dnn: add ONNX TopK #23279
Merge with https://github.com/opencv/opencv_extra/pull/1200
Partially fixes#22890 and #20258
To-do:
- [x] TopK forward impl
- [x] add tests
- [x] support Opset 1 & 10 if possible
- [ ] ~Support other backends~ (TopK has two outputs, which is not supported by other backends, such as openvino)
Perf:
M1 (time in millisecond)
| input shape | axis | dnn | ort |
| --------------- | ---- | ---- | ---- |
| (1000, 100) | 0 | 1.68 | 4.07 |
| (1000, 100) K5 | 0 | 1.13 | 0.12 |
| (1000, 100) | 1 | 0.96 | 0.77 |
| (100, 100, 100) | 0 | 10.00 | 31.13 |
| (100, 100, 100) | 1 | 7.33 | 9.17 |
| (100, 100, 100) | 2 | 7.52 | 9.48 |
M2 (time in milisecond)
| input shape | axis | dnn | ort |
| --------------- | ---- | ---- | ---- |
| (1000, 100) | 0 | 0.76 | 2.44 |
| (1000, 100) K5 | 0 | 0.68 | 0.07 |
| (1000, 100) | 1 | 0.41 | 0.50 |
| (100, 100, 100) | 0 | 4.83 | 17.52|
| (100, 100, 100) | 1 | 3.60 | 5.08 |
| (100, 100, 100) | 2 | 3.73 | 5.10 |
ONNXRuntime performance testing script: https://gist.github.com/fengyuentau/a119f94fd16721ec9974b8c7b0a45d4c
### Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
Correct Bayer2Gray u8 SIMD #25968
SIMD version of CV_DESCALE is not correct. It should be implemented using v_dotprod.
What's more, the stop condition of vector operation should be `bayer < bayer_end - 14` because we just need to make sure result is safely stored into `dst`.
Closes: https://github.com/opencv/opencv/issues/25823
### Pull Request Readiness Checklist
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- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
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Unified build.gradle files into one template #26009
Issue #24686
### Pull Request Readiness Checklist
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Fix typos #26038
Fix typos
### Pull Request Readiness Checklist
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doc: remove duplicated OpenCV Theory at ToC in Basic Drawing #26018Close#26017
### Pull Request Readiness Checklist
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- [x] The PR is proposed to the proper branch
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imgproc: add specific error code when cvtColor is used on an image with an invalid number of channels #25981close#25971
### Pull Request Readiness Checklist
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Remove empty Additional Resources and Exercises fields from tutorials #26002
### Pull Request Readiness Checklist
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- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
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Patch to opencv_extra has the same branch name.
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This PR is in response to issue [26001](https://github.com/opencv/opencv/issues/26001)
This pull request addresses the issue of empty "Additional Resources" and "Exercises" fields in several OpenCV-Python tutorials. The empty sections have been removed to improve the clarity and consistency of the documentation.
Improved samples/python/tracker.py docstring #25959
This PR removed unused arguments and updated existing argument placeholders to be more descriptive of what they are.
### Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
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- [ ] The PR is proposed to the proper branch
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Patch to opencv_extra has the same branch name.
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Add support for QNX #25832
Build and test instruction for QNX:
https://github.com/chachoi-world/qnx-ports/blob/main/opencv/README.md
### Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
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Patch to opencv_extra has the same branch name.
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pyrDown: offset HAL added, IPP removed #25970Resolves#25976
### Changes
* HAL added for offset support so that border pixels can be fetched from outside of the image ROI (see `BORDER_ISOLATED` parameter)
* IPP removed since there is `pyrUp` instead of `pyrDown` and there's no easy way to fix this other than rewriting it from scratch
* replaced old C call by modern `cv::pyrDown`
### Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
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- [x] The PR is proposed to the proper branch
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Added xxxApprox overloads for YUV color conversions in HAL and AlgorithmHint to cvtColor #25932
The xxxApprox to implement HAL functions with less bits for arithmetic of FP.
The hint was introduced in #25792 and #25911
### Pull Request Readiness Checklist
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- [x] The PR is proposed to the proper branch
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Patch to opencv_extra has the same branch name.
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Improve corners matching in ChessBoardDetector::NeighborsFinder::findCornerNeighbor #25991
### Pull Request Readiness Checklist
Idea was mentioned in `Section III-B. New Heuristic for Quadrangle Linking` of `Rufli, Martin & Scaramuzza, Davide & Siegwart, Roland. (2008). Automatic Detection of Checkerboards on Blurred and Distorted Images. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 3121-3126. 10.1109/IROS.2008.4650703` (https://rpg.ifi.uzh.ch/docs/IROS08_scaramuzza_b.pdf):
```
* For each candidate pair, focus on the quadrangles they belong to and draw two straight lines passing through the midsections of the respective quadrangle edges (see Fig. 6).
* If the candidate corner and the source corner are on the same side of every of the four straight lines drawn this way (this corresponds to the yellow shaded area in Fig. 6), then the corners are successfully matched.
```
By improving corners matching, we can increase the search radius (`thresh_scale`).
I tested this PR with benchmark
```
python3 objdetect_benchmark.py --configuration=generate_run --board_x=7 --path=res_chessboard --synthetic_object=chessboard
```
PR increases detected chessboards number by `3/7%`:
```
cell_img_size = 100 (default)
before
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.910417 13110 14400 0.599746
Total detected time: 147.50906700000002 sec
after
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.941667 13560 14400 0.596726
Total detected time: 136.68963200000007 sec
----------------------------------------------------------------------------------------------------------------------------------------------
cell_img_size = 10
before
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.539792 7773 14400 4.208237
Total detected time: 2.668964 sec
after
category detected chessboard total detected chessboard total chessboard average detected error chessboard
all 0.579167 8340 14400 4.198448
Total detected time: 2.535998999999999 sec
```
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
Current code using CMAKE_SOURCE_DIR and it works well if opencv is standalone CMake project,
but in case of building OpenCV as part of a larger CMake project (e.g. one that includes
opencv and opencv_contrib) this path is incorrect, unlike OpenCV_SOURCE_DIR
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