Merge pull request #23264 from AleksandrPanov:add_detect_qr_with_aruco

Add detect qr with aruco #23264

Using Aruco to detect finder patterns to search QR codes.

TODO (in next PR):
- add single QR detect (update `detect()` and `detectAndDecode()`)
- need reduce full enumeration of finder patterns
- need add finder pattern info to `decode` step
- need to merge the pipeline of the old and new algorithm

[Current results:](https://docs.google.com/spreadsheets/d/1ufKyR-Zs-IGXwvqPgftssmTlceVjiQX364sbrjr2QU8/edit#gid=1192415584)
+20% total detect, +8% total decode in OpenCV [QR benchmark](https://github.com/opencv/opencv_benchmarks/tree/develop/python_benchmarks/qr_codes) 

![res1](https://user-images.githubusercontent.com/22337800/231228556-191d3eae-a318-44e1-af99-e7d420bf6248.png)


78.4% detect, 58.7% decode vs 58.5 detect, 50.5% decode in default

[main.py.txt](https://github.com/opencv/opencv/files/10762369/main.py.txt)

![res2](https://user-images.githubusercontent.com/22337800/231229123-ed7f1eda-159a-444b-a3ff-f107d8eb4a20.png)


add new info to [google docs](https://docs.google.com/spreadsheets/d/1ufKyR-Zs-IGXwvqPgftssmTlceVjiQX364sbrjr2QU8/edit?usp=sharing)


### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake

modules/objdetect/test/test_qr_utils.hpp

@@ -0,0 +1,78 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+#include "test_precomp.hpp"
+
+namespace opencv_test {
+
+static inline
+void check_qr(const string& root, const string& name_current_image, const string& config_name,
+                const std::vector<Point>& corners,
+                const std::vector<string>& decoded_info, const int max_pixel_error,
+                bool isMulti = false) {
+    const std::string dataset_config = findDataFile(root + "dataset_config.json");
+    FileStorage file_config(dataset_config, FileStorage::READ);
+    ASSERT_TRUE(file_config.isOpened()) << "Can't read validation data: " << dataset_config;
+    FileNode images_list = file_config[config_name];
+    size_t images_count = static_cast<size_t>(images_list.size());
+    ASSERT_GT(images_count, 0u) << "Can't find validation data entries in 'test_images': " << dataset_config;
+    for (size_t index = 0; index < images_count; index++) {
+        FileNode config = images_list[(int)index];
+        std::string name_test_image = config["image_name"];
+        if (name_test_image == name_current_image) {
+            if (isMulti) {
+                for(int j = 0; j < int(corners.size()); j += 4) {
+                    bool ok = false;
+                    for (int k = 0; k < int(corners.size() / 4); k++) {
+                        int count_eq_points = 0;
+                        for (int i = 0; i < 4; i++) {
+                            int x = config["x"][k][i];
+                            int y = config["y"][k][i];
+                            if(((abs(corners[j + i].x - x)) <= max_pixel_error) && ((abs(corners[j + i].y - y)) <= max_pixel_error))
+                              count_eq_points++;
+                        }
+                        if (count_eq_points == 4) {
+                            ok = true;
+                            break;
+                        }
+                    }
+                    EXPECT_TRUE(ok);
+                }
+            }
+            else {
+                for (int i = 0; i < (int)corners.size(); i++) {
+                    int x = config["x"][i];
+                    int y = config["y"][i];
+                    EXPECT_NEAR(x, corners[i].x, max_pixel_error);
+                    EXPECT_NEAR(y, corners[i].y, max_pixel_error);
+                }
+            }
+#ifdef HAVE_QUIRC
+            if (decoded_info.size() == 0ull)
+                return;
+            if (isMulti) {
+                size_t count_eq_info = 0;
+                for(int i = 0; i < int(decoded_info.size()); i++) {
+                    for(int j = 0; j < int(decoded_info.size()); j++) {
+                        std::string original_info = config["info"][j];
+                        if(original_info == decoded_info[i]) {
+                           count_eq_info++;
+                           break;
+                        }
+                    }
+                }
+                EXPECT_EQ(decoded_info.size(), count_eq_info);
+            }
+            else {
+                std::string original_info = config["info"];
+                EXPECT_EQ(decoded_info[0], original_info);
+            }
+#endif
+            return; // done
+        }
+    }
+    FAIL() << "Not found results for '" << name_current_image << "' image in config file:" << dataset_config <<
+              "Re-run tests with enabled UPDATE_QRCODE_TEST_DATA macro to update test data.\n";
+}
+
+}

modules/objdetect/test/test_qrcode.cpp

@@ -3,6 +3,7 @@
 // of this distribution and at http://opencv.org/license.html.
 
