Merge remote-tracking branch 'upstream/4.x' into remap_relative

.github/workflows/PR-4.x.yaml

@@ -26,3 +26,10 @@ jobs:
 
   macOS-X64:
     uses: opencv/ci-gha-workflow/.github/workflows/OCV-Contrib-PR-4.x-macOS-x86_64.yaml@main
+
+  Linux-RISC-V-Clang:
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-Contrib-PR-4.x-RISCV.yaml@main
+
+  openEuler2203-x64:
+    if: "${{ contains(github.event.pull_request.labels.*.name, 'category: cann') }}"
+    uses: opencv/ci-gha-workflow/.github/workflows/OCV-Contrib-PR-4.x-O22-CANN.yaml@main

modules/aruco/src/charuco.cpp

@@ -39,7 +39,7 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
     vector<Mat> markerCorners;
     _markerCorners.getMatVector(markerCorners);
 
-    detector.detectBoard(_image, _diamondCorners, _diamondIds, markerCorners, _markerIds.getMat());
+    detector.detectDiamonds(_image, _diamondCorners, _diamondIds, markerCorners, _markerIds.getMat());
 }
 
 

modules/cannops/CMakeLists.txt

@@ -0,0 +1,17 @@
+ if(IOS OR WINRT OR ANDROID OR APPLE OR WIN32 OR (NOT HAVE_CANN))
+   ocv_module_disable(cannops)
+ endif()
+
+set(the_description "Ascend-accelerated Operations on Matrices")
+
+ocv_add_module(cannops opencv_core WRAP python)
+ocv_module_include_directories(${CANN_INCLUDE_DIRS})
+ocv_glob_module_sources()
+ocv_install_used_external_targets(${CANN_LIBRARIES})
+ocv_create_module(${CANN_LIBRARIES})
+
+ocv_include_directories(${CMAKE_SOURCE_DIR}/modules/ts/include)
+
+ocv_add_accuracy_tests(DEPENDS_ON opencv_cannops)
+ocv_add_perf_tests(DEPENDS_ON opencv_cannops)
+ocv_add_samples(opencv_cannops)

modules/cannops/Dockerfile

@@ -0,0 +1,67 @@
+# User guides
+#
+# 0. Install Ascend driver on host.
+#    (https://www.hiascend.com/en/hardware/firmware-drivers)
+#
+# 1. Run docker container.
+# docker run -it \
+#    --name opencv \
+#    --device /dev/davinci0 \
+#    --device /dev/davinci_manager \
+#    --device /dev/devmm_svm \
+#    --device /dev/hisi_hdc \
+#    -v /usr/local/dcmi:/usr/local/dcmi \
+#    -v /usr/local/bin/npu-smi:/usr/local/bin/npu-smi \
+#    -v /usr/local/Ascend/driver/lib64/:/usr/local/Ascend/driver/lib64/ \
+#    opencv bash
+#
+# 2. Check environment.
+# npu-smi info
+#
+# 3. Compile opencv with Ascend NPU backend.
+# cmake -DWITH_CANN=1
+#
+# 4. Run opencv_test_cannops.
+# ./bin/opencv_test_cannops
+
+FROM openeuler/openeuler:22.03-lts-sp2
+
+RUN yum install -y \
+    git \
+    wget \
+    gcc \
+    g++ \
+    cmake \
+    make \
+    python-pip \
+    python3-devel
+
+RUN pip install -i https://pypi.tuna.tsinghua.edu.cn/simple \
+    numpy \
+    sympy \
+    decorator \
+    scipy \
+    attrs \
+    psutil
+
+# Install CANN
+RUN wget https://ascend-repo.obs.cn-east-2.myhuaweicloud.com/CANN/CANN%207.0.RC1/Ascend-cann-toolkit_7.0.RC1_linux-"$(uname -i)".run && \
+    chmod +x Ascend-cann-toolkit_7.0.RC1_linux-"$(uname -i)".run && \
+    ./Ascend-cann-toolkit_7.0.RC1_linux-"$(uname -i)".run --quiet --install && \
+    rm -f ./Ascend-cann-toolkit_7.0.RC1_linux-"$(uname -i)".run
+
+# Install kernel
+RUN wget https://ascend-repo.obs.cn-east-2.myhuaweicloud.com/CANN/CANN%207.0.RC1/Ascend-cann-kernels-310p_7.0.RC1_linux.run && \
+    chmod +x Ascend-cann-kernels-310p_7.0.RC1_linux.run && \
+    ./Ascend-cann-kernels-310p_7.0.RC1_linux.run --quiet --install && \
+    rm -f ./Ascend-cann-kernels-310p_7.0.RC1_linux.run
+
+ENV LD_LIBRARY_PATH=/usr/local/Ascend/driver/lib64:/usr/local/Ascend/driver/lib64/common:/usr/local/Ascend/driver/lib64/driver:$LD_LIBRARY_PATH:/usr/lib64
+ENV ASCEND_TOOLKIT_HOME=/usr/local/Ascend/ascend-toolkit/latest
+ENV LD_LIBRARY_PATH=${ASCEND_TOOLKIT_HOME}/lib64:${ASCEND_TOOLKIT_HOME}/lib64/plugin/opskernel:${ASCEND_TOOLKIT_HOME}/lib64/plugin/nnengine:${ASCEND_TOOLKIT_HOME}/opp/built-in/op_impl/ai_core/tbe/op_tiling:$LD_LIBRARY_PATH
+ENV PYTHONPATH=${ASCEND_TOOLKIT_HOME}/python/site-packages:${ASCEND_TOOLKIT_HOME}/opp/built-in/op_impl/ai_core/tbe:$PYTHONPATH
+ENV PATH=${ASCEND_TOOLKIT_HOME}/bin:${ASCEND_TOOLKIT_HOME}/compiler/ccec_compiler/bin:$PATH
+ENV ASCEND_AICPU_PATH=${ASCEND_TOOLKIT_HOME}
+ENV ASCEND_OPP_PATH=${ASCEND_TOOLKIT_HOME}/opp
+ENV TOOLCHAIN_HOME=${ASCEND_TOOLKIT_HOME}/toolkit
+ENV ASCEND_HOME_PATH=${ASCEND_TOOLKIT_HOME}