opencv · asmorkalov · Sep 10, 2024 · Aug 14, 2024 · Jul 4, 2024 · Aug 28, 2024
diff --git a/3rdparty/carotene/CMakeLists.txt b/3rdparty/carotene/CMakeLists.txt
@@ -42,17 +42,9 @@ endif()
 
 if(WITH_NEON)
     target_compile_definitions(carotene_objs PRIVATE "-DWITH_NEON")
-    if(NOT DEFINED CAROTENE_NEON_ARCH )
-    elseif(CAROTENE_NEON_ARCH EQUAL 8)
-	    target_compile_definitions(carotene_objs PRIVATE "-DCAROTENE_NEON_ARCH=8")
-    elseif(CAROTENE_NEON_ARCH EQUAL 7)
-	    target_compile_definitions(carotene_objs PRIVATE "-DCAROTENE_NEON_ARCH=7")
-    else()
-	    target_compile_definitions(carotene_objs PRIVATE "-DCAROTENE_NEON_ARCH=0")
-    endif()
 endif()
 
- if(MINGW) 
+ if(MINGW)
     target_compile_definitions(carotene_objs PRIVATE "-D_USE_MATH_DEFINES=1")
  endif()
 

diff --git a/3rdparty/carotene/hal/tegra_hal.hpp b/3rdparty/carotene/hal/tegra_hal.hpp
@@ -1857,7 +1857,7 @@ TegraCvtColor_Invoker(bgrx2hsvf, bgrx2hsv, src_data + static_cast<size_t>(range.
 #endif
 
 // The optimized branch was developed for old armv7 processors and leads to perf degradation on armv8
-#if defined(DCAROTENE_NEON_ARCH) && (DCAROTENE_NEON_ARCH == 7)
+#if defined(__ARM_ARCH) && (__ARM_ARCH == 7)
 inline CAROTENE_NS::BORDER_MODE borderCV2Carotene(int borderType)
 {
     switch(borderType)
@@ -1928,7 +1928,7 @@ inline int TEGRA_GaussianBlurBinomial(const uchar* src_data, size_t src_step, uc
 #undef cv_hal_gaussianBlurBinomial
 #define cv_hal_gaussianBlurBinomial TEGRA_GaussianBlurBinomial
 
-#endif // DCAROTENE_NEON_ARCH=7
+#endif // __ARM_ARCH=7
 
 #endif // OPENCV_IMGPROC_HAL_INTERFACE_H
 

diff --git a/3rdparty/carotene/src/common.hpp b/3rdparty/carotene/src/common.hpp
@@ -58,17 +58,6 @@
 
 namespace CAROTENE_NS { namespace internal {
 
-#ifndef CAROTENE_NEON_ARCH
-#    if defined(__aarch64__) || defined(__aarch32__)
-#        define CAROTENE_NEON_ARCH 8
-#    else
-#        define CAROTENE_NEON_ARCH 7
-#    endif
-#endif
-#if ( !defined(__aarch64__) && !defined(__aarch32__) ) && (CAROTENE_NEON_ARCH == 8 )
-#    error("ARMv7 doen't support A32/A64 Neon instructions")
-#endif
-
 inline void prefetch(const void *ptr, size_t offset = 32*10)
 {
 #if defined __GNUC__

diff --git a/3rdparty/carotene/src/vround_helper.hpp b/3rdparty/carotene/src/vround_helper.hpp
@@ -57,7 +57,7 @@ namespace CAROTENE_NS { namespace internal {
 
 inline uint32x4_t vroundq_u32_f32(const float32x4_t val)
 {
-#if CAROTENE_NEON_ARCH >= 8 /* get ready for ARMv9 */
+#if defined(__ARM_ARCH) && (__ARM_ARCH >= 8)
     return vcvtnq_u32_f32(val);
 #else
     const float32x4_t delta = vdupq_n_f32(CAROTENE_ROUND_DELTA);
@@ -67,7 +67,7 @@ inline uint32x4_t vroundq_u32_f32(const float32x4_t val)
 