 #include "test_precomp.hpp"
+#include "test_qr_utils.hpp"
 #include "opencv2/imgproc.hpp"
 
 namespace opencv_test { namespace {
@@ -33,6 +34,8 @@ std::string qrcode_images_multiple[] = {
   "5_qrcodes.png", "6_qrcodes.png", "7_qrcodes.png", "8_close_qrcodes.png"
 };
 
+static std::set<std::pair<std::string, std::string>> disabled_samples = {{"5_qrcodes.png", "aruco_based"}};
+
 //#define UPDATE_QRCODE_TEST_DATA
 #ifdef  UPDATE_QRCODE_TEST_DATA
 
@@ -262,43 +265,7 @@ TEST_P(Objdetect_QRCode, regression)
 #else
     ASSERT_TRUE(qrcode.detect(src, corners));
 #endif
-
-    const std::string dataset_config = findDataFile(root + "dataset_config.json");
-    FileStorage file_config(dataset_config, FileStorage::READ);
-    ASSERT_TRUE(file_config.isOpened()) << "Can't read validation data: " << dataset_config;
-    {
-        FileNode images_list = file_config["test_images"];
-        size_t images_count = static_cast<size_t>(images_list.size());
-        ASSERT_GT(images_count, 0u) << "Can't find validation data entries in 'test_images': " << dataset_config;
-
-        for (size_t index = 0; index < images_count; index++)
-        {
-            FileNode config = images_list[(int)index];
-            std::string name_test_image = config["image_name"];
-            if (name_test_image == name_current_image)
-            {
-                for (int i = 0; i < 4; i++)
-                {
-                    int x = config["x"][i];
-                    int y = config["y"][i];
-                    EXPECT_NEAR(x, corners[i].x, pixels_error);
-                    EXPECT_NEAR(y, corners[i].y, pixels_error);
-                }
-
-#ifdef HAVE_QUIRC
-                std::string original_info = config["info"];
-                EXPECT_EQ(decoded_info, original_info);
-#endif
-
-                return; // done
-            }
-        }
-        std::cerr
-            << "Not found results for '" << name_current_image
-            << "' image in config file:" << dataset_config << std::endl
-            << "Re-run tests with enabled UPDATE_QRCODE_TEST_DATA macro to update test data."
-            << std::endl;
-    }
+    check_qr(root, name_current_image, "test_images", corners, {decoded_info}, pixels_error);
 }
 
 typedef testing::TestWithParam< std::string > Objdetect_QRCode_Close;
@@ -329,43 +296,7 @@ TEST_P(Objdetect_QRCode_Close, regression)
 #else
     ASSERT_TRUE(qrcode.detect(barcode, corners));
 #endif
-
-    const std::string dataset_config = findDataFile(root + "dataset_config.json");
-    FileStorage file_config(dataset_config, FileStorage::READ);
-    ASSERT_TRUE(file_config.isOpened()) << "Can't read validation data: " << dataset_config;
-    {
-        FileNode images_list = file_config["close_images"];
-        size_t images_count = static_cast<size_t>(images_list.size());
-        ASSERT_GT(images_count, 0u) << "Can't find validation data entries in 'test_images': " << dataset_config;
-
-        for (size_t index = 0; index < images_count; index++)
-        {
-            FileNode config = images_list[(int)index];
-            std::string name_test_image = config["image_name"];
-            if (name_test_image == name_current_image)
-            {
-                for (int i = 0; i < 4; i++)
-                {
-                    int x = config["x"][i];
-                    int y = config["y"][i];
-                    EXPECT_NEAR(x, corners[i].x, pixels_error);
-                    EXPECT_NEAR(y, corners[i].y, pixels_error);
-                }
-
-#ifdef HAVE_QUIRC
-                std::string original_info = config["info"];
-                EXPECT_EQ(decoded_info, original_info);
-#endif
-
-                return; // done
-            }
-        }
-        std::cerr
-            << "Not found results for '" << name_current_image
-            << "' image in config file:" << dataset_config << std::endl
-            << "Re-run tests with enabled UPDATE_QRCODE_TEST_DATA macro to update test data."
-            << std::endl;
-    }
+    check_qr(root, name_current_image, "close_images", corners, {decoded_info}, pixels_error);
 }
 
