opencv · asmorkalov · Jul 2, 2024 · Jun 6, 2024 · May 17, 2024 · Jun 15, 2024
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -2,8 +2,8 @@
 
 See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
 
-- [ ] I agree to contribute to the project under Apache 2 License.
-- [ ] 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] 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
 - [ ] The PR is proposed to the proper branch
 - [ ] 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

diff --git a/3rdparty/carotene/CMakeLists.txt b/3rdparty/carotene/CMakeLists.txt
@@ -52,5 +52,9 @@ if(WITH_NEON)
     endif()
 endif()
 
+ if(MINGW) 
+    target_compile_definitions(carotene_objs PRIVATE "-D_USE_MATH_DEFINES=1")
+ endif()
+
 # we add dummy file to fix XCode build
 add_library(carotene STATIC ${OPENCV_3RDPARTY_EXCLUDE_FROM_ALL} "$<TARGET_OBJECTS:carotene_objs>" "${CAROTENE_SOURCE_DIR}/dummy.cpp")
diff --git a/3rdparty/hal_rvv/hal_rvv.hpp b/3rdparty/hal_rvv/hal_rvv.hpp
@@ -5,8 +5,6 @@
 #ifndef OPENCV_HAL_RVV_HPP_INCLUDED
 #define OPENCV_HAL_RVV_HPP_INCLUDED
 
-#include <riscv_vector.h>
-
 #include "opencv2/core/hal/interface.h"
 
 #ifndef CV_HAL_RVV_071_ENABLED

diff --git a/3rdparty/hal_rvv/version/hal_rvv_071.hpp b/3rdparty/hal_rvv/version/hal_rvv_071.hpp
@@ -5,6 +5,8 @@
 #ifndef OPENCV_HAL_RVV_071_HPP_INCLUDED
 #define OPENCV_HAL_RVV_071_HPP_INCLUDED
 
+#include <riscv_vector.h>
+
 #include <limits>
 
 namespace cv { namespace cv_hal_rvv {

diff --git a/3rdparty/ippicv/CMakeLists.txt b/3rdparty/ippicv/CMakeLists.txt
@@ -10,7 +10,7 @@ if(HAVE_IPP_ICV)
   add_definitions(-DICV_BASE)
 endif()
 
-file(GLOB lib_srcs ${IPP_IW_PATH}/src/*.c)
+file(GLOB lib_srcs ${IPP_IW_PATH}/src/*.c ${IPP_IW_PATH}/src/*.cpp)
 file(GLOB lib_hdrs ${IPP_IW_PATH}/include/*.h ${IPP_IW_PATH}/include/iw/*.h ${IPP_IW_PATH}/include/iw++/*.hpp)
 
 # ----------------------------------------------------------------------------------

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -307,6 +307,10 @@ OCV_OPTION(WITH_GTK "Include GTK support" ON
 OCV_OPTION(WITH_GTK_2_X "Use GTK version 2" OFF
   VISIBLE_IF UNIX AND NOT APPLE AND NOT ANDROID
   VERIFY HAVE_GTK AND NOT HAVE_GTK3)
+OCV_OPTION(WITH_FRAMEBUFFER "Include framebuffer support" OFF
+  VISIBLE_IF UNIX AND NOT APPLE AND NOT ANDROID)
+OCV_OPTION(WITH_FRAMEBUFFER_XVFB "Include virtual framebuffer support" OFF
+  VISIBLE_IF UNIX AND NOT APPLE AND NOT ANDROID)
 OCV_OPTION(WITH_WAYLAND "Include Wayland support" OFF
         VISIBLE_IF UNIX AND NOT APPLE AND NOT ANDROID
         VERIFY HAVE_WAYLAND)
@@ -1019,9 +1023,13 @@ foreach(hal ${OpenCV_HAL})
       message(STATUS "NDSRVP: Andes GNU Toolchain DSP extension is not open, disabling ndsrvp...")
     endif()
   elseif(hal STREQUAL "halrvv")
+    if(";${CPU_BASELINE_FINAL};" MATCHES ";RVV;")
       add_subdirectory(3rdparty/hal_rvv/)
       ocv_hal_register(RVV_HAL_LIBRARIES RVV_HAL_HEADERS RVV_HAL_INCLUDE_DIRS)
       list(APPEND OpenCV_USED_HAL "HAL RVV (ver ${RVV_HAL_VERSION})")
+    else()
+      message(STATUS "HAL RVV: RVV is not available, disabling halrvv...")
+    endif()
   else()
     ocv_debug_message(STATUS "OpenCV HAL: ${hal} ...")
     ocv_clear_vars(OpenCV_HAL_LIBRARIES OpenCV_HAL_HEADERS OpenCV_HAL_INCLUDE_DIRS)
@@ -1444,6 +1452,13 @@ if(WITH_GTK OR HAVE_GTK)
   endif()
 endif()
 
