Merge branch 4.x

modules/objdetect/src/aruco/aruco_board.cpp

@@ -115,7 +115,13 @@ void Board::Impl::generateImage(Size outSize, OutputArray img, int marginSize, i
         }
 
         // get marker
-        Size dst_sz(outCorners[2] - outCorners[0]); // assuming CCW order
+        Point2f vecWidth  = outCorners[1] - outCorners[0];
+        float width = (float)cv::norm(vecWidth);
+
+        Point2f vecHeight = outCorners[2] - outCorners[0];
+        float height = (float)cv::norm(vecHeight);
+
+        Size dst_sz(cvRound(width), cvRound(height));
         dst_sz.width = dst_sz.height = std::min(dst_sz.width, dst_sz.height); //marker should be square
         dictionary.generateImageMarker(ids[m], dst_sz.width, marker, borderBits);
 

modules/objdetect/src/qrcode.cpp

@@ -19,7 +19,6 @@
 #include <limits>
 #include <cmath>
 #include <queue>
-#include <limits>
 #include <map>
 
 namespace cv
@@ -3710,7 +3709,11 @@ bool QRDetectMulti::checkSets(vector<vector<Point2f> >& true_points_group, vecto
     vector<int> set_size(true_points_group.size());
     for (size_t i = 0; i < true_points_group.size(); i++)
     {
-        set_size[i] = int( (true_points_group[i].size() - 2 ) * (true_points_group[i].size() - 1) * true_points_group[i].size()) / 6;
+        const std::uint64_t true_points_group_size = true_points_group[i].size();
+        // ensure set_size[i] doesn't overflow
+        CV_Assert(true_points_group_size <= 2345);
+        set_size[i] = static_cast<int>((true_points_group_size - 2) * (true_points_group_size - 1) *
+                                       true_points_group_size / 6);
     }
 
     vector< vector< Vec3i > > all_points(true_points_group.size());

modules/objdetect/test/test_boarddetection.cpp

@@ -325,5 +325,51 @@ TEST(CV_ArucoDictionary, extendDictionary) {
     ASSERT_EQ(custom_dictionary.bytesList.rows, 150);
     ASSERT_EQ(cv::norm(custom_dictionary.bytesList, base_dictionary.bytesList.rowRange(0, 150)), 0.);
 }
+TEST(CV_ArucoBoardGenerateImage_RotationTest, HandlesRotatedMarkersWithoutBoundingBoxError)
+{
+    using namespace cv;
+    using namespace cv::aruco;
+    Dictionary dict = getPredefinedDictionary(DICT_4X4_50);
+    DetectorParameters detectorParams;
+    ArucoDetector detector(dict, detectorParams);
+    std::vector<float> angles = {0.0f, 45.0f, 90.0f, 135.0f};
+    for (auto angle_deg : angles)
+    {
+        float angle_rad = angle_deg * static_cast<float>(CV_PI) / 180.0f;
+        float c = cos(angle_rad);
+        float s = sin(angle_rad);
+        std::vector<Point3f> markerCorners(4);
+        markerCorners[0] = Point3f(0.f, 0.f, 0.f);
+        markerCorners[1] = Point3f(1.f, 0.f, 0.f);
+        markerCorners[2] = Point3f(1.f, 1.f, 0.f);
+        markerCorners[3] = Point3f(0.f, 1.f, 0.f);
+        for (auto &p : markerCorners)
+        {
+            float xNew = p.x * c - p.y * s;
+            float yNew = p.x * s + p.y * c;
+            p.x = xNew;
+            p.y = yNew;
+        }
+        std::vector<std::vector<Point3f>> allObjPoints{markerCorners};
+        std::vector<int> ids{0};
+        Board board(allObjPoints, dict, ids);
+        float markerSize = 1.0f;
+        float rotatedSize = markerSize * std::sqrt(2.0f);
+        int borderBits = 1;
+        int marginSize = 20;
+        int sidePixels = static_cast<int>((rotatedSize + 2.0f * borderBits) * 500) + 2 * marginSize;
+        Mat outImg;
+        Size outSize(sidePixels, sidePixels);
+        ASSERT_NO_THROW(board.generateImage(outSize, outImg, marginSize, borderBits))
+            << "board.generateImage() threw an exception at angle " << angle_deg;
+        std::vector<int> detectedIds;
+        std::vector<std::vector<Point2f>> detectedCorners;
+        detector.detectMarkers(outImg, detectedCorners, detectedIds);
+        ASSERT_EQ(detectedIds.size(), (size_t)1)
+            << "Failed to detect single marker at angle: " << angle_deg;
+        EXPECT_EQ(detectedIds[0], 0)
+            << "Marker ID mismatch at angle: " << angle_deg;
+    }
+}
 
 }} // namespace

modules/objdetect/test/test_qrcode.cpp

@@ -528,7 +528,7 @@ TEST(Objdetect_QRCode_decode, decode_regression_21929)
     Mat qrImg;
     QRCodeEncoder::Params params;
     params.version = 8; // 49x49
-    Ptr<QRCodeEncoder> qrcode_enc = cv::QRCodeEncoder::create(params);;
+    Ptr<QRCodeEncoder> qrcode_enc = cv::QRCodeEncoder::create(params);
     qrcode_enc->encode(expect_msg, qrImg);
 
     Mat src;
@@ -552,7 +552,7 @@ TEST(Objdetect_QRCode_decode, decode_regression_version_25)
     Mat qrImg;
     QRCodeEncoder::Params params;
     params.version = 25; // 117x117
-    Ptr<QRCodeEncoder> qrcode_enc = cv::QRCodeEncoder::create(params);;
+    Ptr<QRCodeEncoder> qrcode_enc = cv::QRCodeEncoder::create(params);
     qrcode_enc->encode(expect_msg, qrImg);
 
     Mat src;