPerspective       |fcvWarpPerspectiveu8_v5                       |
+|arithmetic_op         |fcvAddu8                                      |
+|                      |fcvAdds16_v2                                  |
+|                      |fcvAddf32                                     |
+|                      |fcvSubtractu8                                 |
+|                      |fcvSubtracts16                                |
+|integrateYUV          |fcvIntegrateImageYCbCr420PseudoPlanaru8       |
+|normalizeLocalBox     |fcvNormalizeLocalBoxu8                        |
+|                      |fcvNormalizeLocalBoxf32                       |
+|merge                 |fcvChannelCombine2Planesu8                    |
+|                      |fcvChannelCombine3Planesu8                    |
+|                      |fcvChannelCombine4Planesu8                    |
+|split                 |fcvDeinterleaveu8                             |
+|                      |fcvChannelExtractu8                           |
+|warpAffine            |fcvTransformAffineu8_v2                       |
+|                      |fcvTransformAffineClippedu8_v3                |
+|                      |fcv3ChannelTransformAffineClippedBCu8         |
+
+
+**FastCV QDSP based OpenCV Extension APIs list :**
+These OpenCV extension APIs are implemented under the **cv::fastcv::dsp** namespace.
+This namespace provides optimized implementations that leverage QDSP (**Qualcomm's Digital Signal Processor**) acceleration using FastCV's Q-suffixed APIs. These functions require DSP initialization (fcvQ6Init).
+
+|OpenCV Extension APIs |Underlying FastCV API for OpenCV acceleration |
+|----------------------|----------------------------------------------|
+|filter2D              |fcvFilterCorr3x3s8_v2Q                        |
+|                      |fcvFilterCorrNxNu8Q                           |
+|                      |fcvFilterCorrNxNu8s16Q                        |
+|                      |fcvFilterCorrNxNu8f32Q                        |
+|FFT                   |fcvFFTu8Q                                     |
+|IFFT                  |fcvIFFTf32Q                                   |
+|fcvdspinit            |fcvQ6Init                                     |
+|fcvdspdeinit          |fcvQ6DeInit                                   |
+|Canny                 |fcvFilterCannyu8Q                             |
+|sumOfAbsoluteDiffs    |fcvSumOfAbsoluteDiffs8x8u8_v2Q                |
+|thresholdOtsu         |fcvFilterThresholdOtsuu8Q                     |
+
+**How to Use FastCV QDSP based OpenCV Extension APIs**
+
+This section outlines the essential steps required to use OpenCV Extension APIs that are accelerated using FastCV on QDSP(**Qualcomm's Digital Signal Processor**).
+
+1. Initialize QDSP:
+    - Call **cv::fastcv::dsp::fcvdspinit()** to initialize the QDSP.
+
+2. Allocate memory using **Qualcomm's memory allocator** for all buffers that are being fed to the OpenCV extension API.:
+    - Use **cv::fastcv::getQcAllocator()** to assign the allocator to the buffers.
+    - Example:
+      cv::Mat src;
+      src.allocator = cv::fastcv::getQcAllocator(); **// Set Qualcomm's memory allocator**
+      \
+      After setting Qualcomm's memory allocator, any buffer created using methods like src.create(...), cv::imread(...) etc., will have its memory allocated using Qualcomm's memory allocator.
+
+3. Call the OpenCV extension API from 'cv::fastcv::dsp':
+    - Example: **cv::fastcv::dsp::thresholdOtsu(src, dst, binaryType);**
+      where 'src' and 'dst' are 'cv::Mat' objects with the Qualcomm's memory allocator,
+      and 'binaryType' is a boolean indicating the thresholding mode.
+
+4. Deinitialize QDSP:
+    - Call **cv::fastcv::dsp::fcvdspdeinit()** to deinitialize the QDSP.
+
+
+**Reference Example**:
+Refer to a working test case using the OpenCV Extension APIs in the opencv_contrib repository:[opencv_contrib/modules/fastcv/test/test_thresh_dsp.cpp](https://github.com/opencv/opencv_contrib/blob/4.x/modules/fastcv/test/test_thresh_dsp.cpp)

hal/riscv-rvv/src/imgproc/warp.cpp

@@ -231,7 +231,7 @@ class RemapTable
                 for (int i = 0; i < 8; i++)
                     coeffs[t*8+i] = 0;
                 coeffs[t*8+3] = 1;
-                return;
+                continue;
             }
 
             float sum = 0;

modules/3d/test/test_solvepnp_ransac.cpp

@@ -344,7 +344,11 @@ class CV_solvePnPRansac_Test : public cvtest::BaseTest
             }
         }
 
