opencv · asmorkalov · Jul 26, 2024 · Jul 3, 2024 · Jul 13, 2024 · Jul 15, 2024
diff --git a/3rdparty/ippicv/ippicv.cmake b/3rdparty/ippicv/ippicv.cmake
@@ -2,7 +2,7 @@ function(download_ippicv root_var)
   set(${root_var} "" PARENT_SCOPE)
 
   # Commit SHA in the opencv_3rdparty repo
-  set(IPPICV_COMMIT "fd27188235d85e552de31425e7ea0f53ba73ba53")
+  set(IPPICV_COMMIT "7f55c0c26be418d494615afca15218566775c725")
   # Define actual ICV versions
   if(APPLE)
     set(IPPICV_COMMIT "0cc4aa06bf2bef4b05d237c69a5a96b9cd0cb85a")
@@ -14,21 +14,21 @@ function(download_ippicv root_var)
     set(OPENCV_ICV_PLATFORM "linux")
     set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_lnx")
     if(X86_64)
-      set(OPENCV_ICV_NAME "ippicv_2021.11.0_lnx_intel64_20240201_general.tgz")
-      set(OPENCV_ICV_HASH "0f2745ff705ecae31176dad437608f6f")
+      set(OPENCV_ICV_NAME "ippicv_2021.12.0_lnx_intel64_20240425_general.tgz")
+      set(OPENCV_ICV_HASH "d06e6d44ece88f7f17a6cd9216761186")
     else()
-      set(OPENCV_ICV_NAME "ippicv_2021.11.0_lnx_ia32_20240201_general.tgz")
-      set(OPENCV_ICV_HASH "63e381bf08076ca34fd5264203043a45")
+      set(OPENCV_ICV_NAME "ippicv_2021.12.0_lnx_ia32_20240425_general.tgz")
+      set(OPENCV_ICV_HASH "85ffa2b9ed7802b93c23fa27b0097d36")
     endif()
   elseif(WIN32 AND NOT ARM)
     set(OPENCV_ICV_PLATFORM "windows")
     set(OPENCV_ICV_PACKAGE_SUBDIR "ippicv_win")
     if(X86_64)
-      set(OPENCV_ICV_NAME "ippicv_2021.11.0_win_intel64_20240201_general.zip")
-      set(OPENCV_ICV_HASH "59d154bf54a1e3eea20d7248f81a2a8e")
+      set(OPENCV_ICV_NAME "ippicv_2021.12.0_win_intel64_20240425_general.zip")
+      set(OPENCV_ICV_HASH "402ff8c6b4986738fed71c44e1ce665d")
     else()
-      set(OPENCV_ICV_NAME "ippicv_2021.11.0_win_ia32_20240201_general.zip")
-      set(OPENCV_ICV_HASH "7a6d8ac5825c02fea6cbfc1201b521b5")
+      set(OPENCV_ICV_NAME "ippicv_2021.12.0_win_ia32_20240425_general.zip")
+      set(OPENCV_ICV_HASH "8b1d2a23957d57624d0de8f2a5cae5f1")
     endif()
   else()
     return()

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -724,7 +724,13 @@ if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
 
     cmake_policy(SET CMP0092 NEW) # CMake 3.15+: leave warning flags out of default CMAKE_<LANG>_FLAGS flags.
     if(CMAKE_CUDA_COMPILER)
+      if(CMAKE_CUDA_ARCHITECTURES)
+        set(USER_DEFINED_CMAKE_CUDA_ARCHITECTURES TRUE)
+      endif()
       enable_language(CUDA)
+      if(NOT USER_DEFINED_CMAKE_CUDA_ARCHITECTURES)
+        set(CMAKE_CUDA_ARCHITECTURES "")
+      endif()
     elseif(UNIX)
       message(WARNING "CUDA: Not detected!  If you are not using the default host compiler (g++) then you need to specify both CMAKE_CUDA_HOST_COMPILER and CMAKE_CUDA_COMPILER. e.g. -DCMAKE_CUDA_HOST_COMPILER=/usr/bin/clang++ -DCMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc.")
     endif()
@@ -1447,16 +1453,10 @@ if(WITH_GTK OR HAVE_GTK)
     status("    GTK+:" "YES (ver ${GTK3_VERSION})")
   elseif(HAVE_GTK)
     status("    GTK+:" "YES (ver ${GTK2_VERSION})")
+    status("      GtkGlExt:" HAVE_GTKGLEXT THEN "YES (ver ${GTKGLEXT_VERSION})" ELSE NO)
   else()
     status("    GTK+:" "NO")
   endif()
-
-  if(HAVE_GTK)
-    status(  "      GThread :" HAVE_GTHREAD THEN "YES (ver ${GTHREAD_VERSION})" ELSE NO)
-    if(NOT HAVE_GTK3)
-      status(  "    GtkGlExt:" HAVE_GTKGLEXT THEN "YES (ver ${GTKGLEXT_VERSION})" ELSE NO)
-    endif()
-  endif()
 endif()
 
