Merge remote-tracking branch 'origin/2.4' into merge-2.4

Conflicts:
	.gitignore
	CMakeLists.txt
	doc/CMakeLists.txt
	modules/calib3d/src/stereosgbm.cpp
	modules/core/include/opencv2/core/mat.hpp
	modules/highgui/src/cap_openni.cpp
	modules/ml/include/opencv2/ml/ml.hpp
	modules/objdetect/src/hog.cpp
	modules/ocl/perf/perf_color.cpp
	modules/ocl/src/arithm.cpp
	modules/ocl/src/filtering.cpp
	modules/ocl/src/imgproc.cpp
	modules/ocl/src/optical_flow_farneback.cpp
	platforms/scripts/camera_build.conf
	platforms/scripts/cmake_android_all_cameras.py
	samples/cpp/Qt_sample/main.cpp
	samples/cpp/tutorial_code/introduction/windows_visual_studio_Opencv/Test.cpp

.gitignore

@@ -4,7 +4,6 @@
 .*.swp
 .DS_Store
 .sw[a-z]
-/modules/refman.rst
 Thumbs.db
 tags
 tegra/

3rdparty/ffmpeg/make.bat

@@ -1,2 +1,2 @@
-set path=c:\dev\msys32\bin;%path% & gcc -Wall -shared -o opencv_ffmpeg.dll -O2 -x c++ -I../include -I../include/ffmpeg_ -I../../modules/highgui/src ffopencv.c -L../lib -lavformat -lavcodec -lavdevice -lswscale -lavutil -liconv -lws2_32
+set path=c:\dev\msys32\bin;%path% & gcc -Wall -shared -o opencv_ffmpeg.dll -O2 -x c++ -I../include -I../include/ffmpeg_ -I../../modules/highgui/src ffopencv.c -L../lib -lavformat -lavcodec -lavdevice -lswscale -lavutil -lws2_32
 set path=c:\dev\msys64\bin;%path% & gcc -m64 -Wall -shared -o opencv_ffmpeg_64.dll -O2 -x c++ -I../include -I../include/ffmpeg_ -I../../modules/highgui/src ffopencv.c -L../lib -lavformat64 -lavcodec64 -lavdevice64 -lswscale64 -lavutil64 -lws2_32

3rdparty/include/opencl/1.2/CL/cl_platform.h

@@ -92,7 +92,7 @@ extern "C" {
             #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
             #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED    
         #endif
-    #elif _WIN32
+    #elif defined(_WIN32)
         #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
             #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED    
             #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED    

CMakeLists.txt

@@ -151,9 +151,9 @@ OCV_OPTION(WITH_MSMF           "Build HighGUI with Media Foundation support" OFF
 OCV_OPTION(WITH_XIMEA          "Include XIMEA cameras support"               OFF  IF (NOT ANDROID AND NOT APPLE) )
 OCV_OPTION(WITH_XINE           "Include Xine support (GPL)"                  OFF  IF (UNIX AND NOT APPLE AND NOT ANDROID) )
 OCV_OPTION(WITH_CLP            "Include Clp support (EPL)"                   OFF)
-OCV_OPTION(WITH_OPENCL         "Include OpenCL Runtime support"              ON  IF (NOT ANDROID AND NOT IOS) )
-OCV_OPTION(WITH_OPENCLAMDFFT   "Include AMD OpenCL FFT library support"      ON  IF (NOT ANDROID AND NOT IOS) )
-OCV_OPTION(WITH_OPENCLAMDBLAS  "Include AMD OpenCL BLAS library support"     ON  IF (NOT ANDROID AND NOT IOS) )
+OCV_OPTION(WITH_OPENCL         "Include OpenCL Runtime support"              ON   IF (NOT IOS) )
+OCV_OPTION(WITH_OPENCLAMDFFT   "Include AMD OpenCL FFT library support"      ON   IF (NOT ANDROID AND NOT IOS) )
+OCV_OPTION(WITH_OPENCLAMDBLAS  "Include AMD OpenCL BLAS library support"     ON   IF (NOT ANDROID AND NOT IOS) )
 
