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/include/opencv2/objdetect.hpp

@@ -45,6 +45,7 @@
 #define OPENCV_OBJDETECT_HPP
 
 #include "opencv2/core.hpp"
+#include "opencv2/objdetect/aruco_detector.hpp"
 
 /**
 @defgroup objdetect Object Detection
@@ -763,28 +764,15 @@ public:
 
 };
 
-class CV_EXPORTS_W QRCodeDetector
-{
+class CV_EXPORTS_W_SIMPLE QRCodeDetectorBase {
 public:
-    CV_WRAP QRCodeDetector();
-    ~QRCodeDetector();
+    CV_DEPRECATED_EXTERNAL  // avoid using in C++ code, will be moved to "protected" (need to fix bindings first)
+    QRCodeDetectorBase();
 
-    /** @brief sets the epsilon used during the horizontal scan of QR code stop marker detection.
-     @param epsX Epsilon neighborhood, which allows you to determine the horizontal pattern
-     of the scheme 1:1:3:1:1 according to QR code standard.
-    */
-    CV_WRAP void setEpsX(double epsX);
-    /** @brief sets the epsilon used during the vertical scan of QR code stop marker detection.
-     @param epsY Epsilon neighborhood, which allows you to determine the vertical pattern
-     of the scheme 1:1:3:1:1 according to QR code standard.
-     */
-    CV_WRAP void setEpsY(double epsY);
-
-    /** @brief use markers to improve the position of the corners of the QR code
-     *
-     * alignmentMarkers using by default
-     */
-    CV_WRAP void setUseAlignmentMarkers(bool useAlignmentMarkers);
+    QRCodeDetectorBase(const QRCodeDetectorBase&) = default;
+    QRCodeDetectorBase(QRCodeDetectorBase&&) = default;
+    QRCodeDetectorBase& operator=(const QRCodeDetectorBase&) = default;
+    QRCodeDetectorBase& operator=(QRCodeDetectorBase&&) = default;
 
     /** @brief Detects QR code in image and returns the quadrangle containing the code.
      @param img grayscale or color (BGR) image containing (or not) QR code.
@@ -799,16 +787,7 @@ public:
      @param points Quadrangle vertices found by detect() method (or some other algorithm).
      @param straight_qrcode The optional output image containing rectified and binarized QR code
      */
-    CV_WRAP std::string decode(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());
-
-    /** @brief Decodes QR code on a curved surface in image once it's found by the detect() method.
-
-     Returns UTF8-encoded output string or empty string if the code cannot be decoded.
-     @param img grayscale or color (BGR) image containing QR code.
-     @param points Quadrangle vertices found by detect() method (or some other algorithm).
-     @param straight_qrcode The optional output image containing rectified and binarized QR code
-     */
-    CV_WRAP cv::String decodeCurved(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());
+    CV_WRAP std::string decode(InputArray img, InputArray points, OutputArray straight_qrcode = noArray()) const;
 
     /** @brief Both detects and decodes QR code
 
@@ -817,16 +796,8 @@ public:
      @param straight_qrcode The optional output image containing rectified and binarized QR code
      */
     CV_WRAP std::string detectAndDecode(InputArray img, OutputArray points=noArray(),
-                                        OutputArray straight_qrcode = noArray());
-
-    /** @brief Both detects and decodes QR code on a curved surface
+                                        OutputArray straight_qrcode = noArray()) const;
 
-     @param img grayscale or color (BGR) image containing QR code.
-     @param points optional output array of vertices of the found QR code quadrangle. Will be empty if not found.
-     @param straight_qrcode The optional output image containing rectified and binarized QR code
-     */
-    CV_WRAP std::string detectAndDecodeCurved(InputArray img, OutputArray points=noArray(),
-                                              OutputArray straight_qrcode = noArray());
 
     /** @brief Detects QR codes in image and returns the vector of the quadrangles containing the codes.
      @param img grayscale or color (BGR) image containing (or not) QR codes.
@@ -860,18 +831,109 @@ public:
             OutputArray points = noArray(),
             OutputArrayOfArrays straight_qrcode = noArray()
     ) const;
-
-protected:
     struct Impl;
+protected:
     Ptr<Impl> p;
 };
 