 if(WITH_FRAMEBUFFER OR HAVE_FRAMEBUFFER)

diff --git a/cmake/OpenCVCompilerOptimizations.cmake b/cmake/OpenCVCompilerOptimizations.cmake
@@ -390,14 +390,9 @@ elseif(PPC64LE)
   set(CPU_BASELINE "VSX" CACHE STRING "${HELP_CPU_BASELINE}")
 
 elseif(RISCV)
-  option(RISCV_RVV_SCALABLE "Use scalable RVV API on RISC-V" ON)
-
   ocv_update(CPU_RVV_TEST_FILE "${OpenCV_SOURCE_DIR}/cmake/checks/cpu_rvv.cpp")
   ocv_update(CPU_KNOWN_OPTIMIZATIONS "RVV")
   ocv_update(CPU_RVV_FLAGS_ON "-march=rv64gcv")
-  if(RISCV_RVV_SCALABLE)
-    set(CPU_RVV_FLAGS_ON "${CPU_RVV_FLAGS_ON} -DCV_RVV_SCALABLE")
-  endif()
   ocv_update(CPU_RVV_FLAGS_CONFLICT "-march=[^ ]*")
 
   set(CPU_DISPATCH "" CACHE STRING "${HELP_CPU_DISPATCH}")

diff --git a/cmake/checks/cpu_rvv.cpp b/cmake/checks/cpu_rvv.cpp
@@ -1,17 +1,16 @@
 #include <stdio.h>
 
-#if defined(__riscv)
-#  include <riscv_vector.h>
-#  define CV_RVV 1
+#if !defined(__riscv) || !defined(__riscv_v)
+#error "RISC-V or vector extension(RVV) is not supported by the compiler"
 #endif
 
-#if defined CV_RVV
-#if defined(__riscv_v_intrinsic) &&  __riscv_v_intrinsic>10999
-#define vreinterpret_v_u64m1_u8m1 __riscv_vreinterpret_v_u64m1_u8m1
-#define vle64_v_u64m1 __riscv_vle64_v_u64m1
-#define vle32_v_f32m1 __riscv_vle32_v_f32m1
-#define vfmv_f_s_f32m1_f32 __riscv_vfmv_f_s_f32m1_f32
+#if !defined(__THEAD_VERSION__) && defined(__riscv_v_intrinsic) && __riscv_v_intrinsic < 12000
+#error "Wrong intrinsics version, v0.12 or higher is required for gcc or clang"
 #endif
+
+#include <riscv_vector.h>
+
+#ifdef __THEAD_VERSION__
 int test()
 {
     const float src[] = { 0.0f, 0.0f, 0.0f, 0.0f };
@@ -21,7 +20,14 @@ int test()
     return (int)vfmv_f_s_f32m1_f32(val);
 }
 #else
-#error "RISC-V vector extension(RVV) is not supported"
+int test()
+{
+    const float src[] = { 0.0f, 0.0f, 0.0f, 0.0f };
+    uint64_t ptr[2] = {0x0908060504020100, 0xFFFFFFFF0E0D0C0A};
+    vuint8m1_t a = __riscv_vreinterpret_v_u64m1_u8m1(__riscv_vle64_v_u64m1(ptr, 2));
+    vfloat32m1_t val = __riscv_vle32_v_f32m1((const float*)(src), 4);
+    return (int)__riscv_vfmv_f_s_f32m1_f32(val);
+}
 #endif
 
 int main()

diff --git a/doc/tutorials/app/images/orbbec_uvc_cpp.jpg b/doc/tutorials/app/images/orbbec_uvc_cpp.jpg
diff --git a/doc/tutorials/app/images/orbbec_uvc_python.jpg b/doc/tutorials/app/images/orbbec_uvc_python.jpg
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_openni}
+@prev_tutorial{tutorial_orbbec_uvc}
 @next_tutorial{tutorial_wayland_ubuntu}
 
