Merge branch 4.x

modules/objdetect/include/opencv2/objdetect.hpp

@@ -845,7 +845,7 @@ public:
     CV_WRAP QRCodeDetectorAruco& setDetectorParameters(const QRCodeDetectorAruco::Params& params);
 
     /** @brief Aruco detector parameters are used to search for the finder patterns. */
-    CV_WRAP aruco::DetectorParameters getArucoParameters();
+    CV_WRAP const aruco::DetectorParameters& getArucoParameters() const;
 
     /** @brief Aruco detector parameters are used to search for the finder patterns. */
     CV_WRAP void setArucoParameters(const aruco::DetectorParameters& params);

modules/objdetect/include/opencv2/objdetect/charuco_detector.hpp

@@ -77,6 +77,9 @@ public:
      * If camera parameters are provided, the process is based in an approximated pose estimation, else it is based on local homography.
      * Only visible corners are returned. For each corner, its corresponding identifier is also returned in charucoIds.
      * @sa findChessboardCorners
+     * @note After OpenCV 4.6.0, there was an incompatible change in the ChArUco pattern generation algorithm for even row counts.
+     * Use cv::aruco::CharucoBoard::setLegacyPattern() to ensure compatibility with patterns created using OpenCV versions prior to 4.6.0.
+     * For more information, see the issue: https://github.com/opencv/opencv/issues/23152
      */
     CV_WRAP void detectBoard(InputArray image, OutputArray charucoCorners, OutputArray charucoIds,
                              InputOutputArrayOfArrays markerCorners = noArray(),

modules/objdetect/src/aruco/aruco_detector.cpp

@@ -145,10 +145,8 @@ static void _findMarkerContours(const Mat &in, vector<vector<Point2f> > &candida
         minPerimeterPixels = 4*minSize;
     }
 
-    Mat contoursImg;
-    in.copyTo(contoursImg);
     vector<vector<Point> > contours;
-    findContours(contoursImg, contours, RETR_LIST, CHAIN_APPROX_NONE);
+    findContours(in, contours, RETR_LIST, CHAIN_APPROX_NONE);
     // now filter list of contours
     for(unsigned int i = 0; i < contours.size(); i++) {
         // check perimeter
@@ -161,8 +159,7 @@ static void _findMarkerContours(const Mat &in, vector<vector<Point2f> > &candida
         if(approxCurve.size() != 4 || !isContourConvex(approxCurve)) continue;
 
         // check min distance between corners
-        double minDistSq =
-            max(contoursImg.cols, contoursImg.rows) * max(contoursImg.cols, contoursImg.rows);
+        double minDistSq = max(in.cols, in.rows) * max(in.cols, in.rows);
         for(int j = 0; j < 4; j++) {
             double d = (double)(approxCurve[j].x - approxCurve[(j + 1) % 4].x) *
                            (double)(approxCurve[j].x - approxCurve[(j + 1) % 4].x) +
@@ -177,9 +174,9 @@ static void _findMarkerContours(const Mat &in, vector<vector<Point2f> > &candida
         bool tooNearBorder = false;
         for(int j = 0; j < 4; j++) {
             if(approxCurve[j].x < minDistanceToBorder || approxCurve[j].y < minDistanceToBorder ||
-               approxCurve[j].x > contoursImg.cols - 1 - minDistanceToBorder ||
-               approxCurve[j].y > contoursImg.rows - 1 - minDistanceToBorder)
-                tooNearBorder = true;
+               approxCurve[j].x > in.cols - 1 - minDistanceToBorder ||
+               approxCurve[j].y > in.rows - 1 - minDistanceToBorder)
+               tooNearBorder = true;
         }
         if(tooNearBorder) continue;
 
@@ -883,7 +880,7 @@ void ArucoDetector::detectMarkers(InputArray _image, OutputArrayOfArrays _corner
                 detectorParams.minMarkerLengthRatioOriginalImg == 0.0));
 
     Mat grey;
-    _convertToGrey(_image.getMat(), grey);
+    _convertToGrey(_image, grey);
 
     // Aruco3 functionality is the extension of Aruco.
     // The description can be found in:

modules/objdetect/src/aruco/aruco_utils.cpp

@@ -75,12 +75,12 @@ void _copyVector2Output(vector<vector<Point2f> > &vec, OutputArrayOfArrays out,
     }
 }
 
-void _convertToGrey(InputArray _in, OutputArray _out) {
-    CV_Assert(_in.type() == CV_8UC1 || _in.type() == CV_8UC3);
-    if(_in.type() == CV_8UC3)
+void _convertToGrey(InputArray _in, Mat& _out) {
+    CV_Assert(_in.type() == CV_8UC1 || _in.type() == CV_8UC3 || _in.type() == CV_8UC4);
+    if(_in.type() != CV_8UC1)
         cvtColor(_in, _out, COLOR_BGR2GRAY);
     else
-        _in.copyTo(_out);
+        _out = _in.getMat();
 }
 
 }

modules/objdetect/src/aruco/aruco_utils.hpp

@@ -21,9 +21,9 @@ void _copyVector2Output(std::vector<std::vector<Point2f> > &vec, OutputArrayOfAr
 void _copyInput2Vector(InputArrayOfArrays inp, std::vector<std::vector<Point2f> > &vec);
 
 /**
-  * @brief Convert input image to gray if it is a 3-channels image
+  * @brief Convert input image to gray if it is a BGR or BGRA image
   */
-void _convertToGrey(InputArray _in, OutputArray _out);
+void _convertToGrey(InputArray _in, Mat& _out);
 
 template<typename T>
 inline bool readParameter(const std::string& name, T& parameter, const FileNode& node)

modules/objdetect/src/qrcode.cpp

@@ -4616,13 +4616,13 @@ vector<QRCode> analyzeFinderPatterns(const vector<vector<Point2f> > &corners, co
 struct PimplQRAruco : public ImplContour {
     QRCodeDetectorAruco::Params qrParams;
     aruco::ArucoDetector arucoDetector;
-    aruco::DetectorParameters arucoParams;
 
     PimplQRAruco() {
         Mat bits = Mat::ones(Size(5, 5), CV_8UC1);
         Mat(bits, Rect(1, 1, 3, 3)).setTo(Scalar(0));
         Mat byteList = aruco::Dictionary::getByteListFromBits(bits);
         aruco::Dictionary dictionary = aruco::Dictionary(byteList, 5, 4);
+        aruco::DetectorParameters arucoParams;
         arucoParams.minMarkerPerimeterRate = 0.02;
         arucoDetector = aruco::ArucoDetector(dictionary, arucoParams);
     }
@@ -4696,12 +4696,12 @@ QRCodeDetectorAruco& QRCodeDetectorAruco::setDetectorParameters(const QRCodeDete
     return *this;
 }
 
-aruco::DetectorParameters QRCodeDetectorAruco::getArucoParameters() {
-    return std::dynamic_pointer_cast<PimplQRAruco>(p)->arucoParams;
+const aruco::DetectorParameters& QRCodeDetectorAruco::getArucoParameters() const {
+    return std::dynamic_pointer_cast<PimplQRAruco>(p)->arucoDetector.getDetectorParameters();
 }
 
 void QRCodeDetectorAruco::setArucoParameters(const aruco::DetectorParameters& params) {
-    std::dynamic_pointer_cast<PimplQRAruco>(p)->arucoParams = params;
+    std::dynamic_pointer_cast<PimplQRAruco>(p)->arucoDetector.setDetectorParameters(params);
 }
 
 }  // namespace