+class CV_EXPORTS_W_SIMPLE QRCodeDetector : public QRCodeDetectorBase
+{
+public:
+    CV_WRAP QRCodeDetector();
+
+    /** @brief sets the epsilon used during the horizontal scan of QR code stop marker detection.
+     @param epsX Epsilon neighborhood, which allows you to determine the horizontal pattern
+     of the scheme 1:1:3:1:1 according to QR code standard.
+    */
+    CV_WRAP QRCodeDetector& setEpsX(double epsX);
+    /** @brief sets the epsilon used during the vertical scan of QR code stop marker detection.
+     @param epsY Epsilon neighborhood, which allows you to determine the vertical pattern
+     of the scheme 1:1:3:1:1 according to QR code standard.
+     */
+    CV_WRAP QRCodeDetector& setEpsY(double epsY);
+
+    /** @brief use markers to improve the position of the corners of the QR code
+     *
+     * alignmentMarkers using by default
+     */
+    CV_WRAP QRCodeDetector& setUseAlignmentMarkers(bool useAlignmentMarkers);
+
+    /** @brief Decodes QR code on a curved surface in image once it's found by the detect() method.
+
+     Returns UTF8-encoded output string or empty string if the code cannot be decoded.
+     @param img grayscale or color (BGR) image containing QR code.
+     @param points Quadrangle vertices found by detect() method (or some other algorithm).
+     @param straight_qrcode The optional output image containing rectified and binarized QR code
+     */
+    CV_WRAP cv::String decodeCurved(InputArray img, InputArray points, OutputArray straight_qrcode = noArray());
+
+    /** @brief Both detects and decodes QR code on a curved surface
+
+     @param img grayscale or color (BGR) image containing QR code.
+     @param points optional output array of vertices of the found QR code quadrangle. Will be empty if not found.
+     @param straight_qrcode The optional output image containing rectified and binarized QR code
+     */
+    CV_WRAP std::string detectAndDecodeCurved(InputArray img, OutputArray points=noArray(),
+                                              OutputArray straight_qrcode = noArray());
+};
+
+class CV_EXPORTS_W_SIMPLE QRCodeDetectorAruco : public QRCodeDetectorBase {
+public:
+    CV_WRAP QRCodeDetectorAruco();
+
+    struct CV_EXPORTS_W_SIMPLE Params {
+        CV_WRAP Params();
+
+        /** @brief The minimum allowed pixel size of a QR module in the smallest image in the image pyramid, default 4.f */
+        CV_PROP_RW float minModuleSizeInPyramid;
+
+        /** @brief The maximum allowed relative rotation for finder patterns in the same QR code, default pi/12 */
+        CV_PROP_RW float maxRotation;
+
+        /** @brief The maximum allowed relative mismatch in module sizes for finder patterns in the same QR code, default 1.75f */
+        CV_PROP_RW float maxModuleSizeMismatch;
+
+        /** @brief The maximum allowed module relative mismatch for timing pattern module, default 2.f
+         *
+         * If relative mismatch of timing pattern module more this value, penalty points will be added.
+         * If a lot of penalty points are added, QR code will be rejected. */
+        CV_PROP_RW float maxTimingPatternMismatch;
+
+        /** @brief The maximum allowed percentage of penalty points out of total pins in timing pattern, default 0.4f */
+        CV_PROP_RW float maxPenalties;
+
+        /** @brief The maximum allowed relative color mismatch in the timing pattern, default 0.2f*/
+        CV_PROP_RW float maxColorsMismatch;
+
+        /** @brief The algorithm find QR codes with almost minimum timing pattern score and minimum size, default 0.9f
+         *
+         * The QR code with the minimum "timing pattern score" and minimum "size" is selected as the best QR code.
+         * If for the current QR code "timing pattern score" * scaleTimingPatternScore < "previous timing pattern score" and "size" < "previous size", then
+         * current QR code set as the best QR code. */
+        CV_PROP_RW float scaleTimingPatternScore;
+    };
+
+    /** @brief QR code detector constructor for Aruco-based algorithm. See cv::QRCodeDetectorAruco::Params */
+    CV_WRAP explicit QRCodeDetectorAruco(const QRCodeDetectorAruco::Params& params);
+
+    /** @brief Detector parameters getter. See cv::QRCodeDetectorAruco::Params */
+    CV_WRAP const QRCodeDetectorAruco::Params& getDetectorParameters() const;
+
+    /** @brief Detector parameters setter. See cv::QRCodeDetectorAruco::Params */
+    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();
+
+    /** @brief Aruco detector parameters are used to search for the finder patterns. */
+    CV_WRAP void setArucoParameters(const aruco::DetectorParameters& params);
+};
+
 //! @}
 }
 
 #include "opencv2/objdetect/detection_based_tracker.hpp"
 #include "opencv2/objdetect/face.hpp"
-#include "opencv2/objdetect/aruco_detector.hpp"
 #include "opencv2/objdetect/charuco_detector.hpp"
 
 #endif

modules/objdetect/misc/objc/gen_dict.json

+{
+    "ManualFuncs" : {
+        "QRCodeDetectorAruco": {
+            "getDetectorParameters": { "declaration" : [""], "implementation" : [""] }
+        }
+    }
+}

modules/objdetect/perf/perf_qrcode_pipeline.cpp

@@ -3,6 +3,7 @@
 // of this distribution and at http://opencv.org/license.html.
 