 ![hardwares](images/realsense.jpg)

diff --git a/doc/tutorials/app/orbbec_astra_openni.markdown b/doc/tutorials/app/orbbec_astra_openni.markdown
@@ -4,7 +4,7 @@ Using Orbbec Astra 3D cameras {#tutorial_orbbec_astra_openni}
 @tableofcontents
 
 @prev_tutorial{tutorial_kinect_openni}
-@next_tutorial{tutorial_intelperc}
+@next_tutorial{tutorial_orbbec_uvc}
 
 
 ### Introduction

diff --git a/doc/tutorials/app/orbbec_uvc.markdown b/doc/tutorials/app/orbbec_uvc.markdown
@@ -0,0 +1,126 @@
+Using Orbbec 3D cameras (UVC) {#tutorial_orbbec_uvc}
+====================================================
+
+@tableofcontents
+
+@prev_tutorial{tutorial_orbbec_astra_openni}
+@next_tutorial{tutorial_intelperc}
+
+|    |    |
+| -: | :- |
+| Original author | Jinyue Chen |
+| Compatibility | OpenCV >= 4.10 |
+
+### Introduction
+This tutorial is devoted to the Orbbec 3D cameras based on UVC protocol. For the use of the older
+Orbbec 3D cameras which depends on OpenNI, please refer to the
+[previous tutorial](https://github.com/opencv/opencv/blob/5.x/doc/tutorials/app/orbbec_astra_openni.markdown).
+
+Unlike working with the OpenNI based Astra 3D cameras which requires OpenCV built with OpenNI2 SDK,
+Orbbec SDK is not required to be installed for accessing Orbbec UVC 3D cameras via OpenCV. By using
+`cv::VideoCapture` class, users get the stream data from 3D cameras, similar to working with USB
+cameras. The calibration and alignment of the depth map and color image are done internally.
+
+### Instructions
+
+In order to use the 3D cameras with OpenCV. You can refer to [Get Started](https://opencv.org/get-started/)
+to install OpenCV.
+
+Note since 4.11 on, Mac OS users need to compile OpenCV from source with flag
+`-DOBSENSOR_USE_ORBBEC_SDK=ON` in order to use the cameras:
+```bash
+cmake -DOBSENSOR_USE_ORBBEC_SDK=ON ..
+make
+sudo make install
+```
+
+Code
+----
+
+@add_toggle_python
+This tutorial code's is shown lines below. You can also download it from
+[here](https://github.com/opencv/opencv/blob/5.x/samples/python/videocapture_obsensor.py)
+@include samples/python/videocapture_obsensor.py
+@end_toggle
+
+@add_toggle_cpp
+This tutorial code's is shown lines below. You can also download it from
+[here](https://github.com/opencv/opencv/blob/5.x/samples/cpp/videocapture_obsensor.cpp)
+@include samples/cpp/videocapture_obsensor.cpp
+@end_toggle
+
+### Code Explanation
+
+#### Python
+
+- **Open Orbbec Depth Sensor**:
+  Using `cv.VideoCapture(0, cv.CAP_OBSENSOR)` to attempt to open the first Orbbec depth sensor device.
+  If the camera fails to open, the program will exit and display an error message.
+
+- **Loop to Grab and Process Data**:
+  In an infinite loop, the code continuously grabs data from the camera. The `orbbec_cap.grab()`
+  method attempts to grab a frame.
+
+- **Process BGR Image**:
+  Using `orbbec_cap.retrieve(None, cv.CAP_OBSENSOR_BGR_IMAGE)` to retrieve the BGR image data.
+  If successfully retrieved, the BGR image is displayed in a window using `cv.imshow("BGR", bgr_image)`.
+
+- **Process Depth Image**:
+  Using `orbbec_cap.retrieve(None, cv.CAP_OBSENSOR_DEPTH_MAP)` to retrieve the depth image data.
+  If successfully retrieved, the depth image is first normalized to a range of 0 to 255, then a
