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

samples/cpp/qrcode.cpp

@@ -12,6 +12,7 @@ using namespace cv;
 static int liveQRCodeDetect();
 static int imageQRCodeDetect(const string& in_file);
 
+static bool g_useArucoBased = false;
 static bool g_modeMultiQR = false;
 static bool g_detectOnly = false;
 
@@ -35,6 +36,7 @@ int main(int argc, char *argv[])
     const string keys =
         "{h help ? |        | print help messages }"
         "{i in     |        | input image path (also switches to image detection mode) }"
+        "{aruco_based | false | use Aruco-based QR code detector instead of contour-based }"
         "{detect   | false  | detect QR code only (skip decoding) }"
         "{m multi  |        | use detect for multiple qr-codes }"
         "{o out    | qr_code.png | path to result file }"
@@ -75,6 +77,7 @@ int main(int argc, char *argv[])
 
     g_modeMultiQR = cmd_parser.has("multi") && cmd_parser.get<bool>("multi");
     g_detectOnly = cmd_parser.has("detect") && cmd_parser.get<bool>("detect");
+    g_useArucoBased = cmd_parser.has("aruco_based") && cmd_parser.get<bool>("aruco_based");
 
     g_saveDetections = cmd_parser.has("save_detections") && cmd_parser.get<bool>("save_detections");
     g_saveAll = cmd_parser.has("save_all") && cmd_parser.get<bool>("save_all");
@@ -157,7 +160,7 @@ void drawQRCodeResults(Mat& frame, const vector<Point>& corners, const vector<cv
 
 static
 void runQR(
-    QRCodeDetector& qrcode, const Mat& input,
+    const QRCodeDetectorBase& qrcode, const Mat& input,
     vector<Point>& corners, vector<cv::String>& decode_info
     // +global: bool g_modeMultiQR, bool g_detectOnly
 )
@@ -191,7 +194,7 @@ void runQR(
 }
 
 static
-double processQRCodeDetection(QRCodeDetector& qrcode, const Mat& input, Mat& result, vector<Point>& corners)
+double processQRCodeDetection(const QRCodeDetectorBase& qrcode, const Mat& input, Mat& result, vector<Point>& corners)
 {
     if (input.channels() == 1)
         cvtColor(input, result, COLOR_GRAY2BGR);
@@ -229,7 +232,9 @@ int liveQRCodeDetect()
     cout << "Press 'd' to switch between decoder and detector" << endl;
     cout << "Press ' ' (space) to save result into images" << endl;
     cout << "Press 'ESC' to exit" << endl;
-    QRCodeDetector qrcode;
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (g_useArucoBased)
+        qrcode = QRCodeDetectorAruco();
 
     for (;;)
     {
@@ -310,7 +315,10 @@ int imageQRCodeDetect(const string& in_file)
         << " on image: " << input.size() << " (" << typeToString(input.type()) << ")"
         << endl;
 
-    QRCodeDetector qrcode;
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (g_useArucoBased)
+        qrcode = QRCodeDetectorAruco();
+
     vector<Point> corners;
     vector<cv::String> decode_info;