 
 # OpenCV build components

cmake/OpenCVConfig.cmake

@@ -77,6 +77,8 @@ if(MSVC)
     set(OpenCV_RUNTIME vc10)
   elseif(MSVC_VERSION EQUAL 1700)
     set(OpenCV_RUNTIME vc11)
+  elseif(MSVC_VERSION EQUAL 1800)
+    set(OpenCV_RUNTIME vc12)
   endif()
 elseif(MINGW)
   set(OpenCV_RUNTIME mingw)

cmake/OpenCVDetectCXXCompiler.cmake

@@ -136,6 +136,8 @@ if(MSVC)
     set(OpenCV_RUNTIME vc10)
   elseif(MSVC_VERSION EQUAL 1700)
     set(OpenCV_RUNTIME vc11)
+  elseif(MSVC_VERSION EQUAL 1800)
+    set(OpenCV_RUNTIME vc12)
   endif()
 elseif(MINGW)
   set(OpenCV_RUNTIME mingw)

cmake/OpenCVFindXimea.cmake

@@ -23,7 +23,7 @@ if(WIN32)
   if(EXISTS ${XIMEA_PATH})
     set(XIMEA_FOUND 1)
     # set LIB folders
-    if(CMAKE_CL_64)
+    if(X86_64)
       set(XIMEA_LIBRARY_DIR "${XIMEA_PATH}/x64")
     else()
       set(XIMEA_LIBRARY_DIR "${XIMEA_PATH}/x86")

cmake/OpenCVGenConfig.cmake

@@ -134,11 +134,11 @@ if(WIN32)
   configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" IMMEDIATE @ONLY)
   configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig-version.cmake" IMMEDIATE @ONLY)
   if(BUILD_SHARED_LIBS)
-    install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}/lib")
-    install(EXPORT OpenCVModules DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}/lib" FILE OpenCVModules${modules_file_suffix}.cmake)
+    install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}lib")
+    install(EXPORT OpenCVModules DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}lib" FILE OpenCVModules${modules_file_suffix}.cmake)
   else()
-    install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}/staticlib")
-    install(EXPORT OpenCVModules DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}/staticlib" FILE OpenCVModules${modules_file_suffix}.cmake)
+    install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig.cmake" DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib")
+    install(EXPORT OpenCVModules DESTINATION "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib" FILE OpenCVModules${modules_file_suffix}.cmake)
   endif()
   install(FILES "${CMAKE_BINARY_DIR}/win-install/OpenCVConfig-version.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}")
   install(FILES "${OpenCV_SOURCE_DIR}/cmake/OpenCVConfig.cmake" DESTINATION "${CMAKE_INSTALL_PREFIX}/")

cmake/templates/OpenCVConfig.cmake.in

@@ -184,6 +184,10 @@ foreach(__cvcomponent ${OpenCV_FIND_COMPONENTS})
     set(${__cvcomponent}_FOUND "${__cvcomponent}_FOUND-NOTFOUND")
   else()
     list(APPEND OpenCV_FIND_COMPONENTS_ ${__cvcomponent})
+    # Not using list(APPEND) here, because OpenCV_LIBS may not exist yet.
+    # Also not clearing OpenCV_LIBS anywhere, so that multiple calls
+    # to find_package(OpenCV) with different component lists add up.
+    set(OpenCV_LIBS ${OpenCV_LIBS} "${__cvcomponent}")
     #indicate that module is found
     string(TOUPPER "${__cvcomponent}" __cvcomponent)
     set(${__cvcomponent}_FOUND 1)
@@ -200,8 +204,6 @@ else()
   set(OpenCV_LIB_SUFFIX "")
 endif()
 
-SET(OpenCV_LIBS "${OpenCV_LIB_COMPONENTS}")
-
 foreach(__opttype OPT DBG)
   SET(OpenCV_LIBS_${__opttype} "${OpenCV_LIBS}")
   SET(OpenCV_EXTRA_LIBS_${__opttype} "")

doc/CMakeLists.txt

@@ -2,9 +2,6 @@
 #  CMake file for OpenCV docs
 #
 
-file(GLOB FILES_TEX *.tex *.sty *.bib)
-file(GLOB FILES_TEX_PICS pics/*.png pics/*.jpg)
-
 if(BUILD_DOCS AND HAVE_SPHINX)
 
   project(opencv_docs)
@@ -23,55 +20,80 @@ if(BUILD_DOCS AND HAVE_SPHINX)
   set(OPTIONAL_DOC_LIST "")
 
