Merge branch 'master' into GOTURN_Tracker

Author: Auron-X

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,30 @@
+<!--
+If you have a question rather than reporting a bug please go to http://answers.opencv.org where you get much faster responses.
+If you need further assistance please read [How To Contribute](https://github.com/opencv/opencv/wiki/How_to_contribute).
+
+This is a template helping you to create an issue which can be processed as quickly as possible. This is the bug reporting section for the OpenCV library.
+-->
+
+##### System information (version)
+<!-- Example
+- OpenCV => 3.1
+- Operating System / Platform => Windows 64 Bit
+- Compiler => Visual Studio 2015
+-->
+
+- OpenCV => :grey_question:
+- Operating System / Platform => :grey_question:
+- Compiler => :grey_question:
+
+##### Detailed description
+
+<!-- your description -->
+
+##### Steps to reproduce
+
+<!-- to add code example fence it with triple backticks and optional file extension
+    ```.cpp
+    // C++ code example
+    ```
+ or attach as .txt or .zip file
+-->

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,9 @@
+<!-- Please use this line to close one or multiple issues when this pullrequest gets merged
+You can add another line right under the first one:
+resolves #1234
+resolves #1235
+-->
+
+### This pullrequest changes
+
+<!-- Please describe what your pullrequest is changing -->

.gitignore

@@ -8,3 +8,5 @@
 Thumbs.db
 tags
 tegra/
+*.i
+.download*

.travis.yml

@@ -4,7 +4,7 @@ compiler:
   - clang
 before_script:
   - cd ../
-  - git clone https://github.com/Itseez/opencv.git
+  - git clone https://github.com/opencv/opencv.git
   - mkdir build-opencv
   - cd build-opencv
   - cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ../opencv

CONTRIBUTING.md

@@ -1,3 +1,3 @@
 ## Contributing guidelines
 
-All guidelines for contributing to the OpenCV repository can be found at [`How to contribute guideline`](https://github.com/Itseez/opencv/wiki/How_to_contribute).
+All guidelines for contributing to the OpenCV repository can be found at [`How to contribute guideline`](https://github.com/opencv/opencv/wiki/How_to_contribute).

README.md

@@ -13,7 +13,8 @@ provides production quality support for this module.
 