+if(WITH_FRAMEBUFFER OR HAVE_FRAMEBUFFER)
+  status("    Framebuffer UI:" HAVE_FRAMEBUFFER THEN YES ELSE NO)
+  if(WITH_FRAMEBUFFER_XVFB OR HAVE_FRAMEBUFFER_XVFB)
+    status("    Virtual framebuffer UI:" HAVE_FRAMEBUFFER_XVFB THEN YES ELSE NO)
+  endif()
+endif()
+
 if(WITH_OPENGL OR HAVE_OPENGL)
   status("    OpenGL support:" HAVE_OPENGL THEN "YES (${OPENGL_LIBRARIES})" ELSE NO)
 endif()

diff --git a/cmake/OpenCVFindIPP.cmake b/cmake/OpenCVFindIPP.cmake
@@ -87,9 +87,14 @@ macro(ipp_detect_version)
   get_filename_component(IPP_INCLUDE_DIRS ${IPP_VERSION_FILE} PATH)
 
   set(__msg)
+  set(IPP_NEW_LAYOUT 0)
   if(EXISTS ${IPP_ROOT_DIR}/include/ippicv_redefs.h)
     set(__msg " (ICV version)")
     set(HAVE_IPP_ICV 1)
+  elseif(EXISTS ${IPP_ROOT_DIR}/include/ipp/ipp.h)
+    set(IPP_NEW_LAYOUT 1)
+    # workaround to enable both layouts
+    add_definitions(-DIPP_PRESERVE_OLD_LAYOUT)
   elseif(EXISTS ${IPP_ROOT_DIR}/include/ipp.h)
     # nothing
   else()
@@ -117,10 +122,18 @@ macro(ipp_detect_version)
 
   if(APPLE AND NOT HAVE_IPP_ICV)
     _ipp_set_library_dir(${IPP_ROOT_DIR}/lib)
-  elseif(IPP_X64)
-    _ipp_set_library_dir(${IPP_ROOT_DIR}/lib/intel64)
+  elseif (IPP_NEW_LAYOUT)
+    if(IPP_X64)
+      _ipp_set_library_dir(${IPP_ROOT_DIR}/lib)
+    else()
+      _ipp_set_library_dir(${IPP_ROOT_DIR}/lib32)
+    endif()
   else()
-    _ipp_set_library_dir(${IPP_ROOT_DIR}/lib/ia32)
+    if(IPP_X64)
+      _ipp_set_library_dir(${IPP_ROOT_DIR}/lib/intel64)
+    else()
+      _ipp_set_library_dir(${IPP_ROOT_DIR}/lib/ia32)
+    endif()
   endif()
 
   macro(_ipp_add_library name)