 
-  set(OPENCV2_BASE_MODULES core imgproc highgui video calib3d features2d objdetect ml flann photo stitching nonfree contrib legacy bioinspired)
-
   # build lists of modules to be documented
-  set(OPENCV2_MODULES "")
-  set(OPENCV_MODULES "")
+  set(BASE_MODULES "")
+  set(EXTRA_MODULES "")
 
   foreach(mod ${OPENCV_MODULES_BUILD} ${OPENCV_MODULES_DISABLED_USER} ${OPENCV_MODULES_DISABLED_AUTO} ${OPENCV_MODULES_DISABLED_FORCE})
     string(REGEX REPLACE "^opencv_" "" mod "${mod}")
     if("${OPENCV_MODULE_opencv_${mod}_LOCATION}" STREQUAL "${OpenCV_SOURCE_DIR}/modules/${mod}")
-      list(APPEND OPENCV2_MODULES ${mod})
+      list(APPEND BASE_MODULES ${mod})
     else()
-      list(APPEND OPENCV_MODULES ${mod})
+      list(APPEND EXTRA_MODULES ${mod})
     endif()
   endforeach()
-  list(REMOVE_ITEM OPENCV2_MODULES ${OPENCV2_BASE_MODULES})
-  ocv_list_sort(OPENCV2_MODULES)
-  ocv_list_sort(OPENCV_MODULES)
+
+  set(FIXED_ORDER_MODULES core imgproc highgui video calib3d features2d objdetect ml flann photo stitching nonfree contrib legacy bioinspired)
+
+  list(REMOVE_ITEM BASE_MODULES ${FIXED_ORDER_MODULES})
+
+  ocv_list_sort(BASE_MODULES)
+  ocv_list_sort(EXTRA_MODULES)
+
+  set(BASE_MODULES ${FIXED_ORDER_MODULES} ${BASE_MODULES})
 
   # build lists of documentation files and generate table of contents for reference manual
-  set(OPENCV_FILES_REF "")
-  set(OPENCV_FILES_REF_PICT "")
-  set(OPENCV_REFMAN_TOC "")
 
-  foreach(mod ${OPENCV2_BASE_MODULES} ${OPENCV2_MODULES} ${OPENCV_MODULES})
-    file(GLOB_RECURSE _OPENCV_FILES_REF "${OPENCV_MODULE_opencv_${mod}_LOCATION}/doc/*.rst")
-    file(GLOB_RECURSE _OPENCV_FILES_REF_PICT "${OPENCV_MODULE_opencv_${mod}_LOCATION}/doc/*.png" "${OPENCV_MODULE_opencv_${mod}_LOCATION}/doc/*.jpg")
-    list(APPEND OPENCV_FILES_REF ${_OPENCV_FILES_REF})
-    list(APPEND OPENCV_FILES_REF_PICT ${_OPENCV_FILES_REF_PICT})
+  set(DOC_FAKE_ROOT "${CMAKE_CURRENT_BINARY_DIR}/fake-root")
+  set(DOC_FAKE_ROOT_FILES "")
 
-    set(toc_file "${OPENCV_MODULE_opencv_${mod}_LOCATION}/doc/${mod}.rst")
-    if(EXISTS "${toc_file}")
-      file(RELATIVE_PATH toc_file "${OpenCV_SOURCE_DIR}/modules" "${toc_file}")
-      set(OPENCV_REFMAN_TOC "${OPENCV_REFMAN_TOC}   ${toc_file}\n")
+  function(ocv_doc_add_file_to_fake_root source destination)
+    add_custom_command(
+      OUTPUT "${DOC_FAKE_ROOT}/${destination}"
+      COMMAND "${CMAKE_COMMAND}" -E copy "${source}" "${DOC_FAKE_ROOT}/${destination}"
+      DEPENDS "${source}"
+      COMMENT "Copying ${destination} to fake root..."
+      VERBATIM
+    )
+    list(APPEND DOC_FAKE_ROOT_FILES "${DOC_FAKE_ROOT}/${destination}")
+    set(DOC_FAKE_ROOT_FILES "${DOC_FAKE_ROOT_FILES}" PARENT_SCOPE)
+  endfunction()
+
+  function(ocv_doc_add_to_fake_root source)
+    if(ARGC GREATER 1)
+      set(destination "${ARGV1}")
+    else()
+      file(RELATIVE_PATH destination "${OpenCV_SOURCE_DIR}" "${source}")
+    endif()
+
+    if(IS_DIRECTORY "${source}")
+      file(GLOB_RECURSE files RELATIVE "${source}" "${source}/*")
+
+      foreach(file ${files})
+        ocv_doc_add_file_to_fake_root("${source}/${file}" "${destination}/${file}")
+      endforeach()
+    else()
+      ocv_doc_add_file_to_fake_root("${source}" "${destination}")
     endif()
-  endforeach()
 