 inline uint32x2_t vround_u32_f32(const float32x2_t val)
 {
-#if CAROTENE_NEON_ARCH >= 8 /* get ready for ARMv9 */
+#if defined(__ARM_ARCH) && (__ARM_ARCH >= 8)
     return vcvtn_u32_f32(val);
 #else
     const float32x2_t delta = vdup_n_f32(CAROTENE_ROUND_DELTA);
@@ -77,7 +77,7 @@ inline uint32x2_t vround_u32_f32(const float32x2_t val)
 
 inline int32x4_t vroundq_s32_f32(const float32x4_t val)
 {
-#if CAROTENE_NEON_ARCH >= 8 /* get ready for ARMv9 */
+#if defined(__ARM_ARCH) && (__ARM_ARCH >= 8)
     return vcvtnq_s32_f32(val);
 #else
     const float32x4_t delta = vdupq_n_f32(CAROTENE_ROUND_DELTA);
@@ -87,7 +87,7 @@ inline int32x4_t vroundq_s32_f32(const float32x4_t val)
 
 inline int32x2_t vround_s32_f32(const float32x2_t val)
 {
-#if CAROTENE_NEON_ARCH >= 8 /* get ready for ARMv9 */
+#if defined(__ARM_ARCH) && (__ARM_ARCH >= 8)
     return vcvtn_s32_f32(val);
 #else
     const float32x2_t delta = vdup_n_f32(CAROTENE_ROUND_DELTA);

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -121,14 +121,20 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ${ENABLE_PIC})
 ocv_cmake_hook(PRE_CMAKE_BOOTSTRAP)
 
 # Bootstrap CMake system: setup CMAKE_SYSTEM_NAME and other vars
+
+# workaround: https://gitlab.kitware.com/cmake/cmake/-/issues/20989
 if(OPENCV_WORKAROUND_CMAKE_20989)
   set(CMAKE_SYSTEM_PROCESSOR_BACKUP ${CMAKE_SYSTEM_PROCESSOR})
 endif()
-enable_language(CXX C)
+
+project(OpenCV CXX C)
+
 if(OPENCV_WORKAROUND_CMAKE_20989)
   set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR_BACKUP})
 endif()
 
+enable_testing()
+
 ocv_cmake_hook(POST_CMAKE_BOOTSTRAP)
 
 if(NOT OPENCV_SKIP_CMAKE_SYSTEM_FILE)
@@ -151,10 +157,6 @@ if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)  # https://cmake.org/cmake/help/
   endif()
 endif()
 
-enable_testing()
-
-project(OpenCV CXX C)
-
 if(MSVC)
   set(CMAKE_USE_RELATIVE_PATHS ON CACHE INTERNAL "" FORCE)
 endif()
@@ -163,70 +165,30 @@ ocv_cmake_eval(DEBUG_PRE ONCE)
 
 ocv_clear_vars(OpenCVModules_TARGETS)
 
-include(cmake/OpenCVDownload.cmake)
-
-set(BUILD_LIST "" CACHE STRING "Build only listed modules (comma-separated, e.g. 'videoio,dnn,ts')")
-
 # ----------------------------------------------------------------------------
-# Break in case of popular CMake configuration mistakes
+#  Autodetect if we are in a GIT repository
 # ----------------------------------------------------------------------------
-if(NOT CMAKE_SIZEOF_VOID_P GREATER 0)
-  message(FATAL_ERROR "CMake fails to determine the bitness of the target platform.
-  Please check your CMake and compiler installation. If you are cross-compiling then ensure that your CMake toolchain file correctly sets the compiler details.")
+find_host_package(Git QUIET)
+
+if(NOT DEFINED OPENCV_VCSVERSION AND GIT_FOUND)
+  ocv_git_describe(OPENCV_VCSVERSION "${OpenCV_SOURCE_DIR}")
+elseif(NOT DEFINED OPENCV_VCSVERSION)
+  # We don't have git:
+  set(OPENCV_VCSVERSION "unknown")
 endif()
 
+include(cmake/OpenCVDownload.cmake)
+
 # ----------------------------------------------------------------------------
 # Detect compiler and target platform architecture
 # ----------------------------------------------------------------------------
 include(cmake/OpenCVDetectCXXCompiler.cmake)
 ocv_cmake_hook(POST_DETECT_COMPILER)
 