 #include "perf_precomp.hpp"
+#include "../test/test_qr_utils.hpp"
 
 namespace opencv_test
 {
@@ -23,7 +24,9 @@ PERF_TEST_P_(Perf_Objdetect_QRCode, detect)
     std::vector< Point > corners;
     QRCodeDetector qrcode;
     TEST_CYCLE() ASSERT_TRUE(qrcode.detect(src, corners));
-    SANITY_CHECK(corners);
+    const int pixels_error = 3;
+    check_qr(root, name_current_image, "test_images", corners, {}, pixels_error);
+    SANITY_CHECK_NOTHING();
 }
 
 #ifdef HAVE_QUIRC
@@ -45,48 +48,52 @@ PERF_TEST_P_(Perf_Objdetect_QRCode, decode)
         decoded_info = qrcode.decode(src, corners, straight_barcode);
         ASSERT_FALSE(decoded_info.empty());
     }
-
-    std::vector<uint8_t> decoded_info_uint8_t(decoded_info.begin(), decoded_info.end());
-    SANITY_CHECK(decoded_info_uint8_t);
-    SANITY_CHECK(straight_barcode);
-
+    const int pixels_error = 3;
+    check_qr(root, name_current_image, "test_images", corners, {decoded_info}, pixels_error);
+    SANITY_CHECK_NOTHING();
 }
 #endif
 
-typedef ::perf::TestBaseWithParam< std::string > Perf_Objdetect_QRCode_Multi;
+typedef ::perf::TestBaseWithParam<std::tuple<std::string, std::string>> Perf_Objdetect_QRCode_Multi;
 
-static inline bool compareCorners(const Point2f& corner1, const Point2f& corner2) {
-    return corner1.x == corner2.x ? corner1.y < corner2.y : corner1.x < corner2.x;
-}
+static std::set<std::pair<std::string, std::string>> disabled_samples = {{"5_qrcodes.png", "aruco_based"}};
 
 PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, detectMulti)
 {
-    const std::string name_current_image = GetParam();
+    const std::string name_current_image = get<0>(GetParam());
+    const std::string method = get<1>(GetParam());
     const std::string root = "cv/qrcode/multiple/";
 
     std::string image_path = findDataFile(root + name_current_image);
     Mat src = imread(image_path);
     ASSERT_FALSE(src.empty()) << "Can't read image: " << image_path;
-    std::vector<Point2f> corners;
-    QRCodeDetector qrcode;
+    std::vector<Point> corners;
+    QRCodeDetectorBase qrcode = QRCodeDetector();
+    if (method == "aruco_based") {
+        qrcode = QRCodeDetectorAruco();
+    }
     TEST_CYCLE() ASSERT_TRUE(qrcode.detectMulti(src, corners));
-    sort(corners.begin(), corners.end(), compareCorners);
-    SANITY_CHECK(corners);
-}
-
-static inline bool compareQR(const pair<string, Mat>& v1, const pair<string, Mat>& v2) {
-    return v1.first < v2.first;
+    const int pixels_error = 7;
+    check_qr(root, name_current_image, "multiple_images", corners, {}, pixels_error, true);
+    SANITY_CHECK_NOTHING();
 }
 
 #ifdef HAVE_QUIRC
 PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, decodeMulti)
 {
-    const std::string name_current_image = GetParam();
+    const std::string name_current_image = get<0>(GetParam());
+    std::string method = get<1>(GetParam());
     const std::string root = "cv/qrcode/multiple/";
     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<Point2f> corners;
     ASSERT_TRUE(qrcode.detectMulti(src, corners));
     std::vector<Mat> straight_barcode;
@@ -94,26 +101,20 @@ PERF_TEST_P_(Perf_Objdetect_QRCode_Multi, decodeMulti)
     TEST_CYCLE()
     {
         ASSERT_TRUE(qrcode.decodeMulti(src, corners, decoded_info, straight_barcode));
-        for(size_t i = 0; i < decoded_info.size(); i++)
-        {
-            ASSERT_FALSE(decoded_info[i].empty());
-        }
+    }
+    ASSERT_TRUE(decoded_info.size() > 0ull);
+    for(size_t i = 0; i < decoded_info.size(); i++) {
+        ASSERT_FALSE(decoded_info[i].empty());
     }
     ASSERT_EQ(decoded_info.size(), straight_barcode.size());
-    vector<pair<string, Mat> > result;
-    for (size_t i = 0ull;  i < decoded_info.size(); i++) {
-        result.push_back(make_pair(decoded_info[i], straight_barcode[i]));
+    vector<Point> corners_result(corners.size());
+    for (size_t i = 0ull; i < corners_result.size(); i++) {
+        corners_result[i] = corners[i];
     }
 
-    sort(result.begin(), result.end(), compareQR);
-    vector<vector<uint8_t> > decoded_info_sort;
-    vector<Mat> straight_barcode_sort;
-    for (size_t i = 0ull;  i < result.size(); i++) {
-        vector<uint8_t> tmp(result[i].first.begin(), result[i].first.end());
-        decoded_info_sort.push_back(tmp);
-        straight_barcode_sort.push_back(result[i].second);
-    }
-    SANITY_CHECK(decoded_info_sort);
+    const int pixels_error = 7;
+    check_qr(root, name_current_image, "multiple_images", corners_result, decoded_info, pixels_error, true);
+    SANITY_CHECK_NOTHING();
 }
 #endif
 