-  file(GLOB_RECURSE _OPENCV_FILES_REF "${OpenCV_SOURCE_DIR}/platforms/android/service/doc/*.rst")
-  file(GLOB_RECURSE _OPENCV_FILES_REF_PICT "${OpenCV_SOURCE_DIR}/platforms/android/service/doc/*.png" "${OpenCV_SOURCE_DIR}/platforms/android/service/doc/*.jpg")
-  list(APPEND OPENCV_FILES_REF ${_OPENCV_FILES_REF})
-  list(APPEND OPENCV_FILES_REF_PICT ${_OPENCV_FILES_REF_PICT})
+    set(DOC_FAKE_ROOT_FILES "${DOC_FAKE_ROOT_FILES}" PARENT_SCOPE)
+  endfunction()
 
-  configure_file("${OpenCV_SOURCE_DIR}/modules/refman.rst.in" "${OpenCV_SOURCE_DIR}/modules/refman.rst" IMMEDIATE @ONLY)
+  set(OPENCV_REFMAN_TOC "")
+
+  foreach(mod ${BASE_MODULES} ${EXTRA_MODULES})
+    if(EXISTS "${OPENCV_MODULE_opencv_${mod}_LOCATION}/doc/${mod}.rst")
+      ocv_doc_add_to_fake_root("${OPENCV_MODULE_opencv_${mod}_LOCATION}/doc" modules/${mod}/doc)
+      set(OPENCV_REFMAN_TOC "${OPENCV_REFMAN_TOC}   ${mod}/doc/${mod}.rst\n")
+    endif()
+  endforeach()
 
-  file(GLOB_RECURSE OPENCV_FILES_UG  user_guide/*.rst)
-  file(GLOB_RECURSE OPENCV_FILES_TUT tutorials/*.rst)
-  file(GLOB_RECURSE OPENCV_FILES_TUT_PICT tutorials/*.png tutorials/*.jpg)
+  configure_file("${OpenCV_SOURCE_DIR}/modules/refman.rst.in" "${DOC_FAKE_ROOT}/modules/refman.rst" @ONLY)
 
-  set(OPENCV_DOC_DEPS conf.py ${OPENCV_FILES_REF} ${OPENCV_FILES_REF_PICT}
-           ${OPENCV_FILES_UG} ${OPENCV_FILES_TUT} ${OPENCV_FILES_TUT_PICT})
+  ocv_doc_add_to_fake_root("${OpenCV_SOURCE_DIR}/index.rst")
+  ocv_doc_add_to_fake_root("${OpenCV_SOURCE_DIR}/doc")
+  ocv_doc_add_to_fake_root("${OpenCV_SOURCE_DIR}/platforms/android")
+  ocv_doc_add_to_fake_root("${OpenCV_SOURCE_DIR}/samples")
 
   set(BUILD_PLANTUML "")
   if(PLANTUML)
@@ -80,7 +102,7 @@ if(BUILD_DOCS AND HAVE_SPHINX)
 
   if(PDFLATEX_COMPILER)
     add_custom_target(docs
-      COMMAND ${SPHINX_BUILD} ${BUILD_PLANTUML} -b latex -c ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/.. .
+      COMMAND ${SPHINX_BUILD} ${BUILD_PLANTUML} -b latex -c "${CMAKE_CURRENT_SOURCE_DIR}" "${DOC_FAKE_ROOT}" .
       COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/pics ${CMAKE_CURRENT_BINARY_DIR}/doc/opencv1/pics
       COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_SOURCE_DIR}/mymath.sty ${CMAKE_CURRENT_BINARY_DIR}
       COMMAND ${PYTHON_EXECUTABLE} "${CMAKE_CURRENT_SOURCE_DIR}/patch_refman_latex.py" opencv2refman.tex
@@ -100,7 +122,7 @@ if(BUILD_DOCS AND HAVE_SPHINX)
       COMMAND ${CMAKE_COMMAND} -E echo "Generating opencv_cheatsheet.pdf"
       COMMAND ${PDFLATEX_COMPILER} -interaction=batchmode "${CMAKE_CURRENT_SOURCE_DIR}/opencv_cheatsheet.tex"
       COMMAND ${PDFLATEX_COMPILER} -interaction=batchmode "${CMAKE_CURRENT_SOURCE_DIR}/opencv_cheatsheet.tex"
-      DEPENDS ${OPENCV_DOC_DEPS}
+      DEPENDS ${DOC_FAKE_ROOT_FILES}
       WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
       COMMENT "Generating the PDF Manuals"
       )
@@ -114,9 +136,9 @@ if(BUILD_DOCS AND HAVE_SPHINX)
   endif()
 