-        solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, pointsCount, 0.5f, 0.99, inliers, method);
+        bool isEstimateSuccess = solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, pointsCount, 0.5f, 0.99, inliers, method);
+        if (!isEstimateSuccess)
+        {
+            return false;
+        }
 
         bool isTestSuccess = inliers.size() + numOutliers >= points.size();
 

modules/core/src/matrix.cpp

@@ -722,7 +722,7 @@ void finalizeHdr(Mat& m)
         m.rows = m.cols = -1;
     if(m.u)
         m.datastart = m.data = m.u->data;
-    if( m.data )
+    if( m.data && d > 0 )
     {
         m.datalimit = m.datastart + m.size[0]*m.step[0];
         if( m.size[0] > 0 )
@@ -736,7 +736,7 @@ void finalizeHdr(Mat& m)
             m.dataend = m.datalimit;
     }
     else
-        m.dataend = m.datalimit = 0;
+        m.dataend = m.datalimit = m.data;
 }
 
 //======================================= Mat ======================================================

modules/core/test/test_mat.cpp

@@ -1351,6 +1351,25 @@ TEST(Core_Mat, regression_9507)
     EXPECT_EQ(25u, m2.total());
 }
 
+TEST(Core_Mat, empty)
+{
+    // Should not crash.
+    uint8_t data[2] = {0, 1};
+    cv::Mat mat_nd(/*ndims=*/0, /*sizes=*/nullptr, CV_8UC1, /*data=*/data);
+    cv::Mat1b mat(0, 0, /*data=*/data, /*steps=*/1);
+    EXPECT_EQ(mat_nd.dims, 0);
+    EXPECT_EQ(mat.dims, 2);
+#if CV_VERSION_MAJOR < 5
+    EXPECT_LE(mat_nd.total(), 0u);
+    EXPECT_TRUE(mat_nd.empty());
+#else
+    EXPECT_LE(mat_nd.total(), 1u);
+    EXPECT_FALSE(mat_nd.empty());
+#endif
+    EXPECT_EQ(mat.total(), 0u);
+    EXPECT_TRUE(mat.empty());
+}
+
 TEST(Core_InputArray, empty)
 {
     vector<vector<Point> > data;

modules/dnn/CMakeLists.txt

@@ -115,8 +115,22 @@ if(HAVE_PROTOBUF)
 
   if(PROTOBUF_UPDATE_FILES)
     file(GLOB proto_files "${CMAKE_CURRENT_LIST_DIR}/src/tensorflow/*.proto" "${CMAKE_CURRENT_LIST_DIR}/src/caffe/opencv-caffe.proto" "${CMAKE_CURRENT_LIST_DIR}/src/onnx/opencv-onnx.proto")
-    set(PROTOBUF_GENERATE_CPP_APPEND_PATH ON) # required for tensorflow
-    protobuf_generate_cpp(fw_srcs fw_hdrs ${proto_files})
+    if(CMAKE_VERSION VERSION_LESS "3.13.0")
+      set(PROTOBUF_GENERATE_CPP_APPEND_PATH ON) # required for tensorflow
+      protobuf_generate_cpp(fw_srcs fw_hdrs ${proto_files})
+    else()
+      protobuf_generate(
+        APPEND_PATH # required for tensorflow
+        LANGUAGE cpp
+        IMPORT_DIRS ${Protobuf_IMPORT_DIRS}
+        OUT_VAR fw_srcs
+        PROTOC_EXE ${Protobuf_PROTOC_EXECUTABLE}
+        PROTOS ${proto_files})
+      set(fw_hdrs "${fw_srcs}")
+      # separate the header files and source files
+      list(FILTER fw_srcs EXCLUDE REGEX ".+\.h$")
+      list(FILTER fw_hdrs INCLUDE REGEX ".+\.h$")
+    endif()
   else()
     file(GLOB fw_srcs "${CMAKE_CURRENT_LIST_DIR}/misc/tensorflow/*.cc" "${CMAKE_CURRENT_LIST_DIR}/misc/caffe/opencv-caffe.pb.cc" "${CMAKE_CURRENT_LIST_DIR}/misc/onnx/opencv-onnx.pb.cc")
     file(GLOB fw_hdrs "${CMAKE_CURRENT_LIST_DIR}/misc/tensorflow/*.h" "${CMAKE_CURRENT_LIST_DIR}/misc/caffe/opencv-caffe.pb.h" "${CMAKE_CURRENT_LIST_DIR}/misc/onnx/opencv-onnx.pb.h")