@@ -127,11 +128,10 @@ INSTANTIATE_TEST_CASE_P(/*nothing*/, Perf_Objdetect_QRCode,
 // version_5_right.jpg DISABLED after tile fix, PR #22025
 
 INSTANTIATE_TEST_CASE_P(/*nothing*/, Perf_Objdetect_QRCode_Multi,
-    ::testing::Values(
-      "2_qrcodes.png", "3_close_qrcodes.png", "3_qrcodes.png", "4_qrcodes.png",
-      "5_qrcodes.png", "6_qrcodes.png", "7_qrcodes.png", "8_close_qrcodes.png"
-    )
-);
+    testing::Combine(testing::Values("2_qrcodes.png", "3_close_qrcodes.png", "3_qrcodes.png", "4_qrcodes.png",
+                                     "5_qrcodes.png", "6_qrcodes.png", "7_qrcodes.png", "8_close_qrcodes.png"),
+                     testing::Values("contours_based", "aruco_based")));
+
 
 typedef ::perf::TestBaseWithParam< tuple< std::string, Size > > Perf_Objdetect_Not_QRCode;
 

modules/objdetect/src/qrcode.cpp

@@ -950,34 +950,99 @@ vector<Point2f> QRDetect::getQuadrilateral(vector<Point2f> angle_list)
     return result_angle_list;
 }
 
+struct QRCodeDetectorBase::Impl {
+    virtual ~Impl() {}
+    virtual bool detect(InputArray img, OutputArray points) const = 0;
+    virtual std::string decode(InputArray img, InputArray points, OutputArray straight_qrcode) const = 0;
+    virtual std::string detectAndDecode(InputArray img, OutputArray points, OutputArray straight_qrcode) const = 0;
+    virtual bool detectMulti(InputArray img, OutputArray points) const = 0;
+    virtual bool decodeMulti(InputArray img, InputArray points, std::vector<std::string>& decoded_info,
+                             OutputArrayOfArrays straight_qrcode) const = 0;
+    virtual bool detectAndDecodeMulti(InputArray img, std::vector<std::string>& decoded_info, OutputArray points,
+                                      OutputArrayOfArrays straight_qrcode) const = 0;
+};
+
+QRCodeDetectorBase::QRCodeDetectorBase() {}
+
+bool QRCodeDetectorBase::detect(InputArray img, OutputArray points) const {
+    CV_Assert(p);
+    return p->detect(img, points);
+}
+
+std::string QRCodeDetectorBase::decode(InputArray img, InputArray points, OutputArray straight_qrcode) const {
+    CV_Assert(p);
+    return p->decode(img, points, straight_qrcode);
+}
 
-struct QRCodeDetector::Impl
+std::string QRCodeDetectorBase::detectAndDecode(InputArray img, OutputArray points, OutputArray straight_qrcode) const {
+    CV_Assert(p);
+    return p->detectAndDecode(img, points, straight_qrcode);
+}
+
+bool QRCodeDetectorBase::detectMulti(InputArray img, OutputArray points) const {
+    CV_Assert(p);
+    return p->detectMulti(img, points);
+}
+
+bool QRCodeDetectorBase::decodeMulti(InputArray img, InputArray points, std::vector<std::string>& decoded_info,
+                                     OutputArrayOfArrays straight_qrcode) const {
+    CV_Assert(p);
+    return p->decodeMulti(img, points, decoded_info, straight_qrcode);
+}
+
+bool QRCodeDetectorBase::detectAndDecodeMulti(InputArray img, std::vector<std::string>& decoded_info,
+                                              OutputArray points, OutputArrayOfArrays straight_qrcode) const {
+    CV_Assert(p);
+    return p->detectAndDecodeMulti(img, decoded_info, points, straight_qrcode);
+}
+
+struct ImplContour : public QRCodeDetectorBase::Impl
 {
 public:
-    Impl() { epsX = 0.2; epsY = 0.1; }
-    ~Impl() {}
+    ImplContour(): epsX(0.2), epsY(0.1)  {}
 
     double epsX, epsY;
-    vector<vector<Point2f>> alignmentMarkers;
-    vector<Point2f> updateQrCorners;
+    mutable vector<vector<Point2f>> alignmentMarkers;
+    mutable vector<Point2f> updateQrCorners;
     bool useAlignmentMarkers = true;
+
+    bool detect(InputArray in, OutputArray points) const override;
+    std::string decode(InputArray img, InputArray points, OutputArray straight_qrcode) const override;
+    std::string detectAndDecode(InputArray img, OutputArray points, OutputArray straight_qrcode) const override;
+
+    bool detectMulti(InputArray img, OutputArray points) const override;
+    bool decodeMulti(InputArray img, InputArray points, std::vector<cv::String>& decoded_info,
+                     OutputArrayOfArrays straight_qrcode) const override;
+    bool detectAndDecodeMulti(InputArray img, std::vector<cv::String>& decoded_info, OutputArray points,
+                              OutputArrayOfArrays straight_qrcode) const override;
+
+    String decodeCurved(InputArray in, InputArray points, OutputArray straight_qrcode);
+
+    std::string detectAndDecodeCurved(InputArray in, OutputArray points, OutputArray straight_qrcode);
 };
 