   add_custom_target(html_docs
-    COMMAND ${SPHINX_BUILD} ${BUILD_PLANTUML} -b html -c ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/.. ./_html
+    COMMAND "${SPHINX_BUILD}" ${BUILD_PLANTUML} -b html -c "${CMAKE_CURRENT_SOURCE_DIR}" "${DOC_FAKE_ROOT}" ./_html
     COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/mymath.sty ${CMAKE_CURRENT_BINARY_DIR}
-    DEPENDS ${OPENCV_DOC_DEPS}
+    DEPENDS ${DOC_FAKE_ROOT_FILES}
     WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
     COMMENT "Generating Online Documentation"
     )

doc/tutorials/introduction/display_image/display_image.rst

@@ -36,7 +36,7 @@ You'll almost always end up using the:
    + *core* section, as here are defined the basic building blocks of the library
    + *highgui* module, as this contains the functions for input and output operations
 
-.. literalinclude:: ../../../../samples/cpp/tutorial_code/introduction/windows_visual_studio_Opencv/Test.cpp
+.. literalinclude:: ../../../../samples/cpp/tutorial_code/introduction/display_image/display_image.cpp
    :language: cpp
    :tab-width: 4
    :lines:  1-3

doc/tutorials/introduction/windows_visual_studio_Opencv/windows_visual_studio_Opencv.rst

@@ -142,9 +142,9 @@ The process is the same as described in case of the local approach. Just add the
 Test it!
 ========
 
-Now to try this out download our little test :download:`source code <../../../../samples/cpp/tutorial_code/introduction/windows_visual_studio_Opencv/Test.cpp>` or get it from the sample code folder of the OpenCV sources. Add this to your project and build it. Here's its content:
+Now to try this out download our little test :download:`source code <../../../../samples/cpp/tutorial_code/introduction/windows_visual_studio_Opencv/introduction_windows_vs.cpp>` or get it from the sample code folder of the OpenCV sources. Add this to your project and build it. Here's its content:
 
-.. literalinclude:: ../../../../samples/cpp/tutorial_code/introduction/windows_visual_studio_Opencv/Test.cpp
+.. literalinclude:: ../../../../samples/cpp/tutorial_code/introduction/windows_visual_studio_Opencv/introduction_windows_vs.cpp
    :language: cpp
    :tab-width: 4
    :linenos:

modules/androidcamera/camera_wrapper/camera_wrapper.cpp

@@ -1,6 +1,6 @@
 #if !defined(ANDROID_r2_2_0) && !defined(ANDROID_r2_3_3) && !defined(ANDROID_r3_0_1) && \
  !defined(ANDROID_r4_0_0) && !defined(ANDROID_r4_0_3) && !defined(ANDROID_r4_1_1) && \
- !defined(ANDROID_r4_2_0) && !defined(ANDROID_r4_3_0)
+ !defined(ANDROID_r4_2_0) && !defined(ANDROID_r4_3_0) && !defined(ANDROID_r4_4_0)
 # error Building camera wrapper for your version of Android is not supported by OpenCV.\
  You need to modify OpenCV sources in order to compile camera wrapper for your version of Android.
 #endif
@@ -22,7 +22,7 @@
 #elif defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0)
 # include <gui/ISurface.h>
 # include <gui/BufferQueue.h>
-#elif defined(ANDROID_r4_3_0)
+#elif defined(ANDROID_r4_3_0) || defined(ANDROID_r4_4_0)
 # include <gui/IGraphicBufferProducer.h>
 # include <gui/BufferQueue.h>
 #else
@@ -74,6 +74,20 @@ class ConsumerListenerStub: public BufferQueue::ConsumerListener
     {
     }
 };
+#elif defined(ANDROID_r4_4_0)
+class ConsumerListenerStub: public android::BnConsumerListener
+{
+public:
+    virtual void onFrameAvailable()
+    {
+    }
+    virtual void onBuffersReleased()
+    {
+    }
+    virtual ~ConsumerListenerStub()
+    {
+    }
+};
 #endif
 