-# Add these standard paths to the search paths for FIND_LIBRARY
-# to find libraries from these locations first
-if(UNIX AND NOT ANDROID)
-  if(X86_64 OR CMAKE_SIZEOF_VOID_P EQUAL 8)
-    if(EXISTS /lib64)
-      list(APPEND CMAKE_LIBRARY_PATH /lib64)
-    else()
-      list(APPEND CMAKE_LIBRARY_PATH /lib)
-    endif()
-    if(EXISTS /usr/lib64)
-      list(APPEND CMAKE_LIBRARY_PATH /usr/lib64)
-    else()
-      list(APPEND CMAKE_LIBRARY_PATH /usr/lib)
-    endif()
-  elseif(X86 OR CMAKE_SIZEOF_VOID_P EQUAL 4)
-    if(EXISTS /lib32)
-      list(APPEND CMAKE_LIBRARY_PATH /lib32)
-    else()
-      list(APPEND CMAKE_LIBRARY_PATH /lib)
-    endif()
-    if(EXISTS /usr/lib32)
-      list(APPEND CMAKE_LIBRARY_PATH /usr/lib32)
-    else()
-      list(APPEND CMAKE_LIBRARY_PATH /usr/lib)
-    endif()
-  endif()
-endif()
-
-# Add these standard paths to the search paths for FIND_PATH
-# to find include files from these locations first
-if(MINGW)
-  if(EXISTS /mingw)
-      list(APPEND CMAKE_INCLUDE_PATH /mingw)
-  endif()
-  if(EXISTS /mingw32)
-      list(APPEND CMAKE_INCLUDE_PATH /mingw32)
-  endif()
-  if(EXISTS /mingw64)
-      list(APPEND CMAKE_INCLUDE_PATH /mingw64)
-  endif()
-endif()
-
 # ----------------------------------------------------------------------------
 # OpenCV cmake options
 # ----------------------------------------------------------------------------
-
+set(BUILD_LIST "" CACHE STRING "Build only listed modules (comma-separated, e.g. 'videoio,dnn,ts')")
 OCV_OPTION(OPENCV_ENABLE_NONFREE "Enable non-free algorithms" OFF)
 
 # 3rd party libs
@@ -658,19 +620,6 @@ ocv_include_directories(${OPENCV_CONFIG_FILE_INCLUDE_DIR})
 # ----------------------------------------------------------------------------
 set(OPENCV_EXTRA_MODULES_PATH "" CACHE PATH "Where to look for additional OpenCV modules (can be ;-separated list of paths)")
 
-# ----------------------------------------------------------------------------
-#  Autodetect if we are in a GIT repository
-# ----------------------------------------------------------------------------
-find_host_package(Git QUIET)
-
-if(NOT DEFINED OPENCV_VCSVERSION AND GIT_FOUND)
-  ocv_git_describe(OPENCV_VCSVERSION "${OpenCV_SOURCE_DIR}")
-elseif(NOT DEFINED OPENCV_VCSVERSION)
-  # We don't have git:
-  set(OPENCV_VCSVERSION "unknown")
-endif()
-
-
 # ----------------------------------------------------------------------------
 # OpenCV compiler and linker options
 # ----------------------------------------------------------------------------
@@ -1004,15 +953,7 @@ foreach(hal ${OpenCV_HAL})
     if(";${CPU_BASELINE_FINAL};" MATCHES ";NEON;")
       add_subdirectory(3rdparty/carotene/hal)
       ocv_hal_register(CAROTENE_HAL_LIBRARIES CAROTENE_HAL_HEADERS CAROTENE_HAL_INCLUDE_DIRS)
-
-      if( NOT DEFINED CAROTENE_NEON_ARCH)
-          set(CAROTENE_NEON_MSG "Auto detected")
-      elseif( CAROTENE_NEON_ARCH GREATER 7)
-          set(CAROTENE_NEON_MSG "Force ARMv8+")
-      else()
-          set(CAROTENE_NEON_MSG "Force ARMv7")
-      endif()
-      list(APPEND OpenCV_USED_HAL "carotene (ver ${CAROTENE_HAL_VERSION}, ${CAROTENE_NEON_MSG})")
+      list(APPEND OpenCV_USED_HAL "carotene (ver ${CAROTENE_HAL_VERSION})")
     else()
       message(STATUS "Carotene: NEON is not available, disabling carotene...")
     endif()