-QRCodeDetector::QRCodeDetector() : p(new Impl) {}
+QRCodeDetector::QRCodeDetector() {
+    p = makePtr<ImplContour>();
+}
 
-QRCodeDetector::~QRCodeDetector() {}
+QRCodeDetector& QRCodeDetector::setEpsX(double epsX) {
+    std::dynamic_pointer_cast<ImplContour>(p)->epsX = epsX;
+    return *this;
+}
 
-void QRCodeDetector::setEpsX(double epsX) { p->epsX = epsX; }
-void QRCodeDetector::setEpsY(double epsY) { p->epsY = epsY; }
+QRCodeDetector& QRCodeDetector::setEpsY(double epsY) {
+    std::dynamic_pointer_cast<ImplContour>(p)->epsY = epsY;
+    return *this;
+}
 
-bool QRCodeDetector::detect(InputArray in, OutputArray points) const
+bool ImplContour::detect(InputArray in, OutputArray points) const
 {
     Mat inarr;
     if (!checkQRInputImage(in, inarr))
         return false;
 
     QRDetect qrdet;
-    qrdet.init(inarr, p->epsX, p->epsY);
+    qrdet.init(inarr, epsX, epsY);
     if (!qrdet.localization()) { return false; }
     if (!qrdet.computeTransformationPoints()) { return false; }
     vector<Point2f> pnts2f = qrdet.getTransformationPoints();
@@ -2789,9 +2854,7 @@ QRDecode::QRDecode(bool _useAlignmentMarkers):
     test_perspective_size(0.f)
     {}
 
-std::string QRCodeDetector::decode(InputArray in, InputArray points,
-                                   OutputArray straight_qrcode)
-{
+std::string ImplContour::decode(InputArray in, InputArray points, OutputArray straight_qrcode) const {
     Mat inarr;
     if (!checkQRInputImage(in, inarr))
         return std::string();
@@ -2801,7 +2864,7 @@ std::string QRCodeDetector::decode(InputArray in, InputArray points,
     CV_Assert(src_points.size() == 4);
     CV_CheckGT(contourArea(src_points), 0.0, "Invalid QR code source points");
 
-    QRDecode qrdec(p->useAlignmentMarkers);
+    QRDecode qrdec(useAlignmentMarkers);
     qrdec.init(inarr, src_points);
     bool ok = qrdec.straightDecodingProcess();
 
@@ -2815,14 +2878,18 @@ std::string QRCodeDetector::decode(InputArray in, InputArray points,
         qrdec.getStraightBarcode().convertTo(straight_qrcode, CV_8UC1);
     }
     if (ok && !decoded_info.empty()) {
-        p->alignmentMarkers = {qrdec.alignment_coords};
-        p->updateQrCorners = qrdec.getOriginalPoints();
+        alignmentMarkers = {qrdec.alignment_coords};
+        updateQrCorners = qrdec.getOriginalPoints();
     }
     return ok ? decoded_info : std::string();
 }
 
-cv::String QRCodeDetector::decodeCurved(InputArray in, InputArray points,
-                                        OutputArray straight_qrcode)
+String QRCodeDetector::decodeCurved(InputArray in, InputArray points, OutputArray straight_qrcode) {
+    CV_Assert(p);
+    return std::dynamic_pointer_cast<ImplContour>(p)->decodeCurved(in, points, straight_qrcode);
+}
+
+String ImplContour::decodeCurved(InputArray in, InputArray points, OutputArray straight_qrcode)
 {
     Mat inarr;
     if (!checkQRInputImage(in, inarr))
@@ -2833,7 +2900,7 @@ cv::String QRCodeDetector::decodeCurved(InputArray in, InputArray points,
     CV_Assert(src_points.size() == 4);
     CV_CheckGT(contourArea(src_points), 0.0, "Invalid QR code source points");
 
-    QRDecode qrdec(p->useAlignmentMarkers);
+    QRDecode qrdec(useAlignmentMarkers);
     qrdec.init(inarr, src_points);
     bool ok = qrdec.curvedDecodingProcess();
 
@@ -2851,10 +2918,7 @@ cv::String QRCodeDetector::decodeCurved(InputArray in, InputArray points,
     return ok ? decoded_info : std::string();
 }
 
