Merge branch 'opencv:master' into loop_closure_detecion

Author: zihaomu

modules/alphamat/src/cm.cpp

@@ -90,9 +90,9 @@ void lle(my_vector_of_vectors_t& indm, my_vector_of_vectors_t& samples, float ep
     Mat ptDotN(20, 1, DataType<float>::type), imd(20, 1, DataType<float>::type);
     Mat Cones(20, 1, DataType<float>::type), Cinv(20, 1, DataType<float>::type);
     float alpha, beta, lagrangeMult;
-    Cones = 1;
+    Cones.setTo(cv::Scalar::all(1));
 
-    C = 0;
+    C.setTo(cv::Scalar::all(0));
     rhs = 1;
 
     int i, ind = 0;

modules/aruco/include/opencv2/aruco.hpp

@@ -281,6 +281,18 @@ class CV_EXPORTS_W Board {
     *
     */
     CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
+
+    /**
+    * @brief Set ids vector
+    *
+    * @param ids vector of the identifiers of the markers in the board (should be the same size
+    * as objPoints)
+    *
+    * Recommended way to set ids vector, which will fail if the size of ids does not match size
+     * of objPoints.
+    */
+    CV_WRAP void setIds(InputArray ids);
+
     /// array of object points of all the marker corners in the board
     /// each marker include its 4 corners in CCW order. For M markers, the size is Mx4.
     CV_PROP std::vector< std::vector< Point3f > > objPoints;
@@ -290,7 +302,7 @@ class CV_EXPORTS_W Board {
 
     /// vector of the identifiers of the markers in the board (same size than objPoints)
     /// The identifiers refers to the board dictionary
-    CV_PROP std::vector< int > ids;
+    CV_PROP_RW std::vector< int > ids;
 };
 
 

modules/aruco/misc/objc/gen_dict.json

@@ -3,5 +3,10 @@
         "*" : [ "\"aruco.hpp\"" ],
         "CharucoBoard" : [ "\"aruco/charuco.hpp\"" ],
         "Dictionary" : [ "\"aruco/dictionary.hpp\"" ]
+    },
+    "func_arg_fix" : {
+        "Board" : {
+            "(void)setIds:(Mat*)ids" : { "setIds" : {"name" : "setIdsMat"} }
+        }
     }
 }

modules/aruco/misc/python/test/test_aruco.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+
+# Python 2/3 compatibility
+from __future__ import print_function
+
+import os, numpy as np
+
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class aruco_test(NewOpenCVTests):
+
+    def test_idsAccessibility(self):
+
+        ids = np.array([[elem] for elem in range(17)])
+        rev_ids = np.array(list(reversed(ids)))
+
+        aruco_dict  = cv.aruco.Dictionary_get(cv.aruco.DICT_5X5_250)
+        board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict)
+
+        self.assertTrue(np.equal(board.ids, ids).all())
+
+        board.ids = rev_ids
+        self.assertTrue(np.equal(board.ids, rev_ids).all())
+
+        board.setIds(ids)
+        self.assertTrue(np.equal(board.ids, ids).all())
+
+        with self.assertRaises(cv.error):
+            board.setIds(np.array([0]))
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()

modules/aruco/src/aruco.cpp

@@ -1497,6 +1497,13 @@ Ptr<Board> Board::create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &di
     return res;
 }
 
+/**
+ */
+void Board::setIds(InputArray ids_) {
+    CV_Assert(objPoints.size() == ids_.total());
+    ids_.copyTo(this->ids);
+}
+
 /**
  */
 Ptr<GridBoard> GridBoard::create(int markersX, int markersY, float markerLength, float markerSeparation,

modules/bgsegm/src/synthetic_seq.cpp

@@ -206,7 +206,7 @@ void SyntheticSequenceGenerator::getNextFrame(OutputArray _frame, OutputArray _g
 