 std::string getProcessName()
@@ -306,7 +320,8 @@ class CameraHandler: public CameraListener
     }
 
     virtual void postData(int32_t msgType, const sp<IMemory>& dataPtr
-    #if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
+#if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) \
+ || defined(ANDROID_r4_3_0) || defined(ANDROID_r4_4_0)
                           ,camera_frame_metadata_t*
 #endif
                           )
@@ -623,7 +638,14 @@ CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback,
     bufferStatus = camera->setPreviewTexture(bufferQueue);
     if (bufferStatus != 0)
         LOGE("initCameraConnect: failed setPreviewTexture call; camera might not work correctly");
-#endif
+# elif defined(ANDROID_r4_4_0)
+    sp<BufferQueue> bufferQueue = new BufferQueue();
+    sp<IConsumerListener> queueListener = new ConsumerListenerStub();
+    bufferQueue->consumerConnect(queueListener, true);
+    bufferStatus = handler->camera->setPreviewTarget(bufferQueue);
+    if (bufferStatus != 0)
+        LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
+# endif
 
 #if (defined(ANDROID_r2_2_0) || defined(ANDROID_r2_3_3) || defined(ANDROID_r3_0_1))
 # if 1
@@ -663,7 +685,8 @@ void CameraHandler::closeCameraConnect()
     }
 
     camera->stopPreview();
-#if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
+#if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) \
+ || defined(ANDROID_r4_3_0) || defined(ANDROID_r4_3_0)
     camera->setPreviewCallbackFlags(CAMERA_FRAME_CALLBACK_FLAG_NOOP);
 #endif
     camera->disconnect();
@@ -914,7 +937,8 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
 
     CameraParameters curCameraParameters((*ppcameraHandler)->params.flatten());
 
-#if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) || defined(ANDROID_r4_3_0)
+#if defined(ANDROID_r4_0_0) || defined(ANDROID_r4_0_3) || defined(ANDROID_r4_1_1) || defined(ANDROID_r4_2_0) \
+ || defined(ANDROID_r4_3_0) || defined(ANDROID_r4_4_0)
     CameraHandler* handler=*ppcameraHandler;
 
     handler->camera->stopPreview();
@@ -943,6 +967,13 @@ void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
     bufferStatus = handler->camera->setPreviewTexture(bufferQueue);
     if (bufferStatus != 0)
         LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
+# elif defined(ANDROID_r4_4_0)
+    sp<BufferQueue> bufferQueue = new BufferQueue();
+    sp<IConsumerListener> queueListener = new ConsumerListenerStub();
+    bufferQueue->consumerConnect(queueListener, true);
+    bufferStatus = handler->camera->setPreviewTarget(bufferQueue);
+    if (bufferStatus != 0)
+        LOGE("applyProperties: failed setPreviewTexture call; camera might not work correctly");
 # endif
 
     handler->camera->setPreviewCallbackFlags( CAMERA_FRAME_CALLBACK_FLAG_ENABLE_MASK | CAMERA_FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy

modules/calib3d/src/stereosgbm.cpp

@@ -125,7 +125,7 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
                             int tabOfs, int )
 {
     int x, c, width = img1.cols, cn = img1.channels();
-    int minX1 = std::max(maxD, 0), maxX1 = width + std::min(minD, 0);
+    int minX1 = std::max(-maxD, 0), maxX1 = width + std::min(minD, 0);
     int minX2 = std::max(minX1 - maxD, 0), maxX2 = std::min(maxX1 - minD, width);
     int D = maxD - minD, width1 = maxX1 - minX1, width2 = maxX2 - minX2;
     const PixType *row1 = img1.ptr<PixType>(y), *row2 = img2.ptr<PixType>(y);
@@ -340,7 +340,7 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
     int disp12MaxDiff = params.disp12MaxDiff > 0 ? params.disp12MaxDiff : 1;
     int P1 = params.P1 > 0 ? params.P1 : 2, P2 = std::max(params.P2 > 0 ? params.P2 : 5, P1+1);
     int k, width = disp1.cols, height = disp1.rows;
-    int minX1 = std::max(maxD, 0), maxX1 = width + std::min(minD, 0);
+    int minX1 = std::max(-maxD, 0), maxX1 = width + std::min(minD, 0);
     int D = maxD - minD, width1 = maxX1 - minX1;
     int INVALID_DISP = minD - 1, INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
     int SW2 = SADWindowSize.width/2, SH2 = SADWindowSize.height/2;