+  false color image is applied, and the result is displayed in a window using `cv.imshow("DEPTH", color_depth_map)`.
+
+- **Keyboard Interrupt**:
+  Using `cv.pollKey()` to detect keyboard events. If a key is pressed, the loop breaks and
+  the program ends.
+
+- **Release Resources**:
+  After exiting the loop, the camera resources are released using `orbbec_cap.release()`.
+
+#### C++
+
+- **Open Orbbec Depth Sensor**:
+  Using `VideoCapture obsensorCapture(0, CAP_OBSENSOR)` to attempt to open the first Orbbec depth
+  sensor device. If the camera fails to open, an error message is displayed, and the program exits.
+
+- **Retrieve Camera Intrinsic Parameters**:
+  Using `obsensorCapture.get()` to retrieve the intrinsic parameters of the camera, including focal
+  lengths (`fx`, `fy`) and principal points (`cx`, `cy`).
+
+- **Loop to Grab and Process Data**:
+  In an infinite loop, the code continuously grabs data from the camera. The `obsensorCapture.grab()`
+  method attempts to grab a frame.
+
+- **Process BGR Image**:
+  Using `obsensorCapture.retrieve(image, CAP_OBSENSOR_BGR_IMAGE)` to retrieve the BGR image data.
+  If successfully retrieved, the BGR image is displayed in a window using `imshow("BGR", image)`.
+
+- **Process Depth Image**:
+  Using `obsensorCapture.retrieve(depthMap, CAP_OBSENSOR_DEPTH_MAP)` to retrieve the depth image data.
+  If successfully retrieved, the depth image is normalized and a false color image is applied, then
+  the result is displayed in a window using `imshow("DEPTH", adjDepthMap)`. The retrieved depth
+  values are in millimeters and are truncated to a range between 300 and 5000 (millimeter).
+  This fixed range can be interpreted as a truncation based on the depth camera's depth range,
+  removing invalid pixels on the depth map.
+
+- **Overlay Depth Map on BGR Image**:
+  Convert the depth map to an 8-bit image, resize it to match the BGR image size, and overlay it
+  on the BGR image with a specified transparency (`alpha`). The overlaid image is displayed in
+  a window using `imshow("DepthToColor", image)`.
+
+- **Keyboard Interrupt**:
+  Using `pollKey()` to detect keyboard events. If a key is pressed, the loop breaks and the program ends.
+
+- **Release Resources**:
+  After exiting the loop, the camera resources are released.
+### Results
+#### Python
+
+![BGR And DEPTH frame](images/orbbec_uvc_python.jpg)
+
+#### C++
+
+![BGR And DEPTH And DepthToColor frame](images/orbbec_uvc_cpp.jpg)
+
+### Note
+Mac users need sudo privileges to execute the code.
diff --git a/doc/tutorials/app/table_of_content_app.markdown b/doc/tutorials/app/table_of_content_app.markdown
@@ -7,5 +7,6 @@ Application utils (highgui, imgcodecs, videoio modules) {#tutorial_table_of_cont
 -   @subpage tutorial_video_write
 -   @subpage tutorial_kinect_openni
 -   @subpage tutorial_orbbec_astra_openni
+-   @subpage tutorial_orbbec_uvc
 -   @subpage tutorial_intelperc
 -   @subpage tutorial_wayland_ubuntu
diff --git a/modules/calib/src/calibinit.cpp b/modules/calib/src/calibinit.cpp
@@ -1151,22 +1151,40 @@ int ChessBoardDetector::addOuterQuad(ChessBoardQuad& quad, std::vector<ChessBoar
             // have to set exact corner
             q.corners[j] = quad.corners[i];
 