diff --git a/cmake/OpenCVDetectCXXCompiler.cmake b/cmake/OpenCVDetectCXXCompiler.cmake
@@ -83,6 +83,10 @@ if(NOT DEFINED CMAKE_SIZEOF_VOID_P
     AND NOT OPENCV_SUPPRESS_MESSAGE_MISSING_CMAKE_SIZEOF_VOID_P)
   message(WARNING "OpenCV: CMAKE_SIZEOF_VOID_P is not defined. Perhaps CMake toolchain is broken")
 endif()
+if(NOT CMAKE_SIZEOF_VOID_P GREATER 0)
+  message(FATAL_ERROR "CMake fails to determine the bitness of the target platform.
+  Please check your CMake and compiler installation. If you are cross-compiling then ensure that your CMake toolchain file correctly sets the compiler details.")
+endif()
 
 message(STATUS "Detected processor: ${CMAKE_SYSTEM_PROCESSOR}")
 if(OPENCV_SKIP_SYSTEM_PROCESSOR_DETECTION)
@@ -156,8 +160,10 @@ elseif(MSVC)
     set(OpenCV_ARCH "ARM")
   elseif("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
     set(OpenCV_ARCH "x64")
+  elseif("${CMAKE_SIZEOF_VOID_P}" STREQUAL "4")
+    set(OpenCV_ARCH "x86")
   else()
-    set(OpenCV_ARCH x86)
+    message(FATAL_ERROR "Failed to determine system architecture")
   endif()
 
   if(MSVC_VERSION EQUAL 1400)

diff --git a/cmake/OpenCVDownload.cmake b/cmake/OpenCVDownload.cmake
@@ -40,11 +40,14 @@ file(REMOVE "${OPENCV_DOWNLOAD_WITH_WGET}")
 ocv_check_environment_variables(OPENCV_DOWNLOAD_MIRROR_ID)
 
 function(ocv_init_download_mirror)
+  if(NOT GIT_FOUND)
+    return()
+  endif()
   if(NOT DEFINED OPENCV_DOWNLOAD_MIRROR_ID)
     # Run `git remote get-url origin` to get remote source
     execute_process(
       COMMAND
-        git remote get-url origin
+        ${GIT_EXECUTABLE} remote get-url origin
       WORKING_DIRECTORY
         ${CMAKE_SOURCE_DIR}
       RESULT_VARIABLE

diff --git a/doc/opencv.bib b/doc/opencv.bib
@@ -1220,7 +1220,7 @@ @inproceedings{Zuliani2014RANSACFD
   title={RANSAC for Dummies With examples using the RANSAC toolbox for Matlab \& Octave and more...},
   author={Marco Zuliani},
   year={2014},
-  url = {https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.475.1243&rep=rep1&type=pdf}
+  url = {http://www.marcozuliani.com/docs/RANSAC4Dummies.pdf}
 }
 @inproceedings{forstner1987fast,
   title={A fast operator for detection and precise location of distincs points, corners and center of circular features},

diff --git a/doc/tutorials/imgproc/imgtrans/remap/remap.markdown b/doc/tutorials/imgproc/imgtrans/remap/remap.markdown
@@ -45,7 +45,7 @@ Theory
 
     ![](images/Remap_Tutorial_Theory_0.jpg)
 
-    observe how the red circle changes positions with respect to x (considering \f$x\f$ the horizontal
+    observe how the red circle changes positions with respect to \f$x\f$ (considering \f$x\f$ the horizontal
     direction):
 
     ![](images/Remap_Tutorial_Theory_1.jpg)
@@ -62,19 +62,19 @@ Code
     -   Wait for the user to exit the program
 
 @add_toggle_cpp
--   The tutorial code's is shown lines below. You can also download it from
+-   The tutorial code is shown lines below. You can also download it from
     [here](https://github.com/opencv/opencv/tree/5.x/samples/cpp/tutorial_code/ImgTrans/Remap_Demo.cpp)
     @include samples/cpp/tutorial_code/ImgTrans/Remap_Demo.cpp
 @end_toggle
 
 @add_toggle_java
--   The tutorial code's is shown lines below. You can also download it from
+-   The tutorial code is shown lines below. You can also download it from
     [here](https://github.com/opencv/opencv/tree/5.x/samples/java/tutorial_code/ImgTrans/remap/RemapDemo.java)
     @include samples/java/tutorial_code/ImgTrans/remap/RemapDemo.java
 @end_toggle
 