 ### How to build OpenCV with extra modules
 
-You can build OpenCV, so it will include the modules from this repository.
+You can build OpenCV, so it will include the modules from this repository. Contrib modules are under constant development and it is recommended to use them alongside the master branch or latest releases of OpenCV.
+
 Here is the CMake command for you:
 
 ```
@@ -46,10 +47,12 @@ If you prefer using the gui version of cmake (cmake-gui), then, you can add `ope
 
 7. build the `opencv` core with the method you chose (make and make install if you chose Unix makfile at step 6) 
 
+8. to run, linker flags to contrib modules will need to be added to use them in your code/IDE. For example to use the aruco module, "-lopencv_aruco" flag will be added.
+
 ### Update the repository documentation
 
 In order to keep a clean overview containing all contributed modules the following files need to be created/adapted.
 
 1. Update the README.md file under the modules folder. Here you add your model with a single line description.
 
-2. Add a README.md inside your own module folder. This README explains which functionality (seperate functions) is available, links to the corresponding samples and explains in somewhat more detail what the module is expected to do. If any extra requirements are needed to build the module without problems, add them here also.
+2. Add a README.md inside your own module folder. This README explains which functionality (seperate functions) is available, links to the corresponding samples and explains in somewhat more detail what the module is expected to do. If any extra requirements are needed to build the module without problems, add them here also.

modules/aruco/CMakeLists.txt

@@ -1,2 +1,2 @@
 set(the_description "ArUco Marker Detection")
-ocv_define_module(aruco opencv_core opencv_imgproc opencv_calib3d WRAP python)
+ocv_define_module(aruco opencv_core opencv_imgproc opencv_calib3d WRAP python java)

modules/aruco/include/opencv2/aruco.hpp

@@ -173,7 +173,7 @@ struct CV_EXPORTS_W DetectorParameters {
  * @sa estimatePoseSingleMarkers,  estimatePoseBoard
  *
  */
-CV_EXPORTS_W void detectMarkers(InputArray image, Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
+CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                                 OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
                                 OutputArrayOfArrays rejectedImgPoints = noArray());
 
@@ -226,15 +226,24 @@ CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float ma
 class CV_EXPORTS_W Board {
 
     public:
-    // array of object points of all the marker corners in the board
-    // each marker include its 4 corners, i.e. for M markers, the size is Mx4
+    /**
+    * @brief Provide way to create Board by passing nessesary data. Specially needed in Python.
+    *
+    * @param objPoints array of object points of all the marker corners in the board
+    * @param dictionary the dictionary of markers employed for this board
+    * @param ids vector of the identifiers of the markers in the board
+    *
+    */
+    CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
+    /// array of object points of all the marker corners in the board
+    /// each marker include its 4 corners in CCW order. For M markers, the size is Mx4.
     CV_PROP std::vector< std::vector< Point3f > > objPoints;
 
-    // the dictionary of markers employed for this board
+    /// the dictionary of markers employed for this board
     CV_PROP Ptr<Dictionary> dictionary;
 
-    // vector of the identifiers of the markers in the board (same size than objPoints)
-    // The identifiers refers to the board dictionary
+    /// vector of the identifiers of the markers in the board (same size than objPoints)
+    /// The identifiers refers to the board dictionary
     CV_PROP std::vector< int > ids;
 };
 
@@ -277,7 +286,7 @@ class CV_EXPORTS_W GridBoard : public Board {
      * the marker size and marker separation.
      */
     CV_WRAP static Ptr<GridBoard> create(int markersX, int markersY, float markerLength,
-                                         float markerSeparation, Ptr<Dictionary> &dictionary, int firstMarker = 0);
+                                         float markerSeparation, const Ptr<Dictionary> &dictionary, int firstMarker = 0);
 
     /**
       *
@@ -322,8 +331,9 @@ class CV_EXPORTS_W GridBoard : public Board {
  * @param distCoeffs vector of distortion coefficients
  * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
  * @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
- * (@sa Rodrigues).
+ * (@sa Rodrigues). Used as initial guess if not empty.
  * @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
+ * Used as initial guess if not empty.
  *
  * This function receives the detected markers and returns the pose of a marker board composed
  * by those markers.
@@ -334,7 +344,7 @@ class CV_EXPORTS_W GridBoard : public Board {
  * The function returns the number of markers from the input employed for the board pose estimation.
  * Note that returning a 0 means the pose has not been estimated.
  */
-CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, Ptr<Board> &board,
+CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
                                    InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec,
                                    OutputArray tvec);
 
@@ -373,7 +383,7 @@ CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, P
  * homography, and all the marker corners in the board must have the same Z coordinate.
  */
 CV_EXPORTS_W void refineDetectedMarkers(
-    InputArray image, Ptr<Board> &board, InputOutputArrayOfArrays detectedCorners,
+    InputArray image,const  Ptr<Board> &board, InputOutputArrayOfArrays detectedCorners,
     InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners,
     InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
     float minRepDistance = 10.f, float errorCorrectionRate = 3.f, bool checkAllOrders = true,
@@ -437,7 +447,7 @@ CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, Inpu
  *
  * This function returns a marker image in its canonical form (i.e. ready to be printed)
  */
-CV_EXPORTS_W void drawMarker(Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray img,
+CV_EXPORTS_W void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray img,
                              int borderBits = 1);
 
 
@@ -457,7 +467,7 @@ CV_EXPORTS_W void drawMarker(Ptr<Dictionary> &dictionary, int id, int sidePixels
  * This function return the image of a planar board, ready to be printed. It assumes
  * the Board layout specified is planar by ignoring the z coordinates of the object points.
  */
-CV_EXPORTS_W void drawPlanarBoard(Ptr<Board> &board, Size outSize, OutputArray img,
+CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img,
                                   int marginSize = 0, int borderBits = 1);
 
 
@@ -474,7 +484,7 @@ void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
  * @brief Calibrate a camera using aruco markers
  *
  * @param corners vector of detected marker corners in all frames.
- * The corners should have the same format returned by detectMarkers (@sa detectMarkers).
+ * The corners should have the same format returned by detectMarkers (see #detectMarkers).
  * @param ids list of identifiers for each marker in corners
  * @param counter number of markers in each frame so that corners and ids can be split
  * @param board Marker Board layout
@@ -491,20 +501,38 @@ void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
  * from the model coordinate space (in which object points are specified) to the world coordinate
  * space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
  * @param tvecs Output vector of translation vectors estimated for each pattern view.