 typedef testing::TestWithParam< std::string > Objdetect_QRCode_Monitor;
@@ -396,43 +327,7 @@ TEST_P(Objdetect_QRCode_Monitor, regression)
 #else
     ASSERT_TRUE(qrcode.detect(barcode, corners));
 #endif
-
-    const std::string dataset_config = findDataFile(root + "dataset_config.json");
-    FileStorage file_config(dataset_config, FileStorage::READ);
-    ASSERT_TRUE(file_config.isOpened()) << "Can't read validation data: " << dataset_config;
-    {
-        FileNode images_list = file_config["monitor_images"];
-        size_t images_count = static_cast<size_t>(images_list.size());
-        ASSERT_GT(images_count, 0u) << "Can't find validation data entries in 'test_images': " << dataset_config;
-
-        for (size_t index = 0; index < images_count; index++)
-        {
-            FileNode config = images_list[(int)index];
-            std::string name_test_image = config["image_name"];
-            if (name_test_image == name_current_image)
-            {
-                for (int i = 0; i < 4; i++)
-                {
-                    int x = config["x"][i];
-                    int y = config["y"][i];
-                    EXPECT_NEAR(x, corners[i].x, pixels_error);
-                    EXPECT_NEAR(y, corners[i].y, pixels_error);
-                }
-
-#ifdef HAVE_QUIRC
-                std::string original_info = config["info"];
-                EXPECT_EQ(decoded_info, original_info);
-#endif
-
-                return; // done
-            }
-        }
-        std::cerr
-            << "Not found results for '" << name_current_image
-            << "' image in config file:" << dataset_config << std::endl
-            << "Re-run tests with enabled UPDATE_QRCODE_TEST_DATA macro to update test data."
-            << std::endl;
-    }
+    check_qr(root, name_current_image, "monitor_images", corners, {decoded_info}, pixels_error);
 }
 
 typedef testing::TestWithParam< std::string > Objdetect_QRCode_Curved;
@@ -458,56 +353,26 @@ TEST_P(Objdetect_QRCode_Curved, regression)
 #else
     ASSERT_TRUE(qrcode.detect(src, corners));
 #endif
-
-    const std::string dataset_config = findDataFile(root + "dataset_config.json");
-    FileStorage file_config(dataset_config, FileStorage::READ);
-    ASSERT_TRUE(file_config.isOpened()) << "Can't read validation data: " << dataset_config;
-    {
-        FileNode images_list = file_config["test_images"];
-        size_t images_count = static_cast<size_t>(images_list.size());
-        ASSERT_GT(images_count, 0u) << "Can't find validation data entries in 'test_images': " << dataset_config;
-
-        for (size_t index = 0; index < images_count; index++)
-        {
-            FileNode config = images_list[(int)index];
-            std::string name_test_image = config["image_name"];
-            if (name_test_image == name_current_image)
-            {
-                for (int i = 0; i < 4; i++)
-                {
-                    int x = config["x"][i];
-                    int y = config["y"][i];
-                    EXPECT_NEAR(x, corners[i].x, pixels_error);
-                    EXPECT_NEAR(y, corners[i].y, pixels_error);
-                }
-
-#ifdef HAVE_QUIRC
-                std::string original_info = config["info"];
-                EXPECT_EQ(decoded_info, original_info);
-#endif
-
-                return; // done
-            }
-        }
-        std::cerr
-            << "Not found results for '" << name_current_image
-            << "' image in config file:" << dataset_config << std::endl
-            << "Re-run tests with enabled UPDATE_QRCODE_TEST_DATA macro to update test data."
-            << std::endl;
-    }
+    check_qr(root, name_current_image, "test_images", corners, {decoded_info}, pixels_error);
 }
 
