Merge branch 'daisy' of https://github.com/cbalint13/opencv_contrib into daisy

modules/adas/tools/fcw_detect/CMakeLists.txt

@@ -13,7 +13,7 @@ endif()
 project(${the_target})
 
 ocv_include_directories("${OpenCV_SOURCE_DIR}/include/opencv")
-ocv_include_modules(${OPENCV_${the_target}_DEPS})
+ocv_include_modules_recurse(${OPENCV_${the_target}_DEPS})
 
 file(GLOB ${the_target}_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
 

modules/adas/tools/fcw_train/CMakeLists.txt

@@ -13,7 +13,7 @@ endif()
 project(${the_target})
 
 ocv_include_directories("${OpenCV_SOURCE_DIR}/include/opencv")
-ocv_include_modules(${OPENCV_${the_target}_DEPS})
+ocv_include_modules_recurse(${OPENCV_${the_target}_DEPS})
 
 file(GLOB ${the_target}_SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
 

modules/line_descriptor/src/binary_descriptor.cpp

@@ -756,7 +756,7 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
 
   /* some variables' declarations */
   float rho1, rho2, tempValue;
-  float direction, near, length;
+  float direction, diffNear, length;
   unsigned int octaveID, lineIDInOctave;
 
   /*more than one octave image, organize lines in scale space.
@@ -784,8 +784,8 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
         /*nearThreshold depends on the distance of the image coordinate origin to current line.
          *so nearThreshold = rho1 * nearThresholdRatio, where nearThresholdRatio = 1-cos(10*pi/180) = 0.0152*/
         tempValue = (float) ( rho1 * 0.0152 );
-        float nearThreshold = ( tempValue > 6 ) ? ( tempValue ) : 6;
+        float diffNearThreshold = ( tempValue > 6 ) ? ( tempValue ) : 6;
-        nearThreshold = ( nearThreshold < 12 ) ? nearThreshold : 12;
+        diffNearThreshold = ( diffNearThreshold < 12 ) ? diffNearThreshold : 12;
 
         /* compute scaled lenght of current line */
         dx = fabs( edLineVec_[octaveCount]->lineEndpoints_[lineCurId][0] - edLineVec_[octaveCount]->lineEndpoints_[lineCurId][2] );  //x1-x2
@@ -831,10 +831,10 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
           /* get known term from equation to be compared */
           rho2 = (float) ( scale[octaveID] * fabs( edLineVec_[octaveID]->lineEquations_[lineIDInOctave][2] ) );
           /* compute difference between known ters */
-          near = fabs( rho1 - rho2 );
+          diffNear = fabs( rho1 - rho2 );
 
           /* two lines are not close in the image */
-          if( near > nearThreshold )
+          if( diffNear > diffNearThreshold )
           {
             continue;
           }

modules/matlab/include/opencv2/matlab/bridge.hpp

@@ -85,6 +85,7 @@ typedef cv::Ptr<AlignMTB> Ptr_AlignMTB;
 typedef cv::Ptr<CalibrateDebevec> Ptr_CalibrateDebevec;
 typedef cv::Ptr<CalibrateRobertson> Ptr_CalibrateRobertson;
 typedef cv::Ptr<DenseOpticalFlow> Ptr_DenseOpticalFlow;
+typedef cv::Ptr<DualTVL1OpticalFlow> Ptr_DualTVL1OpticalFlow;
 typedef cv::Ptr<MergeDebevec> Ptr_MergeDebevec;
 typedef cv::Ptr<MergeMertens> Ptr_MergeMertens;
 typedef cv::Ptr<MergeRobertson> Ptr_MergeRobertson;
@@ -468,6 +469,11 @@ public:
   Ptr_DenseOpticalFlow toPtrDenseOpticalFlow() { return Ptr_DenseOpticalFlow(); }
   operator Ptr_DenseOpticalFlow() { return toPtrDenseOpticalFlow(); }
 
+  // ---------------------------   Ptr_DualTVL1OpticalFlow   -------------------
+  Bridge& operator=(const Ptr_DualTVL1OpticalFlow& ) { return *this; }
+  Ptr_DualTVL1OpticalFlow toPtrDualTVL1OpticalFlow() { return Ptr_DualTVL1OpticalFlow(); }
+  operator Ptr_DualTVL1OpticalFlow() { return toPtrDualTVL1OpticalFlow(); }
+
   // ---------------------------   Ptr_MergeDebevec   -----------------------
   Bridge& operator=(const Ptr_MergeDebevec& ) { return *this; }
   Ptr_MergeDebevec toPtrMergeDebevec() { return Ptr_MergeDebevec(); }

modules/optflow/src/motempl.cpp

@@ -212,7 +212,7 @@ void calcMotionGradient( InputArray _mhi, OutputArray _mask,
         float* orient_row = orient.ptr<float>(y);
         uchar* mask_row = mask.ptr<uchar>(y);
 
