* feat: OpenCV extension with pure Python modules
* feat: cv2 is now a Python package instead of extension module
Python package cv2 now can handle both Python and C extension modules
properly without additional "subfolders" like "_extra_py_code".
* feat: can call native function from its reimplementation in Python
`PyObject*` to `std::vector<T>` conversion logic:
- If user passed Numpy Array
- If array is planar and T is a primitive type (doesn't require
constructor call) that matches with the element type of array, then
copy element one by one with the respect of the step between array
elements. If compiler is lucky (or brave enough) copy loop can be
vectorized.
For classes that require constructor calls this path is not
possible, because we can't begin an object lifetime without hacks.
- Otherwise fall-back to general case
- Otherwise - execute the general case:
If PyObject* corresponds to Sequence protocol - iterate over the
sequence elements and invoke the appropriate `pyopencv_to` function.
`std::vector<T>` to `PyObject*` conversion logic:
- If `std::vector<T>` is empty - return empty tuple.
- If `T` has a corresponding `Mat` `DataType` than return
Numpy array instance of the matching `dtype` e.g.
`std::vector<cv::Rect>` is returned as `np.ndarray` of shape `Nx4` and
`dtype=int`.
This branch helps to optimize further evaluations in user code.
- Otherwise - execute the general case:
Construct a tuple of length N = `std::vector::size` and insert
elements one by one.
Unnecessary functions were removed and code was rearranged to allow
compiler select the appropriate conversion function specialization.
Moving RGBD parts to 3d
* files moved from rgbd module in contrib repo
* header paths fixed
* perf file added
* lapack compilation fixed
* Rodrigues fixed in tests
* rgbd namespace removed
* headers fixed
* initial: rgbd files moved to 3d module
* rgbd updated from latest contrib master; less file duplication
* "std::" for sin(), cos(), etc.
* KinFu family -> back to contrib
* paths & namespaces
* removed duplicates, file version updated
* namespace kinfu removed from 3d module
* forgot to move test_colored_kinfu.cpp to contrib
* tests fixed: Params removed
* kinfu namespace removed
* it works without objc bindings
* include headers fixed
* tests: data paths fixed
* headers moved to/from public API
* Intr -> Matx33f in public API
* from kinfu_frame.hpp to utils.hpp
* submap: Intr -> Matx33f, HashTSDFVolume -> Volume; no extra headers
* no RgbdFrame class, no Mat fields & arg -> InputArray & pImpl
* get/setPyramidAt() instead of lots of methods
* Mat -> InputArray, TMat
* prepareFrameCache: refactored
* FastICPOdometry: +truncate threshold, +depthFactor; Mat/UMat choose
* Mat/UMat choose
* minor stuff related to headers
* (un)signed int warnings; compilation minor issues
* minors: submap: pyramids -> OdometryFrame; tests fix; FastICP minor; CV_EXPORTS_W for kinfu_frame.hpp
* FastICPOdometry: caching, rgbCameraMatrix
* OdometryFrame: pyramid%s% -> pyramids[]
* drop: rgbCameraMatrix from FastICP, RGB cache mode, makeColoredFrameFrom depth and all color-functions it calls
* makeFrameFromDepth, buildPyramidPointsNormals -> from public to internal utils.hpp
* minors
* FastICPOdometry: caching updated, init fields
* OdometryFrameImpl<UMat> fixed
* matrix building fixed; minors
* returning linemode back to contrib
* params.pose is Mat now
* precomp headers reorganized
* minor fixes, header paths, extra header removed
* minors: intrinsics -> utils.hpp; whitespaces; empty namespace; warning fixed
* moving declarations from/to headers
* internal headers reorganized (once again)
* fix include
* extra var fix
* fix include, fix (un)singed warning
* calibration.cpp: reverting back
* headers fix
* workaround to fix bindings
* temporary removed wrappers
* VolumeType -> VolumeParams
* (temporarily) removing wrappers for Volume and VolumeParams
* pyopencv_linemod -> contrib
* try to fix test_rgbd.py
* headers fixed
* fixing wrappers for rgbd
* fixing docs
* fixing rgbdPlane
* RgbdNormals wrapped
* wrap Volume and VolumeParams, VolumeType from enum to int
* DepthCleaner wrapped
* header folder "rgbd" -> "3d"
* fixing header path
* VolumeParams referenced by Ptr to support Python wrappers
* render...() fixed
* Ptr<VolumeParams> fixed
* makeVolume(... resolution -> [X, Y, Z])
* fixing static declaration
* try to fix ios objc bindings
* OdometryFrame::release...() removed
* fix for Odometry algos not supporting UMats: prepareFrameCache<>()
* preparePyramidMask(): fix to compile with TMat = UMat
* fixing debug guards
* removing references back; adding makeOdometryFrame() instead
* fixing OpenCL ICP hanging (some threads exit before reaching the barrier -> the rest threads hang)