 @add_toggle_python
--   The tutorial code's is shown lines below. You can also download it from
+-   The tutorial code is shown lines below. You can also download it from
     [here](https://github.com/opencv/opencv/tree/5.x/samples/python/tutorial_code/ImgTrans/remap/Remap_Demo.py)
     @include samples/python/tutorial_code/ImgTrans/remap/Remap_Demo.py
 @end_toggle

diff --git a/doc/tutorials/imgproc/imgtrans/warp_affine/warp_affine.markdown b/doc/tutorials/imgproc/imgtrans/warp_affine/warp_affine.markdown
@@ -72,7 +72,7 @@ Theory
 
 -#  We mentioned that an Affine Transformation is basically a **relation**
     between two images. The information about this relation can come, roughly, in two ways:
-    -#  We know both \f$X\f$ and T and we also know that they are related. Then our task is to find \f$M\f$
+    -#  We know both \f$X\f$ and \f$T\f$ and we also know that they are related. Then our task is to find \f$M\f$
     -#  We know \f$M\f$ and \f$X\f$. To obtain \f$T\f$ we only need to apply \f$T = M \cdot X\f$. Our information
         for \f$M\f$ may be explicit (i.e. have the 2-by-3 matrix) or it can come as a geometric relation
         between points.

diff --git a/doc/tutorials/introduction/config_reference/config_reference.markdown b/doc/tutorials/introduction/config_reference/config_reference.markdown
@@ -586,7 +586,6 @@ Following options can be used to change installation layout for common scenarios
 | `BUILD_JAVA` | _ON_ | Enable Java wrappers build. Java SDK and Ant must be installed. |
 | `BUILD_FAT_JAVA_LIB` | _ON_ (for static Android builds) | Build single _opencv_java_ dynamic library containing all library functionality bundled with Java bindings. |
 | `BUILD_opencv_python3` | _ON_ | Build python3 bindings. Python with development files and numpy must be installed. |
-| `CAROTENE_NEON_ARCH` | '(auto)' | Switch NEON Arch for Carotene. If it sets nothing, it will be auto-detected. If it sets 8, ARMv8(and later) is used. Otherwise, ARMv7 is used. |
 
 TODO: need separate tutorials covering bindings builds
 

diff --git a/modules/core/include/opencv2/core/cuda_types.hpp b/modules/core/include/opencv2/core/cuda_types.hpp
@@ -66,6 +66,9 @@
     #define __CV_CUDA_HOST_DEVICE__
 #endif
 
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core.hpp"
+
 namespace cv
 {
     namespace cuda
@@ -124,6 +127,11 @@ namespace cv
 
             int cols;
             int rows;
+
+            CV_NODISCARD_STD __CV_CUDA_HOST_DEVICE__ Size size() const { return {cols, rows}; }
+            CV_NODISCARD_STD __CV_CUDA_HOST_DEVICE__ T& operator ()(const Point &pos)       { return (*this)(pos.y, pos.x); }
+            CV_NODISCARD_STD __CV_CUDA_HOST_DEVICE__ const T& operator ()(const Point &pos) const { return (*this)(pos.y, pos.x); }
+            using PtrStep<T>::operator();
         };
 
         typedef PtrStepSz<unsigned char> PtrStepSzb;

diff --git a/modules/core/include/opencv2/core/cvdef.h b/modules/core/include/opencv2/core/cvdef.h
@@ -758,7 +758,11 @@ __CV_ENUM_FLAGS_BITWISE_XOR_EQ   (EnumType, EnumType)
 #    define __has_cpp_attribute(__x) 0
 #  endif
 #  if __has_cpp_attribute(nodiscard)
-#    define CV_NODISCARD_STD [[nodiscard]]
+#    if defined(__NVCC__) && __CUDACC_VER_MAJOR__ < 12
+#       define CV_NODISCARD_STD
+#    else
+#       define CV_NODISCARD_STD [[nodiscard]]
+#    endif
 #  elif __cplusplus >= 201703L
 //   available when compiler is C++17 compliant
 #    define CV_NODISCARD_STD [[nodiscard]]