-        fastAtan2(dY_max_row, dX_min_row, orient_row, size.width, true);
+        hal::fastAtan2(dY_max_row, dX_min_row, orient_row, size.width, true);
 
         // make orientation zero where the gradient is very small
         for( x = 0; x < size.width; x++ )

modules/rgbd/src/depth_to_3d.h

@@ -81,7 +81,7 @@ convertDepthToFloat(const cv::Mat& depth, const cv::Mat& mask, float scale, cv::
         v_mat((int)n_points, 0) = (float)v;
         T depth_i = depth.at<T>(v, u);
 
-        if (cvIsNaN(depth_i) || (depth_i == std::numeric_limits<T>::min()) || (depth_i == std::numeric_limits<T>::max()))
+        if (cvIsNaN((float)depth_i) || (depth_i == std::numeric_limits<T>::min()) || (depth_i == std::numeric_limits<T>::max()))
           z_mat((int)n_points, 0) = std::numeric_limits<float>::quiet_NaN();
         else
           z_mat((int)n_points, 0) = depth_i * scale;
@@ -111,7 +111,7 @@ convertDepthToFloat(const cv::Mat& depth, float scale, const cv::Mat &uv_mat, cv
   {
     T depth_i = depth.at < T > ((int)(*uv_iter)[1], (int)(*uv_iter)[0]);
 
-    if (cvIsNaN(depth_i) || (depth_i == std::numeric_limits < T > ::min())
+    if (cvIsNaN((float)depth_i) || (depth_i == std::numeric_limits < T > ::min())
         || (depth_i == std::numeric_limits < T > ::max()))
       *z_mat_iter = std::numeric_limits<float>::quiet_NaN();
     else

modules/tracking/src/TrackingFunctionPF.hpp

@@ -9,6 +9,7 @@ namespace cv{
         public:
             TrackingFunctionPF(const Mat& chosenRect);
             void update(const Mat& image);
+            int getDims() const { return 4; }
             double calc(const double* x) const;
             void correctParams(double* pt)const;
         private:

modules/xfeatures2d/src/lucid.cpp

@@ -0,0 +1,140 @@
+// This implementation of, and any deviation from, the original algorithm as
+// proposed by Ziegler et al. is not endorsed by Ziegler et al. nor does it
+// claim to represent their definition of locally uniform comparison image
+// descriptor. The original LUCID algorithm as proposed by Ziegler et al. remains
+// the property of its respective authors. This implementation is an adaptation of
+// said algorithm and contributed to OpenCV by Str3iber.
+
+// References:
+// Ziegler, Andrew, Eric Christiansen, David Kriegman, and Serge J. Belongie.
+// "Locally uniform comparison image descriptor." In Advances in Neural Information
+// Processing Systems, pp. 1-9. 2012.
+
+/*
+By downloading, copying, installing or using the software you agree to this license.
+If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are disclaimed.
+In no event shall copyright holders or contributors be liable for any direct,
+indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.
+*/
+
+#include "precomp.hpp"
+
+namespace cv {
+    namespace xfeatures2d {
+        /*!
+         LUCID implementation
+         */
+        class LUCIDImpl : public LUCID {
+            public:
+                /** Constructor
+                 * @param lucid_kernel kernel for descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth
+                 * @param blur_kernel kernel for blurring image prior to descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth
+                 */
+                LUCIDImpl(const int lucid_kernel = 1, const int blur_kernel = 2);
+
+                /** returns the descriptor length */
+                virtual int descriptorSize() const;
+
+                /** returns the descriptor type */
+                virtual int descriptorType() const;
+
+                /** returns the default norm type */
+                virtual int defaultNorm() const;
+
+                virtual void compute(InputArray _src, std::vector<KeyPoint> &keypoints, OutputArray _desc);
+
+            protected:
+                int l_kernel, b_kernel;
+        };
+
+        Ptr<LUCID> LUCID::create(const int lucid_kernel, const int blur_kernel) {
+            return makePtr<LUCIDImpl>(lucid_kernel, blur_kernel);
+        }
+
+        LUCIDImpl::LUCIDImpl(const int lucid_kernel, const int blur_kernel) {
+            l_kernel = lucid_kernel;
+            b_kernel = blur_kernel*2+1;
+        }
+
+        int LUCIDImpl::descriptorSize() const {
+            return (l_kernel*2+1)*(l_kernel*2+1)*3;
+        }
+
+        int LUCIDImpl::descriptorType() const {
+            return CV_8UC1;
+        }
+
+        int LUCIDImpl::defaultNorm() const {
+            return NORM_HAMMING;
+        }
+
+        // gliese581h suggested filling a cv::Mat with descriptors to enable BFmatcher compatibility
+        // speed-ups and enhancements by gliese581h
+        void LUCIDImpl::compute(InputArray _src, std::vector<KeyPoint> &keypoints, OutputArray _desc) {
+            if (_src.getMat().empty())
+                return;
+
+            Mat_<Vec3b> src;
+
+            blur(_src.getMat(), src, cv::Size(b_kernel, b_kernel));
+
+            int x, y, j, d, p, m = (l_kernel*2+1)*(l_kernel*2+1)*3, width = src.cols, height = src.rows, r, c;
+
+            Mat_<uchar> desc(static_cast<int>(keypoints.size()), m);
+
+            for (std::size_t i = 0; i < keypoints.size(); ++i) {
+                x = static_cast<int>(keypoints[i].pt.x)-l_kernel, y = static_cast<int>(keypoints[i].pt.y)-l_kernel, d = x+2*l_kernel, p = y+2*l_kernel, j = x, r = static_cast<int>(i), c = 0;
+
+                while (x <= d) {
+                    Vec3b &pix = src((y < 0 ? height+y : y >= height ? y-height : y), (x < 0 ? width+x : x >= width ? x-width : x));
+
+                    desc(r, c++) = pix[0];
+                    desc(r, c++) = pix[1];
+                    desc(r, c++) = pix[2];
+
+                    ++x;
+                    if (x > d) {
+                        if (y < p) {
+                            ++y;
+                            x = j;
+                        }
+                        else
+                            break;
+                    }
+                }
+            }
+
+            if (_desc.needed())
+                sort(desc, _desc, SORT_EVERY_ROW | SORT_ASCENDING);
+        }
+    }
+} // END NAMESPACE CV

modules/xfeatures2d/src/sift.cpp

@@ -337,9 +337,9 @@ static float calcOrientationHist( const Mat& img, Point pt, int radius,
     len = k;
 
     // compute gradient values, orientations and the weights over the pixel neighborhood
-    exp(W, W, len);
+    hal::exp(W, W, len);
-    fastAtan2(Y, X, Ori, len, true);
+    hal::fastAtan2(Y, X, Ori, len, true);
-    magnitude(X, Y, Mag, len);
+    hal::magnitude(X, Y, Mag, len);
 
     for( k = 0; k < len; k++ )
     {
@@ -620,9 +620,9 @@ static void calcSIFTDescriptor( const Mat& img, Point2f ptf, float ori, float sc
         }
 
     len = k;
-    fastAtan2(Y, X, Ori, len, true);
+    hal::fastAtan2(Y, X, Ori, len, true);
-    magnitude(X, Y, Mag, len);
+    hal::magnitude(X, Y, Mag, len);
-    exp(W, W, len);
+    hal::exp(W, W, len);
 
     for( k = 0; k < len; k++ )
     {

modules/xfeatures2d/test/test_features2d.cpp

@@ -1032,6 +1032,14 @@ TEST( Features2d_DescriptorExtractor_BRIEF, regression )
     test.safe_run();
 }
 
+TEST( Features2d_DescriptorExtractor_LUCID, regression )
+{
+    CV_DescriptorExtractorTest<Hamming> test( "descriptor-lucid",  1,
+                                             LUCID::create(1, 2) );
+    test.safe_run();
+}
+
+
 
 /*#if CV_SSE2
 TEST( Features2d_DescriptorExtractor_Calonder_uchar, regression )

modules/xphoto/src/gcgraph.hpp

@@ -254,7 +254,7 @@ TWeight GCGraph<TWeight>::maxFlow()
                 minWeight = MIN(minWeight, weight);
                 CV_Assert( minWeight > 0 );
             }
-            weight = abs( TWeight(v->weight) );
+            weight = std::abs( TWeight(v->weight) );
             minWeight = MIN(minWeight, weight);
             CV_Assert( minWeight > 0 );
         }