* try to fix objc wrapper warnings; rerun builders
* VolumeType -> VolumeKind
* try to fix OCL bug
* prints removed
* indentation fixed
* headers fixed
* license fix
* WillowGarage licence notion removed, since it's in OpenCV's COPYRIGHT already
* KinFu license notion shortened
* debugging code removed
* include guards fixed
* KinFu license left in contrib module
* isValidDepth() moved to private header
* indentation fix
* indentation fix in src files
* RgbdNormals rewritten to pImpl
* minor
* DepthCleaner removed due to low code quality, no depthScale provided, no depth images found to be successfully filtered; can be replaced by bilateral filtering
* minors, indentation
* no "private" in public headers
* depthTo3d test moved from separate file
* Normals: setDepth() is useless, removing it
* RgbdPlane => findPlanes()
* rescaleDepth(): minor
* warpFrame: minor
* minor TODO
* all Odometries (except base abstract class) rewritten to pImpl
* FastICPOdometry now supports maxRotation and maxTranslation
* minor
* Odometry's children: now checks are done in setters
* get rid of protected members in Odometry class
* get/set cameraMatrix, transformType, maxRot/Trans, iters, minGradients -> OdometryImpl
* cameraMatrix: from double to float
* matrix exponentiation: Eigen -> dual quaternions
* Odometry evaluation fixed to reuse existing code
* "small" macro fixed by undef
* pixNorm is calculated on CPU only now (and then uploads on GPU)
* test registration: no cvtest classes
* test RgbdNormals and findPlanes(): no cvtest classes
* test_rgbd.py: minor fix
* tests for Odometry: no cvtest classes; UMat tests; logging fixed
* more CV_OVERRIDE to overriden functions
* fixing nondependent names to dependent
* more to prev commit
* forgotten fixes: overriden functions, (non)dependent names
* FastICPOdometry: fix UMat support when OpenCL is off
* try to fix compilation: missing namespaces
* Odometry: static const-mimicking functions to internal constants
* forgotten change to prev commit
* more forgotten fixes
* do not expose "submap.hpp" by default
* in-class enums: give names, CamelCase, int=>enums; minors
* namespaces, underscores, String
* std::map is used by pose graph, adding it
* compute()'s signature fixed, computeImpl()'s too
* RgbdNormals: Mat -> InputArray
* depth.hpp: Mat -> InputArray
* cameraMatrix: Matx33f -> InputArray + default value + checks
* "details" headers are not visible by default
* TSDF tests: rearranging checks
* cameraMatrix: no (realistic) default value
* renderPointsNormals*(): no wrappers for them
* debug: assert on empty frame in TSDF tests
* debugging code for TSDF GPU
* debug from integrate to raycast
* no (non-zero) default camera matrix anymore
* drop debugging code (does not help)
* try to fix TSDF GPU: constant -> global const ptr
docs(core/ocl): clarify ownership of arguments passed into OpenCL related functions
* docs(core/ocl): clarify ownership in OpenCLExecutionContext::create
Although it is technically true that OpenCLExecutionContext::create
calls `clRetainContext` on its context argument, it is misleading
because it does not increase the reference count overall. Clarify that
the ownership of one reference of the passed context and device is
taken.
* docs(core/ocl): document ownership transfer in ocl::Device::fromHandle
bug fixes for universal intrinsics of RISC-V back-end
* Align universal intrinsic comparator behaviour with other platforms
Set all bits to one for return value of int and fp comparators.
* fix v_pack_triplets, v_pack_store and v_pack_u_store
* Remove redundant CV_DECL_ALIGNED statements
Co-authored-by: Alexander Smorkalov <alexander.smorkalov@xperience.ai>
AArch64 semihosting
* [ts] Disable filesystem support in the TS module.
Because of this change, all the tests loading data will file, but tat
least the core module can be tested with the following line:
opencv_test_core --gtest_filter=-"*Core_InputOutput*:*Core_globbing.accuracy*"
* [aarch64] Build OpenCV for AArch64 semihosting.
This patch provide a toolchain file that allows to build the library
for semihosting applications [1]. Minimal changes have been applied to
the code to be able to compile with a baremetal toolchain.
[1] https://developer.arm.com/documentation/100863/latest
The option `CV_SEMIHOSTING` is used to guard the bits in the code that
are specific to the target.
To build the code:
cmake ../opencv/ \
-DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \
-DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \
-DBUILD_EXAMPLES=ON -GNinja
A barematel toolchain for targeting aarch64 semihosting can be found
at [2], under `aarch64-none-elf`.
[2] https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads
The folder `samples/semihosting` provides two example semihosting
applications.