-std::string QRCodeDetector::detectAndDecode(InputArray in,
-                                            OutputArray points_,
-                                            OutputArray straight_qrcode)
-{
+std::string ImplContour::detectAndDecode(InputArray in, OutputArray points_, OutputArray straight_qrcode) const {
     Mat inarr;
     if (!checkQRInputImage(in, inarr))
     {
@@ -2874,9 +2938,14 @@ std::string QRCodeDetector::detectAndDecode(InputArray in,
     return decoded_info;
 }
 
-std::string QRCodeDetector::detectAndDecodeCurved(InputArray in,
-                                                  OutputArray points_,
-                                                  OutputArray straight_qrcode)
+std::string QRCodeDetector::detectAndDecodeCurved(InputArray in, OutputArray points,
+                                                  OutputArray straight_qrcode) {
+    CV_Assert(p);
+    return std::dynamic_pointer_cast<ImplContour>(p)->detectAndDecodeCurved(in, points, straight_qrcode);
+}
+
+std::string ImplContour::detectAndDecodeCurved(InputArray in, OutputArray points_,
+                                               OutputArray straight_qrcode)
 {
     Mat inarr;
     if (!checkQRInputImage(in, inarr))
@@ -3817,31 +3886,28 @@ bool QRDetectMulti::computeTransformationPoints(const size_t cur_ind)
     return true;
 }
 
-bool QRCodeDetector::detectMulti(InputArray in, OutputArray points) const
-{
-    Mat inarr;
-    if (!checkQRInputImage(in, inarr))
-    {
+bool ImplContour::detectMulti(InputArray in, OutputArray points) const {
+    Mat gray;
+    if (!checkQRInputImage(in, gray)) {
         points.release();
         return false;
     }
-
+    vector<Point2f> result;
     QRDetectMulti qrdet;
-    qrdet.init(inarr, p->epsX, p->epsY);
-    if (!qrdet.localization())
-    {
+    qrdet.init(gray, epsX, epsY);
+    if (!qrdet.localization()) {
         points.release();
         return false;
     }
-    vector< vector< Point2f > > pnts2f = qrdet.getTransformationPoints();
-    vector<Point2f> trans_points;
+    vector<vector<Point2f> > pnts2f = qrdet.getTransformationPoints();
     for(size_t i = 0; i < pnts2f.size(); i++)
         for(size_t j = 0; j < pnts2f[i].size(); j++)
-            trans_points.push_back(pnts2f[i][j]);
-
-    updatePointsResult(points, trans_points);
-
-    return true;
+            result.push_back(pnts2f[i][j]);
+    if (result.size() >= 4) {
+        updatePointsResult(points, result);
+        return true;
+    }
+    return false;
 }
 
 class ParallelDecodeProcess : public ParallelLoopBody
@@ -3902,7 +3968,7 @@ private:
 
 };
 
-bool QRCodeDetector::decodeMulti(
+bool ImplContour::decodeMulti(
         InputArray img,
         InputArray points,
         CV_OUT std::vector<cv::String>& decoded_info,
@@ -3926,7 +3992,7 @@ bool QRCodeDetector::decodeMulti(
         }
     }
     CV_Assert(src_points.size() > 0);
-    vector<QRDecode> qrdec(src_points.size(), p->useAlignmentMarkers);
+    vector<QRDecode> qrdec(src_points.size(), useAlignmentMarkers);
     vector<Mat> straight_barcode(src_points.size());
     vector<std::string> info(src_points.size());
     ParallelDecodeProcess parallelDecodeProcess(inarr, qrdec, info, straight_barcode, src_points);
@@ -3957,12 +4023,12 @@ bool QRCodeDetector::decodeMulti(
     {
        decoded_info.push_back(info[i]);
     }
-    p->alignmentMarkers.resize(src_points.size());
-    p->updateQrCorners.resize(src_points.size()*4ull);
+    alignmentMarkers.resize(src_points.size());
+    updateQrCorners.resize(src_points.size()*4ull);
     for (size_t i = 0ull; i < src_points.size(); i++) {
-        p->alignmentMarkers[i] = qrdec[i].alignment_coords;
+        alignmentMarkers[i] = qrdec[i].alignment_coords;
         for (size_t j = 0ull; j < 4ull; j++)
-            p->updateQrCorners[i*4ull+j] = qrdec[i].getOriginalPoints()[j] * qrdec[i].coeff_expansion;
+            updateQrCorners[i*4ull+j] = qrdec[i].getOriginalPoints()[j] * qrdec[i].coeff_expansion;
     }
     if (!decoded_info.empty())
         return true;
@@ -3970,7 +4036,7 @@ bool QRCodeDetector::decodeMulti(
         return false;
 }
 
-bool QRCodeDetector::detectAndDecodeMulti(
+bool ImplContour::detectAndDecodeMulti(
         InputArray img,
         CV_OUT std::vector<cv::String>& decoded_info,
         OutputArray points_,
@@ -3994,13 +4060,537 @@ bool QRCodeDetector::detectAndDecodeMulti(
     updatePointsResult(points_, points);
     decoded_info.clear();
     ok = decodeMulti(inarr, points, decoded_info, straight_qrcode);
-    updatePointsResult(points_, p->updateQrCorners);
+    updatePointsResult(points_, updateQrCorners);
     return ok;
 }
 