+            // set row and col for next step check
+            switch (i)
+            {
+            case 0:
+                q.col = quad.col - 1; q.row = quad.row - 1; break;
+            case 1:
+                q.col = quad.col + 1; q.row = quad.row - 1; break;
+            case 2:
+                q.col = quad.col + 1; q.row = quad.row - 1; break;
+            case 3:
+                q.col = quad.col - 1; q.row = quad.row + 1; break;
+            }
+
             // now find other neighbor and add it, if possible
-            int next_i = (i + 1) & 3;
-            int prev_i = (i + 3) & 3; // equal to (j + 1) & 3
-            ChessBoardQuad* quad_prev = quad.neighbors[prev_i];
-            if (quad_prev &&
-                quad_prev->ordered &&
-                quad_prev->neighbors[i] &&
-                quad_prev->neighbors[i]->ordered )
+            for (int k = 1; k <= 3; k += 2)
             {
-                ChessBoardQuad* qn = quad_prev->neighbors[i];
-                q.count = 2;
-                q.neighbors[prev_i] = qn;
-                qn->neighbors[next_i] = &q;
-                qn->count += 1;
-                // have to set exact corner
-                q.corners[prev_i] = qn->corners[next_i];
+                int next_i = (i + k) % 4;
+                int prev_i = (i + k + 2) % 4;
+                ChessBoardQuad* quad_prev = quad.neighbors[prev_i];
+                if (quad_prev &&
+                    quad_prev->ordered &&
+                    quad_prev->neighbors[i] &&
+                    quad_prev->neighbors[i]->ordered &&
+                    std::abs(quad_prev->neighbors[i]->col - q.col) == 1 &&
+                    std::abs(quad_prev->neighbors[i]->row - q.row) == 1)
+                {
+                    ChessBoardQuad* qn = quad_prev->neighbors[i];
+                    q.count = 2;
+                    q.neighbors[prev_i] = qn;
+                    qn->neighbors[next_i] = &q;
+                    qn->count += 1;
+                    // have to set exact corner
+                    q.corners[prev_i] = qn->corners[next_i];
+                }
             }
         }
     }

diff --git a/modules/core/include/opencv2/core.hpp b/modules/core/include/opencv2/core.hpp
@@ -123,12 +123,12 @@ class CV_EXPORTS Exception : public std::exception
      Instead, the macros CV_Error(), CV_Error_() and CV_Assert() are used.
     */
     Exception(int _code, const String& _err, const String& _func, const String& _file, int _line);
-    virtual ~Exception() throw();
+    virtual ~Exception() CV_NOEXCEPT;
 
     /*!
      \return the error description and the context as a text string.
     */
-    virtual const char *what() const throw() CV_OVERRIDE;
+    virtual const char *what() const CV_NOEXCEPT CV_OVERRIDE;
     void formatMessage();
 
     String msg; ///< the formatted error message

diff --git a/modules/core/include/opencv2/core/cv_cpu_dispatch.h b/modules/core/include/opencv2/core/cv_cpu_dispatch.h
@@ -146,9 +146,23 @@
 #  define CV_NEON 1
 #endif
 
-#if defined(__riscv) && defined(__riscv_vector) && defined(__riscv_vector_071)
-# include<riscv_vector.h>
-# define CV_RVV071 1
+/* RVV-related macro states with different compiler
+// +--------------------+----------+----------+
+// | Macro              | Upstream | XuanTie  |
+// +--------------------+----------+----------+
+// | CV_CPU_COMPILE_RVV | defined  | defined  |
+// | CV_RVV             | 1        | 0        |
+// | CV_RVV071          | 0        | 1        |
+// | CV_TRY_RVV         | 1        | 1        |
+// +--------------------+----------+----------+
+*/
+#ifdef CV_CPU_COMPILE_RVV
+#  ifdef __riscv_vector_071
+#    define CV_RVV071 1
+#  else
+#    define CV_RVV 1
+#  endif
+#include <riscv_vector.h>
 #endif
 
 #ifdef CV_CPU_COMPILE_VSX
@@ -183,11 +197,6 @@
 #  include <wasm_simd128.h>
 #endif
 
-#if defined CV_CPU_COMPILE_RVV
-#  define CV_RVV 1
-#  include <riscv_vector.h>
-#endif
-
 #endif // CV_ENABLE_INTRINSICS && !CV_DISABLE_OPTIMIZATION && !__CUDACC__
 
 #if defined CV_CPU_COMPILE_AVX && !defined CV_CPU_BASELINE_COMPILE_AVX