- * @param flags flags Different flags  for the calibration process (@sa calibrateCamera)
+ * @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
+ * Order of deviations values:
+ * \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
+ * s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
+ * @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
+ * Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
+ * \f$R_i, T_i\f$ are concatenated 1x3 vectors.
+ * @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
+ * @param flags flags Different flags  for the calibration process (see #calibrateCamera for details).
  * @param criteria Termination criteria for the iterative optimization algorithm.
  *
  * This function calibrates a camera using an Aruco Board. The function receives a list of
  * detected markers from several views of the Board. The process is similar to the chessboard
  * calibration in calibrateCamera(). The function returns the final re-projection error.
  */
-CV_EXPORTS_W double calibrateCameraAruco(
-    InputArrayOfArrays corners, InputArray ids, InputArray counter, Ptr<Board> &board,
+CV_EXPORTS_AS(calibrateCameraArucoExtended) double calibrateCameraAruco(
+    InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
     Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
-    OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
+    OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
+    OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics,
+    OutputArray perViewErrors, int flags = 0,
     TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
 
 
+/** @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
+ */
+CV_EXPORTS_W double calibrateCameraAruco(
+  InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
+  Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
+  OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
+  TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
+
 
 //! @}
 }

modules/aruco/include/opencv2/aruco/charuco.hpp

@@ -98,7 +98,7 @@ class CV_EXPORTS_W CharucoBoard : public Board {
      * and the size of the markers and chessboard squares.
      */
     CV_WRAP static Ptr<CharucoBoard> create(int squaresX, int squaresY, float squareLength,
-                                            float markerLength, Ptr<Dictionary> &dictionary);
+                                            float markerLength, const Ptr<Dictionary> &dictionary);
 
     /**
       *
@@ -146,6 +146,7 @@ class CV_EXPORTS_W CharucoBoard : public Board {
  * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
  * @param distCoeffs optional vector of distortion coefficients
  * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
+ * @param minMarkers number of adjacent markers that must be detected to return a charuco corner
  *
  * This function receives the detected markers and returns the 2D position of the chessboard corners
  * from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
@@ -155,10 +156,10 @@ class CV_EXPORTS_W CharucoBoard : public Board {
  * The function returns the number of interpolated corners.
  */
 CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, InputArray markerIds,
-                                           InputArray image, Ptr<CharucoBoard> &board,
+                                           InputArray image, const Ptr<CharucoBoard> &board,
                                            OutputArray charucoCorners, OutputArray charucoIds,
                                            InputArray cameraMatrix = noArray(),
-                                           InputArray distCoeffs = noArray());
+                                           InputArray distCoeffs = noArray(), int minMarkers = 2);
 
 
 
@@ -181,7 +182,7 @@ CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, Inp
  * If pose estimation is valid, returns true, else returns false.
  */
 CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
-                                           Ptr<CharucoBoard> &board, InputArray cameraMatrix,
+                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
                                            InputArray distCoeffs, OutputArray rvec, OutputArray tvec);
 
 
@@ -223,19 +224,36 @@ CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray
  * from the model coordinate space (in which object points are specified) to the world coordinate
  * space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
  * @param tvecs Output vector of translation vectors estimated for each pattern view.
- * @param flags flags Different flags  for the calibration process (@sa calibrateCamera)
+ * @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
+ * Order of deviations values:
+ * \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
+ * s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
+ * @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
+ * Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
+ * \f$R_i, T_i\f$ are concatenated 1x3 vectors.
+ * @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
+ * @param flags flags Different flags  for the calibration process (see #calibrateCamera for details).
  * @param criteria Termination criteria for the iterative optimization algorithm.
  *
  * This function calibrates a camera using a set of corners of a  Charuco Board. The function
  * receives a list of detected corners and its identifiers from several views of the Board.
  * The function returns the final re-projection error.
  */
-CV_EXPORTS_W double calibrateCameraCharuco(
-    InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, Ptr<CharucoBoard> &board,
+CV_EXPORTS_AS(calibrateCameraCharucoExtended) double calibrateCameraCharuco(
+    InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr<CharucoBoard> &board,
     Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
-    OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
+    OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
+    OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics,
+    OutputArray perViewErrors, int flags = 0,
     TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
 
+/** @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
+*/
+CV_EXPORTS_W double calibrateCameraCharuco(
+  InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr<CharucoBoard> &board,
+  Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
+  OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
+  TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
 
 
 
@@ -309,7 +327,7 @@ CV_EXPORTS_W void drawDetectedDiamonds(InputOutputArray image, InputArrayOfArray
  * This function return the image of a ChArUco marker, ready to be printed.
  */
 // TODO cannot be exported yet; conversion from/to Vec4i is not wrapped in core
-CV_EXPORTS void drawCharucoDiamond(Ptr<Dictionary> &dictionary, Vec4i ids, int squareLength,
+CV_EXPORTS void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int squareLength,
                                    int markerLength, OutputArray img, int marginSize = 0,
                                    int borderBits = 1);
 

modules/aruco/include/opencv2/aruco/dictionary.hpp

@@ -91,7 +91,7 @@ class CV_EXPORTS_W Dictionary {
      * @see generateCustomDictionary
      */
     CV_WRAP_AS(create_from) static Ptr<Dictionary> create(int nMarkers, int markerSize,
-            Ptr<Dictionary> &baseDictionary);
+            const Ptr<Dictionary> &baseDictionary);
 
     /**
      * @see getPredefinedDictionary
@@ -194,7 +194,7 @@ CV_EXPORTS_AS(custom_dictionary) Ptr<Dictionary> generateCustomDictionary(
 CV_EXPORTS_AS(custom_dictionary_from) Ptr<Dictionary> generateCustomDictionary(
         int nMarkers,
         int markerSize,
-        Ptr<Dictionary> &baseDictionary);
+        const Ptr<Dictionary> &baseDictionary);