-void QRCodeDetector::setUseAlignmentMarkers(bool useAlignmentMarkers) {
-    p->useAlignmentMarkers = useAlignmentMarkers;
+QRCodeDetector& QRCodeDetector::setUseAlignmentMarkers(bool useAlignmentMarkers) {
+    (std::dynamic_pointer_cast<ImplContour>)(p)->useAlignmentMarkers = useAlignmentMarkers;
+    return *this;
+}
+
+QRCodeDetectorAruco::Params::Params() {
+    minModuleSizeInPyramid = 4.f;
+    maxRotation = (float)CV_PI/12.f;
+    maxModuleSizeMismatch = 1.75f;
+    maxTimingPatternMismatch = 2.f;
+    maxPenalties = 0.4f;
+    maxColorsMismatch = 0.2f;
+    scaleTimingPatternScore = 0.9f;
+}
+
+namespace {
+
+struct FinderPatternInfo {
+    FinderPatternInfo() {}
+
+    FinderPatternInfo(const vector<Point2f>& patternPoints): points(patternPoints) {
+        float minSin = 1.f;
+        for (int i = 0; i < 4; i++) {
+            center += points[i];
+            const Point2f side = points[i]-points[(i+1) % 4];
+            const float lenSide = sqrt(normL2Sqr<float>(side));
+            minSin = min(minSin, abs(side.y) / lenSide);
+            moduleSize += lenSide;
+        }
+        moduleSize /= (4.f * 7.f); // 4 sides, 7 modules in one side
+        center /= 4.f;
+        minQrAngle = asin(minSin);
+    }
+
+    enum TypePattern {
+        CENTER,
+        RIGHT,
+        BOTTOM,
+        NONE
+    };
+
+    void setType(const TypePattern& _typePattern, const Point2f& centerQR) {
+        typePattern = _typePattern;
+        float bestLen = normL2Sqr<float>(centerQR - points[0]);
+        int id = 0;
+        for (int i = 1; i < 4; i++) {
+            float len = normL2Sqr<float>(centerQR - points[i]);
+            if (len < bestLen) {
+                bestLen = len;
+                id = i;
+            }
+        }
+        innerCornerId = id;
+    }
+
+    Point2f getDirectionTo(const TypePattern& other) const {
+        Point2f res = points[innerCornerId];
+        if (typePattern == TypePattern::CENTER) {
+            if (other == TypePattern::RIGHT) {
+                res -= points[(innerCornerId + 1) % 4];
+                res = 0.5f*(res + points[(innerCornerId + 3) % 4] - points[(innerCornerId + 2) % 4]);
+            }
+            else if (other == TypePattern::BOTTOM) {
+                res -= points[(innerCornerId + 3) % 4];
+                res = 0.5f*(res + points[(innerCornerId + 1) % 4] - points[(innerCornerId + 2) % 4]);
+            }
+        }
+        else if (typePattern == TypePattern::RIGHT && other == TypePattern::CENTER) {
+            res = res - points[(innerCornerId + 3) % 4];
+            res = 0.5f*(res + points[(innerCornerId + 1) % 4] - points[(innerCornerId + 2) % 4]);
+        }
+        else if (typePattern == TypePattern::BOTTOM && other == TypePattern::CENTER) {
+            res = res - points[(innerCornerId + 1) % 4];
+            res = 0.5f*(res + points[(innerCornerId + 3) % 4] - points[(innerCornerId + 2) % 4]);
+        }
+        return res;
+    }
+
+    bool checkTriangleAngle(const FinderPatternInfo& patternRight, const FinderPatternInfo& patternBottom, const float length2Vec) {
+        // check the triangle angle btw right & center & bootom sides of QR code
+        // the triangle angle shoud be between 30 and 150 degrees
+        // abs(pi/2 - triangle_angle) should be less 60 degrees
+        const float angle = abs((float)CV_PI/2.f - acos((center - patternRight.center).dot((center - patternBottom.center)) / length2Vec));
+
+        const float maxTriangleDeltaAngle = (float)CV_PI / 3.f;
+        if (angle > maxTriangleDeltaAngle) {
+            return false;
+        }
+        return true;
+    }
+
+    bool checkAngle(const FinderPatternInfo& other, const float maxRotation) {
+        Point2f toOther = getDirectionTo(other.typePattern);
+        Point2f toThis = other.getDirectionTo(typePattern);
+        const float cosAngle = getCosAngle(toOther, toThis);
+        if (cosAngle < 0.f && (CV_PI - acos(cosAngle)) / 2.f < maxRotation) {
+            const float angleCenter = max(acos(getCosAngle(toOther, other.center - center)), acos(getCosAngle(toThis, center - other.center)));
+            if (angleCenter < maxRotation)
+                return true;
+            }
+        return false;
+    }
+
+    static float getCosAngle(const Point2f& vec1, const Point2f& vec2) {
+        float cosAngle = vec1.dot(vec2) / (sqrt(normL2Sqr<float>(vec1)) * sqrt(normL2Sqr<float>(vec2)));
+        cosAngle = std::max(-1.f, cosAngle);
+        cosAngle = std::min(1.f, cosAngle);
+        return cosAngle;
+    }