-typedef testing::TestWithParam < std::string > Objdetect_QRCode_Multi;
+typedef testing::TestWithParam<std::tuple<std::string, std::string>> Objdetect_QRCode_Multi;
 TEST_P(Objdetect_QRCode_Multi, regression)
 {
-    const std::string name_current_image = GetParam();
+    const std::string name_current_image = get<0>(GetParam());
     const std::string root = "qrcode/multiple/";
+    const std::string method = get<1>(GetParam());
     const int pixels_error = 4;
 
     std::string image_path = findDataFile(root + name_current_image);
     Mat src = imread(image_path);
     ASSERT_FALSE(src.empty()) << "Can't read image: " << image_path;
-    QRCodeDetector qrcode;
+    if (disabled_samples.find({name_current_image, method}) != disabled_samples.end())
+        throw SkipTestException(name_current_image + " is disabled sample for method " + method);
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (method == "aruco_based") {
+        qrcode = QRCodeDetectorAruco();
+    }
     std::vector<Point> corners;
 #ifdef HAVE_QUIRC
     std::vector<cv::String> decoded_info;
@@ -521,75 +386,15 @@ TEST_P(Objdetect_QRCode_Multi, regression)
 #else
     ASSERT_TRUE(qrcode.detectMulti(src, corners));
 #endif
-
-    const std::string dataset_config = findDataFile(root + "dataset_config.json");
-    FileStorage file_config(dataset_config, FileStorage::READ);
-    ASSERT_TRUE(file_config.isOpened()) << "Can't read validation data: " << dataset_config;
-    {
-        FileNode images_list = file_config["multiple_images"];
-        size_t images_count = static_cast<size_t>(images_list.size());
-        ASSERT_GT(images_count, 0u) << "Can't find validation data entries in 'test_images': " << dataset_config;
-        for (size_t index = 0; index < images_count; index++)
-        {
-            FileNode config = images_list[(int)index];
-            std::string name_test_image = config["image_name"];
-            if (name_test_image == name_current_image)
-            {
-                for(int j = 0; j < int(corners.size()); j += 4)
-                {
-                    bool ok = false;
-                    for (int k = 0; k < int(corners.size() / 4); k++)
-                    {
-                        int count_eq_points = 0;
-                        for (int i = 0; i < 4; i++)
-                        {
-                            int x = config["x"][k][i];
-                            int y = config["y"][k][i];
-                            if(((abs(corners[j + i].x - x)) <= pixels_error) && ((abs(corners[j + i].y - y)) <= pixels_error))
-                              count_eq_points++;
-                        }
-                        if (count_eq_points == 4)
-                        {
-                            ok = true;
-                            break;
-                        }
-                    }
-                    EXPECT_TRUE(ok);
-                }
-
-#ifdef HAVE_QUIRC
-                  size_t count_eq_info = 0;
-                  for(int i = 0; i < int(decoded_info.size()); i++)
-                  {
-                      for(int j = 0; j < int(decoded_info.size()); j++)
-                      {
-                          std::string original_info = config["info"][j];
-                          if(original_info == decoded_info[i])
-                          {
-                             count_eq_info++;
-                             break;
-                          }
-                      }
-                  }
-                  EXPECT_EQ(decoded_info.size(), count_eq_info);
-#endif
-
-                  return; // done
-            }
-        }
-        std::cerr
-            << "Not found results for '" << name_current_image
-            << "' image in config file:" << dataset_config << std::endl
-            << "Re-run tests with enabled UPDATE_QRCODE_TEST_DATA macro to update test data."
-            << std::endl;
-    }
+    check_qr(root, name_current_image, "multiple_images", corners, decoded_info, pixels_error, true);
 }
 
 INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode, testing::ValuesIn(qrcode_images_name));
 INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_Close, testing::ValuesIn(qrcode_images_close));
 INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_Monitor, testing::ValuesIn(qrcode_images_monitor));
 INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_Curved, testing::ValuesIn(qrcode_images_curved));
-INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_Multi, testing::ValuesIn(qrcode_images_multiple));
+INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_Multi, testing::Combine(testing::ValuesIn(qrcode_images_multiple),
+    testing::Values("contours_based", "aruco_based")));
 