     _gtMask.create(sz, CV_8U);
     Mat gtMask = _gtMask.getMat();
-    gtMask = 0;
+    gtMask.setTo(cv::Scalar::all(0));
     gtMask(Rect(Point2i(pos), objSz)) = 255;
 
     pos += dir * objspeed;

modules/cudacodec/include/opencv2/cudacodec.hpp

@@ -282,9 +282,11 @@ struct FormatInfo
 {
     Codec codec;
     ChromaFormat chromaFormat;
-    int nBitDepthMinus8;
-    int width;
-    int height;
+    int nBitDepthMinus8 = -1;
+    int width = 0;//!< Width of the decoded frame returned by nextFrame(frame)
+    int height = 0;//!< Height of the decoded frame returned by nextFrame(frame)
+    Rect displayArea;//!< ROI inside the decoded frame returned by nextFrame(frame), containing the useable video frame.
+    bool valid = false;
 };
 
 /** @brief Video reader interface.
@@ -329,6 +331,10 @@ class CV_EXPORTS_W RawVideoSource
     /** @brief Returns information about video file format.
     */
     virtual FormatInfo format() const = 0;
+
+    /** @brief Updates the coded width and height inside format.
+    */
+    virtual void updateFormat(const int codedWidth, const int codedHeight) = 0;
 };
 
 /** @brief Creates video reader.

modules/cudacodec/src/cuvid_video_source.cpp

@@ -74,6 +74,8 @@ cv::cudacodec::detail::CuvidVideoSource::CuvidVideoSource(const String& fname)
     format_.nBitDepthMinus8 = vidfmt.bit_depth_luma_minus8;
     format_.width = vidfmt.coded_width;
     format_.height = vidfmt.coded_height;
+    format_.displayArea = Rect(Point(vidfmt.display_area.left, vidfmt.display_area.top), Point(vidfmt.display_area.right, vidfmt.display_area.bottom));
+    format_.valid = true;
 }
 
 cv::cudacodec::detail::CuvidVideoSource::~CuvidVideoSource()
@@ -86,6 +88,13 @@ FormatInfo cv::cudacodec::detail::CuvidVideoSource::format() const
     return format_;
 }
 
+void cv::cudacodec::detail::CuvidVideoSource::updateFormat(const int codedWidth, const int codedHeight)
+{
+    format_.width = codedWidth;
+    format_.height = codedHeight;
+    format_.valid = true;
+}
+
 void cv::cudacodec::detail::CuvidVideoSource::start()
 {
     cuSafeCall( cuvidSetVideoSourceState(videoSource_, cudaVideoState_Started) );

modules/cudacodec/src/cuvid_video_source.hpp

@@ -55,6 +55,7 @@ class CuvidVideoSource : public VideoSource
     ~CuvidVideoSource();
 
     FormatInfo format() const CV_OVERRIDE;
+    void updateFormat(const int codedWidth, const int codedHeight);
     void start() CV_OVERRIDE;
     void stop() CV_OVERRIDE;
     bool isStarted() const CV_OVERRIDE;

modules/cudacodec/src/ffmpeg_video_source.cpp

@@ -131,6 +131,8 @@ cv::cudacodec::detail::FFmpegVideoSource::FFmpegVideoSource(const String& fname)
     format_.codec = FourccToCodec(codec);
     format_.height = cap.get(CAP_PROP_FRAME_HEIGHT);
     format_.width = cap.get(CAP_PROP_FRAME_WIDTH);
+    format_.displayArea = Rect(0, 0, format_.width, format_.height);
+    format_.valid = false;
     FourccToChromaFormat(pixelFormat, format_.chromaFormat, format_.nBitDepthMinus8);
 }
 
@@ -145,6 +147,13 @@ FormatInfo cv::cudacodec::detail::FFmpegVideoSource::format() const
     return format_;
 }
 
+void cv::cudacodec::detail::FFmpegVideoSource::updateFormat(const int codedWidth, const int codedHeight)
+{
+    format_.width = codedWidth;
+    format_.height = codedHeight;
+    format_.valid = true;
+}
+
 bool cv::cudacodec::detail::FFmpegVideoSource::getNextPacket(unsigned char** data, size_t* size)
 {
     cap >> rawFrame;