Backport of #22992 to 3.4
### 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
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
Add `estimateSE2(...)`, `estimateSE3(...)`, `estimateSIM2(...)`, `estimateSIM3(...)` for estimating an geometric transformation with rotation and translation (with scaling for SIM) using USAC: as alternative for `estimateAffinePartial2D` and `estimateAffine3D`.
Modified test module.
Remove unused variables.
Remove initializer of unused variable.
Add interfaces to accept UsacParams() and corresponding test codes.
Revise test code.
PartialNd removed
Umeyama rewritten for code quality & speed
comments & minors
rise number of points
fix, and +30% faster!
only one number should be that big
remove USAC code, leave fix only
big number
* fix openmp include and link issue on macos
* turn off have_openmp if OpenMP_CXX_INCLUDE_DIRS is empty
* test commit
* use condition HAVE_OPENMP and OpenMP_CXX_LIBRARIES for linking
* remove trailing whitespace
* remove notes
* update conditions
* use OpenMP_CXX_LIBRARIES for linking
Fix broken paper link for fastNlMeansDenoising
* Fix broken link
* Move citation to `opencv.bib`
* Cite researchgate reference
* Correct citation label
* Use semantic scholar BibTex
Use reinterpret instead of c-style casting for GCC
Co-authored-by: Xu Zhang <xu.zhang@hexintek.com>
Co-authored-by: Maksim Shabunin <maksim.shabunin@gmail.com>
Usage of imread(): magic number 0, unchecked result
* docs: rewrite 0/1 to IMREAD_GRAYSCALE/IMREAD_COLOR in imread()
* samples, apps: rewrite 0/1 to IMREAD_GRAYSCALE/IMREAD_COLOR in imread()
* tests: rewrite 0/1 to IMREAD_GRAYSCALE/IMREAD_COLOR in imread()
* doc/py_tutorials: check imread() result
https://bugs.chromium.org/p/oss-fuzz/issues/detail?id=47342
The read overflow triggered by reading `src[j]` in
```cpp
for (j = 0; j < max; ++j) {
dst[j] = src[j];
}
```
The max is calculated as `new_comps[pcol].w * new_comps[pcol].h`, however the `src = old_comps[cmp].data;` which may have different `w` and `h` dimensions.
merge with https://github.com/opencv/opencv_contrib/pull/3394
move Charuco API from contrib to main repo:
- add CharucoDetector:
```
CharucoDetector::detectBoard(InputArray image, InputOutputArrayOfArrays markerCorners, InputOutputArray markerIds,
OutputArray charucoCorners, OutputArray charucoIds) const // detect charucoCorners and/or markerCorners
CharucoDetector::detectDiamonds(InputArray image, InputOutputArrayOfArrays _markerCorners,
InputOutputArrayOfArrays _markerIds, OutputArrayOfArrays _diamondCorners,
OutputArray _diamondIds) const
```
- add `matchImagePoints()` for `CharucoBoard`
- remove contrib aruco dependencies from interactive-calibration tool
- move almost all aruco tests to objdetect
### 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
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