 TEST(Objdetect_QRCode_decodeMulti, decode_regression_16491)
 {
@@ -611,8 +416,10 @@ TEST(Objdetect_QRCode_decodeMulti, decode_regression_16491)
 #endif
 }
 
-TEST(Objdetect_QRCode_detectMulti, detect_regression_16961)
+typedef testing::TestWithParam<std::string> Objdetect_QRCode_detectMulti;
+TEST_P(Objdetect_QRCode_detectMulti, detect_regression_16961)
 {
+    const std::string method = GetParam();
     const std::string name_current_image = "9_qrcodes.jpg";
     const std::string root = "qrcode/multiple/";
 
@@ -620,7 +427,10 @@ TEST(Objdetect_QRCode_detectMulti, detect_regression_16961)
     Mat src = imread(image_path);
     ASSERT_FALSE(src.empty()) << "Can't read image: " << image_path;
 
-    QRCodeDetector qrcode;
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (method == "aruco_based") {
+        qrcode = QRCodeDetectorAruco();
+    }
     std::vector<Point> corners;
     EXPECT_TRUE(qrcode.detectMulti(src, corners));
     ASSERT_FALSE(corners.empty());
@@ -628,21 +438,27 @@ TEST(Objdetect_QRCode_detectMulti, detect_regression_16961)
     EXPECT_EQ(corners.size(), expect_corners_size);
 }
 
-TEST(Objdetect_QRCode_decodeMulti, check_output_parameters_type_19363)
+INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_detectMulti, testing::Values("contours_based", "aruco_based"));
+typedef testing::TestWithParam<std::string> Objdetect_QRCode_detectAndDecodeMulti;
+TEST_P(Objdetect_QRCode_detectAndDecodeMulti, check_output_parameters_type_19363)
 {
     const std::string name_current_image = "9_qrcodes.jpg";
     const std::string root = "qrcode/multiple/";
+    const std::string method = GetParam();
 
     std::string image_path = findDataFile(root + name_current_image);
     Mat src = imread(image_path);
     ASSERT_FALSE(src.empty()) << "Can't read image: " << image_path;
 #ifdef HAVE_QUIRC
-    QRCodeDetector qrcode;
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (method == "aruco_based") {
+        qrcode = QRCodeDetectorAruco();
+    }
     std::vector<Point> corners;
     std::vector<cv::String> decoded_info;
 #if 0  // FIXIT: OutputArray::create() type check
     std::vector<Mat2b> straight_barcode_nchannels;
-    EXPECT_ANY_THROW(qrcode.detectAndDecodeMulti(src, decoded_info, corners, straight_barcode_nchannels));
+    EXPECT_ANY_THROW(qrcode->detectAndDecodeMulti(src, decoded_info, corners, straight_barcode_nchannels));
 #endif
 
     int expected_barcode_type = CV_8UC1;
@@ -653,6 +469,8 @@ TEST(Objdetect_QRCode_decodeMulti, check_output_parameters_type_19363)
         EXPECT_EQ(expected_barcode_type, straight_barcode[i].type());
 #endif
 }
+INSTANTIATE_TEST_CASE_P(/**/, Objdetect_QRCode_detectAndDecodeMulti, testing::Values("contours_based", "aruco_based"));
+
 
 TEST(Objdetect_QRCode_detect, detect_regression_20882)
 {
@@ -793,14 +611,18 @@ TEST(Objdetect_QRCode_decode, decode_regression_version_25)
 #endif
 }
 
-TEST(Objdetect_QRCode_decodeMulti, decode_9_qrcodes_version7)
+TEST_P(Objdetect_QRCode_detectAndDecodeMulti, decode_9_qrcodes_version7)
 {
     const std::string name_current_image = "9_qrcodes_version7.jpg";
     const std::string root = "qrcode/multiple/";
 
     std::string image_path = findDataFile(root + name_current_image);
     Mat src = imread(image_path);
-    QRCodeDetector qrcode;
+    const std::string method = GetParam();
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (method == "aruco_based") {
+        qrcode = QRCodeDetectorAruco();
+    }
     std::vector<Point> corners;
     std::vector<cv::String> decoded_info;