The two binaries can be executed on the host platform with:
qemu-aarch64 ./bin/example_semihosting_histogram
qemu-aarch64 ./bin/example_semihosting_norm
Similarly, the test and perf executables of the modules can be run
with:
qemu-aarch64 ./bin/opecv_[test|perf]_<module>
Notice that filesystem support is disabled by the toolchain file,
hence some of the test that depend on filesystem support will fail.
* [semihosting] Remove blank like at the end of file. [NFC]
The spurious blankline was reported by
https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31158.
* [semihosting] Make the raw pixel file generation OS independent.
Use the facilities provided by Cmake to generate the header file
instead of a shell script, so that the build doesn't fail on systems
that do not have a unix shell.
* [semihosting] Rename variable for semihosting compilation.
* [semihosting] Move the cmake configuration to a variable file.
* [semihosting] Make the guard macro private for the core module.
* [semihosting] Remove space. [NFC]
* [semihosting] Improve comment with information about semihosting. [NFC]
* [semihosting] Update license statement on top of sourvce file. [NFC]
* [semihosting] Replace BM_SUFFIX with SEMIHOSTING_SUFFIX. [NFC]
* [semihosting] Remove double space. [NFC]
* [semihosting] Add some text output to the sample applications.
* [semihosting] Remove duplicate entry in cmake configuration. [NFCI]
* [semihosting] Replace `long` with `int` in sample apps. [NFCI]
* [semihosting] Use `configure_file` to create the random pixels. [NFCI]
* [semihosting][bugfix] Fix name of cmakedefine variable.
* [semihosting][samples] Use CV_8UC1 for grayscale images. [NFCI]
* [semihosting] Add readme file.
* [semihosting] Remove blank like at the end of README. [NFC]
This fixes the failure at
https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31272.
Improves support for Unix non-Linux systems, including QNX
* Fixes#20395. Improves support for Unix non-Linux systems. Focus on QNX Neutrino.
Signed-off-by: promero <promero@mathworks.com>
* Update system.cpp
* [build][option] Introduce `OPENCV_DISABLE_THREAD_SUPPORT` option.
The option forces the library to build without thread support.
* update handling of OPENCV_DISABLE_THREAD_SUPPORT
- reduce amount of #if conditions
* [to squash] cmake: apply mode vars in toolchains too
Co-authored-by: Alexander Alekhin <alexander.a.alekhin@gmail.com>
* Support cl_image conversion for CL_HALF_FLOAT (float16)
* Support cl_image conversion for additional channel orders:
CL_A, CL_INTENSITY, CL_LUMINANCE, CL_RG, CL_RA
* Comment on why cl_image conversion is unsupported for CL_RGB
* Predict optimal vector width for float16
* ocl::kernelToStr: support float16
* ocl::Device::halfFPConfig: drop artificial requirement for OpenCL
version >= 1.2. Even OpenCL 1.0 supports the underlying config
property, CL_DEVICE_HALF_FP_CONFIG.
* dumpOpenCLInformation: provide info on OpenCL half-float support
and preferred half-float vector width
* randu: support default range [-1.0, 1.0] for float16
* TestBase::warmup: support float16
There can be an int overflow.
cv::norm( InputArray _src, int normType, InputArray _mask ) is fine,
not cv::norm( InputArray _src1, InputArray _src2, int normType, InputArray _mask ).
Fix dynamic loading of clBLAS and clFFT (formerly, clAmdBlas and clAmdFft)
* Fix dynamic loading of clBLAS and clFFT
* Update filenames and function names for clBLAS (formerly, clAmdBlas)
* Update filenames and function names for clFFT (formerly, clAmdFft)
* Uncomment teardown of clFFT; tear down clFFT in same way as clBLAS
* Fix generators for clBLAS and clFFT headers
* Update generators to parse recent clBLAS and clFFT library headers
* Update generators to be compatible with Python 3
* Re-generate OpenCV's clBLAS and clFFT headers
* Update function calls to match names in newly generated headers
* Disable (and comment on) teardown code for clBLAS and clFFT
* Renaming *clamd* files
* Renaming *clamdblas* files to *clblas*
* Renaming *clamdfft* files to *clfft*
* Update generator for CL headers
* Update generator to be compatible with Python 3
* extended C++ version of Levenberg-Marquardt (LM) solver to accommodate all features of the C counterpart.
* removed C version of LM solver
* made a few other little changes to make the code compile and run smoothly
Giles Payne
Alexander Alekhin
mikael
Vadim Levin
Dale Phurrough
HAN Liutong
Rostislav Vasilikhin
Daniel Playfair Cal
Alexander Smorkalov
Zhuo Zhang
ZhangYin
Francesco Petrogalli
Pablo Romero
Smirnov Egor
Joe Howse
xzvno
kikaxa
Vincent Rabaud
Vadim Pisarevsky