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
Megre together with https://github.com/opencv/opencv_contrib/pull/3325
1. Move aruco_detector, aruco_board, aruco_dictionary, aruco_utils to objdetect
1.1 add virtual Board::draw(), virtual ~Board()
1.2 move `testCharucoCornersCollinear` to Board classes (and rename to `checkCharucoCornersCollinear`)
1.3 add wrappers to keep the old api working
3. Reduce inludes
4. Fix java tests (add objdetect import)
5. Refactoring
### 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
```
**WIP**
force_builders=linux,win64,docs,Linux x64 Debug,Custom
Xbuild_contrib:Docs=OFF
build_image:Custom=ubuntu:22.04
build_worker:Custom=linux-1
```
QR code (encoding process)
* add qrcode encoder
* qr encoder fixes
* qr encoder: fix api and realization
* fixed qr encoder, added eci and kanji modes
* trigger CI
* qr encoder constructor fixes
Co-authored-by: APrigarina <ann73617@gmail.com>
Add DNN-based face detection and face recognition into modules/objdetect
* Add DNN-based face detector impl and interface
* Add a sample for DNN-based face detector
* add recog
* add notes
* move samples from samples/cpp to samples/dnn
* add documentation for dnn_face
* add set/get methods for input size, nms & score threshold and topk
* remove the DNN prefix from the face detector and face recognizer
* remove default values in the constructor of impl
* regenerate priors after setting input size
* two filenames for readnet
* Update face.hpp
* Update face_recognize.cpp
* Update face_match.cpp
* Update face.hpp
* Update face_recognize.cpp
* Update face_match.cpp
* Update face_recognize.cpp
* Update dnn_face.markdown
* Update dnn_face.markdown
* Update face.hpp
* Update dnn_face.markdown
* add regression test for face detection
* remove underscore prefix; fix warnings
* add reference & acknowledgement for face detection
* Update dnn_face.markdown
* Update dnn_face.markdown
* Update ts.hpp
* Update test_face.cpp
* Update face_match.cpp
* fix a compile error for python interface; add python examples for face detection and recognition
* Major changes for Vadim's comments:
* Replace class name FaceDetector with FaceDetectorYN in related failes
* Declare local mat before loop in modules/objdetect/src/face_detect.cpp
* Make input image and save flag optional in samples/dnn/face_detect(.cpp, .py)
* Add camera support in samples/dnn/face_detect(.cpp, .py)
* correct file paths for regression test
* fix convertion warnings; remove extra spaces
* update face_recog
* Update dnn_face.markdown
* Fix warnings and errors for the default CI reports:
* Remove trailing white spaces and extra new lines.
* Fix convertion warnings for windows and iOS.
* Add braces around initialization of subobjects.
* Fix warnings and errors for the default CI systems:
* Add prefix 'FR_' for each value name in enum DisType to solve the
redefinition error for iOS compilation; Modify other code accordingly
* Add bookmark '#tutorial_dnn_face' to solve warnings from doxygen
* Correct documentations to solve warnings from doxygen
* update FaceRecognizerSF
* Fix the error for CI to find ONNX models correctly
* add suffix f to float assignments
* add backend & target options for initializing face recognizer
* add checkeq for checking input size and preset size
* update test and threshold
* changes in response to alalek's comments:
* fix typos in samples/dnn/face_match.py
* import numpy before importing cv2
* add documentation to .setInputSize()
* remove extra include in face_recognize.cpp
* fix some bugs
* Update dnn_face.markdown
* update thresholds; remove useless code
* add time suffix to YuNet filename in test
* objdetect: update test code
Detection and decoding of curved QR-codes
* temp changes for curved qrcodes
* added api for curved qr code decoding
* fixed prototypes
* refactored curved qr code decoding
* refactored curved qr code decoding 2nd part
* refactored curved qr code decoding 3rd part
* refactored curved qr code decoding 4th part
* added tests for curved qr code decoding
* refactored curved qr code decoding 5th part
QR-Code detector : multiple detection
* change in qr-codes detection
* change in qr-codes detection
* change in test
* change in test
* add multiple detection
* multiple detection
* multiple detect
* add parallel implementation
* add functional for performance tests
* change in test
* add perftest
* returned implementation for 1 qr-code, added support for vector<Mat> and vector<vector<Point2f>> in MultipleDetectAndDecode
* deleted all lambda expressions
* changing in triangle sort
* fixed warnings
* fixed errors
* add java and python tests
* change in java tests
* change in java and python tests
* change in perf test
* change in qrcode.cpp
* add spaces
* change in qrcode.cpp
* change in qrcode.cpp
* change in qrcode.cpp
* change in java tests
* change in java tests
* solved problems
* solved problems
* change in java and python tests
* change in python tests
* change in python tests
* change in python tests
* change in methods name
* deleted sample qrcode_multi, change in qrcode.cpp
* change in perf tests
* change in objdetect.hpp
* deleted code duplication in sample qrcode.cpp
* returned spaces
* added spaces
* deleted draw function
* change in qrcode.cpp
* change in qrcode.cpp
* deleted all draw functions
* objdetect(QR): extractVerticalLines
* objdetect(QR): whitespaces
* objdetect(QR): simplify operations, avoid duplicated code
* change in interface, additional checks in java and python tests, added new key in sample for saving original image from camera
* fix warnings and errors in python test
* fix
* write in file with space key
* solved error with empty mat check in python test
* correct path to test image
* deleted spaces
* solved error with check empty mat in python tests
* added check of empty vector of points
* samples: rework qrcode.cpp
* objdetect(QR): fix API, input parameters must be first
* objdetect(QR): test/fix points layout
modules/objectdetect/src/detection_based_tracker.cpp: made unique_lock<mutex> local to each function
samples/cpp/dbt_face_detection.cpp: fixed warnings on loop in Visual Studio
