Merge branch 4.x

modules/objdetect/src/aruco/aruco_board.cpp

@@ -518,9 +518,9 @@ void CharucoBoardImpl::generateImage(Size outSize, OutputArray img, int marginSi
         for(int x = 0; x < size.width; x++) {
 
             if(legacyPattern && (size.height % 2 == 0)) { // legacy behavior only for even row count patterns
-                if((y + 1) % 2 != x % 2) continue; // white corner, dont do anything
+                if((y + 1) % 2 != x % 2) continue; // white corner, don't do anything
             } else {
-                if(y % 2 != x % 2) continue; // white corner, dont do anything
+                if(y % 2 != x % 2) continue; // white corner, don't do anything
             }
 
             float startX = pixInSquare * float(x);

modules/objdetect/src/aruco/aruco_detector.cpp

@@ -905,7 +905,7 @@ struct ArucoDetector::ArucoDetectorImpl {
             // only CORNER_REFINE_SUBPIX implement correctly for useAruco3Detection
             // Todo: update other CORNER_REFINE methods
 
-            // scale to orignal size, this however will lead to inaccurate detections!
+            // scale to original size, this however will lead to inaccurate detections!
             for (auto &vecPoints : candidates)
                 for (auto &point : vecPoints)
                     point *= 1.f/fxfy;
@@ -1399,7 +1399,7 @@ void ArucoDetector::refineDetectedMarkers(InputArray _image, const Board& _board
 
             // last filter, check if inner code is close enough to the assigned marker code
             int codeDistance = 0;
-            // if errorCorrectionRate, dont check code
+            // if errorCorrectionRate, don't check code
             if(refineParams.errorCorrectionRate >= 0) {
 
                 // extract bits

modules/objdetect/src/aruco/charuco_detector.cpp

@@ -117,7 +117,7 @@ struct CharucoDetector::CharucoDetectorImpl {
                     minDist = min(dist, minDist);
                     counter++;
                 }
-                // if this is the first closest marker, dont do anything
+                // if this is the first closest marker, don't do anything
                 if(counter == 0)
                     continue;
                 else {
@@ -163,7 +163,7 @@ struct CharucoDetector::CharucoDetectorImpl {
             const int end = range.end;
             for (int i = begin; i < end; i++) {
                 vector<Point2f> in;
-                in.push_back(filteredChessboardImgPoints[i] - Point2f(0.5, 0.5)); // adjust sub-pixel coordinates for cornerSubPix
+                in.push_back(filteredChessboardImgPoints[i]);
                 Size winSize = filteredWinSizes[i];
                 if (winSize.height == -1 || winSize.width == -1)
                     winSize = Size(arucoDetector.getDetectorParameters().cornerRefinementWinSize,
@@ -172,7 +172,7 @@ struct CharucoDetector::CharucoDetectorImpl {
                              TermCriteria(TermCriteria::MAX_ITER | TermCriteria::EPS,
                                           arucoDetector.getDetectorParameters().cornerRefinementMaxIterations,
                                           arucoDetector.getDetectorParameters().cornerRefinementMinAccuracy));
-                filteredChessboardImgPoints[i] = in[0] + Point2f(0.5, 0.5);
+                filteredChessboardImgPoints[i] = in[0];
             }
         });
         // parse output

modules/objdetect/src/qrcode_encoder.cpp

@@ -1576,7 +1576,7 @@ bool QRCodeDecoderImpl::errorCorrectionBlock(std::vector<uint8_t>& codewords) {
     uint8_t b = 1;  // discrepancy from last L update
 
     std::vector<uint8_t> C(numSyndromes, 0);  // Error locator polynomial
-    std::vector<uint8_t> B(numSyndromes, 0);  // A copy of error locator from previos L update
+    std::vector<uint8_t> B(numSyndromes, 0);  // A copy of error locator from previous L update
     C[0] = B[0] = 1;
     for (size_t i = 0; i < numSyndromes; ++i) {
         CV_Assert(m + L - 1 < C.size());  // m >= 1 on any iteration
@@ -1629,9 +1629,15 @@ bool QRCodeDecoderImpl::errorCorrectionBlock(std::vector<uint8_t>& codewords) {
     std::vector<uint8_t> errEval;
     gfPolyMul(C, syndromes, errEval);
 
+    // Precompute all X values for error locations to avoid duplicated computation
+    std::vector<uint8_t> X_values(errLocs.size());
+    for (size_t j = 0; j < errLocs.size(); ++j) {
+        X_values[j] = gfPow(2, static_cast<int>(codewords.size() - 1 - errLocs[j]));
+    }
+
     for (size_t i = 0; i < errLocs.size(); ++i) {
         uint8_t numenator = 0, denominator = 0;
-        uint8_t X = gfPow(2, static_cast<int>(codewords.size() - 1 - errLocs[i]));
+        uint8_t X = X_values[i];
         uint8_t inv_X = gfDiv(1, X);
 
         for (size_t j = 0; j < L; ++j) {
@@ -1639,12 +1645,11 @@ bool QRCodeDecoderImpl::errorCorrectionBlock(std::vector<uint8_t>& codewords) {
         }
 
         // Compute demoninator as a product of (1-X_i * X_k) for i != k
-        // TODO: optimize, there is a dubplicated compute
         denominator = 1;
         for (size_t j = 0; j < errLocs.size(); ++j) {
             if (i == j)
                 continue;
-            uint8_t Xj = gfPow(2, static_cast<int>(codewords.size() - 1 - errLocs[j]));
+            uint8_t Xj = X_values[j];
             denominator = gfMul(denominator, 1 ^ gfMul(inv_X, Xj));
         }