diff --git a/cmake/OpenCVUtils.cmake b/cmake/OpenCVUtils.cmake
@@ -1992,7 +1992,7 @@ macro(ocv_git_describe var_name path)
       OUTPUT_STRIP_TRAILING_WHITESPACE
     )
     if(NOT GIT_RESULT EQUAL 0)
-      execute_process(COMMAND "${GIT_EXECUTABLE}" describe --tags --always --dirty --match "[0-9].[0-9].[0-9]*" --exclude "[^-]*-cvsdk"
+      execute_process(COMMAND "${GIT_EXECUTABLE}" describe --tags --always --dirty --match "[0-9].[0-9]*.[0-9]*" --exclude "[^-]*-cvsdk"
         WORKING_DIRECTORY "${path}"
         OUTPUT_VARIABLE ${var_name}
         RESULT_VARIABLE GIT_RESULT

diff --git a/cmake/checks/framebuffer.cpp b/cmake/checks/framebuffer.cpp
@@ -0,0 +1,9 @@
+#include <X11/XWDFile.h>
+#include <X11/X.h>
+
+int main(void)
+{
+    XWDFileHeader *xwd_header;
+    XWDColor *xwd_colors;
+    return 0;
+}
diff --git a/doc/pattern_tools/svgfig.py b/doc/pattern_tools/svgfig.py
@@ -1,20 +1,32 @@
-# svgfig.py copyright (C) 2008 Jim Pivarski <[email protected]>
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA
-#
-# Full licence is in the file COPYING and at http://www.gnu.org/copyleft/gpl.html
+# BSD 3-Clause License
+
+# Copyright (c) 2022, Jim Pivarski
+# All rights reserved.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+
+# 2. 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.
+
+# 3. Neither the name of the copyright holder nor the names of its
+#    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 THE COPYRIGHT HOLDER 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.
 
 import re, codecs, os, platform, copy, itertools, math, cmath, random, sys, copy
 _epsilon = 1e-5
@@ -29,16 +41,24 @@
 except NameError:
     unicode = lambda s: str(s)
 
-try:
-    xrange          # Python 2
-except NameError:
-    xrange = range  # Python 3
+if re.search("windows", platform.system(), re.I):
+    try:
+        import _winreg
+        _default_directory = _winreg.QueryValueEx(_winreg.OpenKey(_winreg.HKEY_CURRENT_USER,
+                             r"Software\Microsoft\Windows\Current Version\Explorer\Shell Folders"), "Desktop")[0]
+#   tmpdir = _winreg.QueryValueEx(_winreg.OpenKey(_winreg.HKEY_CURRENT_USER, "Environment"), "TEMP")[0]
+#   if tmpdir[0:13] != "%USERPROFILE%":
+#     tmpdir = os.path.expanduser("~") + tmpdir[13:]
+    except:
+        _default_directory = os.path.expanduser("~") + os.sep + "Desktop"
 
 _default_fileName = "tmp.svg"
 
 _hacks = {}
 _hacks["inkscape-text-vertical-shift"] = False
 
+__version__ = "1.0.1"
+
 
 def rgb(r, g, b, maximum=1.):
     """Create an SVG color string "#xxyyzz" from r, g, and b.
@@ -437,9 +457,12 @@ def __standalone_xml(self, indent, newl):
 
         return output
 
-    @staticmethod
-    def interpret_fileName(fileName=None):
-        return fileName or _default_fileName
+    def interpret_fileName(self, fileName=None):
+        if fileName is None:
+            fileName = _default_fileName
+        if re.search("windows", platform.system(), re.I) and not os.path.isabs(fileName):
+            fileName = _default_directory + os.sep + fileName
+        return fileName
 
     def save(self, fileName=None, encoding="utf-8", compresslevel=None):
         """Save to a file for viewing.  Note that svg.save() overwrites the file named _default_fileName.
@@ -591,7 +614,7 @@ def template(fileName, svg, replaceme="REPLACEME"):
 
 def load(fileName):
     """Loads an SVG image from a file."""
-    return load_stream(open(fileName))
+    return load_stream(file(fileName))
 
 def load_stream(stream):
     """Loads an SVG image from a stream (can be a string or a file object)."""
@@ -1848,7 +1871,7 @@ class Poly:
                                             piecewise-linear segments joining the (x,y) points
     "bezier"/"B"        d=[(x, y, c1x, c1y, c2x, c2y), ...]
                                             Bezier curve with two control points (control points
-                                            precede (x,y), as in SVG paths). If (c1x,c1y) and
+                                            preceed (x,y), as in SVG paths). If (c1x,c1y) and
                                             (c2x,c2y) both equal (x,y), you get a linear
                                             interpolation ("lines")
     "velocity"/"V"      d=[(x, y, vx, vy), ...]