modules/imgcodecs/src/grfmt_jpegxl.cpp

@@ -518,11 +518,34 @@ bool JpegXLEncoder::write(const Mat& img, const std::vector<int>& params)
         return false;
     }
 
+    // get distance param for JxlBasicInfo.
+    float distance = -1.0; // Negative means not set
+    for( size_t i = 0; i < params.size(); i += 2 )
+    {
+        if( params[i] == IMWRITE_JPEGXL_QUALITY )
+        {
+#if JPEGXL_MAJOR_VERSION > 0 || JPEGXL_MINOR_VERSION >= 10
+            int quality = params[i+1];
+            quality = MIN(MAX(quality, 0), 100);
+            distance = JxlEncoderDistanceFromQuality(static_cast<float>(quality));
+#else
+            CV_LOG_ONCE_WARNING(NULL, "Quality parameter is supported with libjxl v0.10.0 or later");
+#endif
+        }
+        if( params[i] == IMWRITE_JPEGXL_DISTANCE )
+        {
+            int distanceInt = params[i+1];
+            distanceInt = MIN(MAX(distanceInt, 0), 25);
+            distance = static_cast<float>(distanceInt);
+        }
+    }
+
     JxlBasicInfo info;
     JxlEncoderInitBasicInfo(&info);
     info.xsize = img.cols;
     info.ysize = img.rows;
-    info.uses_original_profile = JXL_FALSE;
+    // Lossless encoding requires uses_original_profile = true.
+    info.uses_original_profile = (distance == 0.0) ? JXL_TRUE : JXL_FALSE;
 
     if( img.channels() == 4 )
     {
@@ -576,30 +599,26 @@ bool JpegXLEncoder::write(const Mat& img, const std::vector<int>& params)
         return false;
 
     JxlEncoderFrameSettings* frame_settings = JxlEncoderFrameSettingsCreate(encoder.get(), nullptr);
-    // set frame settings from params if available
-    for( size_t i = 0; i < params.size(); i += 2 )
+
+    // set frame settings with distance params
+    if(distance == 0.0) // lossless
     {
-        if( params[i] == IMWRITE_JPEGXL_QUALITY )
+        if( JXL_ENC_SUCCESS != JxlEncoderSetFrameLossless(frame_settings, JXL_TRUE) )
         {
-#if JPEGXL_MAJOR_VERSION > 0 || JPEGXL_MINOR_VERSION >= 10
-            int quality = params[i+1];
-            quality = MIN(MAX(quality, 0), 100);
-            const float distance = JxlEncoderDistanceFromQuality(static_cast<float>(quality));
-            JxlEncoderSetFrameDistance(frame_settings, distance);
-            if (distance == 0)
-                JxlEncoderSetFrameLossless(frame_settings, JXL_TRUE);
-#else
-            CV_LOG_ONCE_WARNING(NULL, "Quality parameter is supported with libjxl v0.10.0 or later");
-#endif
+            CV_LOG_WARNING(NULL, "Failed to call JxlEncoderSetFrameLossless()");
         }
-        if( params[i] == IMWRITE_JPEGXL_DISTANCE )
+    }
+    else if(distance > 0.0) // lossy
+    {
+        if( JXL_ENC_SUCCESS != JxlEncoderSetFrameDistance(frame_settings, distance) )
         {
-            int distance = params[i+1];
-            distance = MIN(MAX(distance, 0), 25);
-            JxlEncoderSetFrameDistance(frame_settings, distance);
-            if (distance == 0)
-                JxlEncoderSetFrameLossless(frame_settings, JXL_TRUE);
+            CV_LOG_WARNING(NULL, "Failed to call JxlEncoderSetFrameDistance()");
         }
+    }
+
+    // set frame settings from params if available
+    for( size_t i = 0; i < params.size(); i += 2 )
+    {
         if( params[i] == IMWRITE_JPEGXL_EFFORT )
         {
             int effort = params[i+1];