diff --git a/doc/py_tutorials/py_imgproc/py_template_matching/py_template_matching.markdown b/doc/py_tutorials/py_imgproc/py_template_matching/py_template_matching.markdown
@@ -46,12 +46,12 @@ assert template is not None, "file could not be read, check with os.path.exists(
 w, h = template.shape[::-1]
 
 # All the 6 methods for comparison in a list
-methods = ['cv.TM_CCOEFF', 'cv.TM_CCOEFF_NORMED', 'cv.TM_CCORR',
-            'cv.TM_CCORR_NORMED', 'cv.TM_SQDIFF', 'cv.TM_SQDIFF_NORMED']
+methods = ['TM_CCOEFF', 'TM_CCOEFF_NORMED', 'TM_CCORR',
+            'TM_CCORR_NORMED', 'TM_SQDIFF', 'TM_SQDIFF_NORMED']
 
 for meth in methods:
     img = img2.copy()
-    method = eval(meth)
+    method = getattr(cv, meth)
 
     # Apply template Matching
     res = cv.matchTemplate(img,template,method)

diff --git a/doc/tutorials/app/intelperc.markdown b/doc/tutorials/app/intelperc.markdown
@@ -3,7 +3,7 @@ Using Creative Senz3D and other Intel RealSense SDK compatible depth sensors {#t
 
 @tableofcontents
 
-@prev_tutorial{tutorial_orbbec_astra}
+@prev_tutorial{tutorial_orbbec_astra_openni}
 @next_tutorial{tutorial_wayland_ubuntu}
 
 ![hardwares](images/realsense.jpg)

diff --git a/doc/tutorials/app/kinect_openni.markdown b/doc/tutorials/app/kinect_openni.markdown
@@ -4,7 +4,7 @@ Using Kinect and other OpenNI compatible depth sensors {#tutorial_kinect_openni}
 @tableofcontents
 
 @prev_tutorial{tutorial_video_write}
-@next_tutorial{tutorial_orbbec_astra}
+@next_tutorial{tutorial_orbbec_astra_openni}
 
 
 Depth sensors compatible with OpenNI (Kinect, XtionPRO, ...) are supported through VideoCapture

diff --git a/doc/tutorials/app/orbbec_astra.markdown → ...utorials/app/orbbec_astra_openni.markdown b/doc/tutorials/app/orbbec_astra.markdown → ...utorials/app/orbbec_astra_openni.markdown
@@ -1,4 +1,4 @@
-Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra}
+Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra_openni}
 ======================================================
 
 @tableofcontents
@@ -9,7 +9,7 @@ Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra}
 
 ### Introduction
 
-This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://orbbec3d.com/index/Product/info.html?cate=38&id=36).
+This tutorial is devoted to the Astra Series of Orbbec 3D cameras (https://www.orbbec.com/products/structured-light-camera/astra-series/).
 That cameras have a depth sensor in addition to a common color sensor. The depth sensors can be read using
 the open source OpenNI API with @ref cv::VideoCapture class. The video stream is provided through the regular
 camera interface.
@@ -18,7 +18,7 @@ camera interface.
 
 In order to use the Astra camera's depth sensor with OpenCV you should do the following steps:
 
--#  Download the latest version of Orbbec OpenNI SDK (from here <https://orbbec3d.com/index/download.html>).
+-#  Download the latest version of Orbbec OpenNI SDK (from here <https://www.orbbec.com/developers/openni-sdk/>).
     Unzip the archive, choose the build according to your operating system and follow installation
     steps provided in the Readme file.
 
@@ -70,6 +70,12 @@ In order to use the Astra camera's depth sensor with OpenCV you should do the fo
     echo "exit"
     @endcode
 
+    @note The last tried version `2.3.0.86_202210111154_4c8f5aa4_beta6` does not work correctly with
+    modern Linux, even after libusb rebuild as recommended by the instruction. The last know good
+    configuration is version 2.3.0.63 (tested with Ubuntu 18.04 amd64). It's not provided officialy
+    with the downloading page, but published by Orbbec technical suport on Orbbec community forum
+    [here](https://3dclub.orbbec3d.com/t/universal-download-thread-for-astra-series-cameras/622).
+
 -#  Now you can configure OpenCV with OpenNI support enabled by setting the `WITH_OPENNI2` flag in CMake.
     You may also like to enable the `BUILD_EXAMPLES` flag to get a code sample working with your Astra camera.
     Run the following commands in the directory containing OpenCV source code to enable OpenNI support:
@@ -106,7 +112,7 @@ can be read using the OpenNI interface with @ref cv::VideoCapture class. The vid
 not available through OpenNI API and is only provided via the regular camera interface.
 So, to get both depth and color frames, two @ref cv::VideoCapture objects should be created:
 
-@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Open streams
+@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Open streams
 
 The first object will use the OpenNI2 API to retrieve depth data. The second one uses the
 Video4Linux2 interface to access the color sensor. Note that the example above assumes that
@@ -119,12 +125,12 @@ For this example, we’ll configure width and height of both streams to VGA reso
 the maximum resolution available for both sensors, and we’d like both stream parameters to be the
 same for easier color-to-depth data registration:
 
-@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Setup streams
+@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Setup streams
 
 For setting and retrieving some property of sensor data generators use @ref cv::VideoCapture::set and
 @ref cv::VideoCapture::get methods respectively, e.g. :
 
-@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Get properties
+@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Get properties
 
 The following properties of cameras available through OpenNI interface are supported for the depth
 generator:
@@ -156,7 +162,7 @@ As there are two video sources that should be read simultaneously, it’s necess
 threads to avoid blocking. Example implementation that gets frames from each sensor in a new thread
 and stores them in a list along with their timestamps:
 
-@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Read streams
+@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Read streams
 
 VideoCapture can retrieve the following data:
 
@@ -177,7 +183,7 @@ two video streams may become out of sync even when both streams are set up for t
 A post-synchronization procedure can be applied to the streams to combine depth and color frames into
 pairs. The sample code below demonstrates this procedure:
 
-@snippetlineno samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp Pair frames
+@snippetlineno samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp Pair frames
 
 In the code snippet above the execution is blocked until there are some frames in both frame lists.
 When there are new frames, their timestamps are being checked -- if they differ more than a half of
@@ -194,5 +200,5 @@ but the depth data makes it easy.
 ![Depth frame](images/astra_depth.png)
 
 The complete implementation can be found in
-[orbbec_astra.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/tutorial_code/videoio/orbbec_astra/orbbec_astra.cpp)
+[openni_orbbec_astra.cpp](https://github.com/opencv/opencv/tree/5.x/samples/cpp/tutorial_code/videoio/openni_orbbec_astra/openni_orbbec_astra.cpp)
 in `samples/cpp/tutorial_code/videoio` directory.
diff --git a/doc/tutorials/app/table_of_content_app.markdown b/doc/tutorials/app/table_of_content_app.markdown
@@ -6,6 +6,6 @@ Application utils (highgui, imgcodecs, videoio modules) {#tutorial_table_of_cont
 -   @subpage tutorial_video_input_psnr_ssim
 -   @subpage tutorial_video_write
 -   @subpage tutorial_kinect_openni
--   @subpage tutorial_orbbec_astra
+-   @subpage tutorial_orbbec_astra_openni
 -   @subpage tutorial_intelperc
 -   @subpage tutorial_wayland_ubuntu