+
+    pair<int, Point2f> getQRCorner() const {
+        if (typePattern == TypePattern::CENTER) {
+            int id = (innerCornerId + 2) % 4;
+            return std::make_pair(id, points[id]);
+        }
+        else if (typePattern != TypePattern::NONE) {
+            int id = (innerCornerId + 2) % 4;
+            return std::make_pair(id, points[id]);
+        }
+        return std::make_pair(-1, Point2f());
+    }
+
+    pair<int, Point2f> getCornerForIntersection() const {
+        if (typePattern == TypePattern::RIGHT) {
+            int id = (innerCornerId + 3) % 4;
+            return std::make_pair(id, points[id]);
+        }
+        else if (typePattern == TypePattern::BOTTOM) {
+            int id = (innerCornerId + 1) % 4;
+            return std::make_pair(id, points[id]);
+        }
+        return std::make_pair(-1, Point2f());
+    }
+
+    Point2f getTimingStart(TypePattern direction) const {
+        const float timingStartPosition = .5f;
+        const float patternLength = 7.f;
+        Point2f start = points[innerCornerId]*((patternLength - timingStartPosition)/patternLength);
+        if (typePattern == TypePattern::CENTER && direction == TypePattern::RIGHT) {
+            start += points[(innerCornerId + 3) % 4]*(timingStartPosition/patternLength);
+        }
+        else if (typePattern == TypePattern::CENTER && direction == TypePattern::BOTTOM) {
+            start += points[(innerCornerId + 1) % 4]*(timingStartPosition/patternLength);
+        }
+        else if (typePattern == TypePattern::RIGHT && direction == TypePattern::CENTER) {
+            start += points[(innerCornerId + 1) % 4]*(timingStartPosition/patternLength);
+        }
+        else if (typePattern == TypePattern::BOTTOM && direction == TypePattern::CENTER) {
+            start += points[(innerCornerId + 3) % 4]*(timingStartPosition/patternLength);
+        }
+        return start + getDirectionTo(direction)/(patternLength*2.f);
+    }
+
+    // return total white+black modules in timing pattern, total white modules, penaltyPoints
+    Point3i getTimingPatternScore(const Point2f& start, const Point2f& end, Mat &img, const float maxTimingPatternMismatch) const {
+        Rect imageRect(Point(), img.size());
+        int penaltyPoints = 0;
+        int colorCounters[2] = {0, 0};
+        if (imageRect.contains(Point(cvRound(end.x), cvRound(end.y)))) {
+            LineIterator lineIterator(start, end);
+            uint8_t prevValue = img.at<uint8_t>(lineIterator.pos());
+
+            vector<Point> vec = {lineIterator.pos()};
+
+            // the starting position in the timing pattern is the white module white module next to the finder pattern.
+            bool whiteColor = true;
+            lineIterator++;
+            colorCounters[whiteColor]++;
+
+            for(int i = 1; i < lineIterator.count; i++, ++lineIterator) {
+                const uint8_t value = img.at<uint8_t>(lineIterator.pos());
+                if (prevValue != value) {
+                    const float dist = sqrt(normL2Sqr<float>((Point2f)(vec.back()-lineIterator.pos())));
+                    // check long and short lines in timing pattern
+                    const float relativeDiff = max(moduleSize, dist)/min(moduleSize, dist);
+                    if (relativeDiff > maxTimingPatternMismatch) {
+                        if (dist < moduleSize || relativeDiff < maxTimingPatternMismatch*8.f)
+                            penaltyPoints++;
+                        else
+                            penaltyPoints += cvRound(relativeDiff);
+                    }
+                    vec.push_back(lineIterator.pos());
+                    prevValue = value;
+                    whiteColor ^= true;
+                    colorCounters[whiteColor]++;
+                }
+            }
+        }
+        return Point3i(colorCounters[0] + colorCounters[1], colorCounters[1], penaltyPoints);
+    }
+
+    FinderPatternInfo& operator*=(const float scale) {
+        moduleSize *= scale;
+        center *= scale;
+        for (auto& point: points)
+            point *= scale;
+        return *this;
+    }
+
+    float moduleSize = 0.f;
+
+    // Index of inner QR corner.
+    // The inner corner is the corner closest to the center of the QR code.
+    int innerCornerId = 0;
+
+    float minQrAngle = 0.f;
+    TypePattern typePattern = NONE;
+
+    Point2f center;
+    vector<Point2f> points;
+};
+
+struct QRCode {
+    QRCode() {}
+
+    QRCode(const FinderPatternInfo& _centerPattern, const FinderPatternInfo& _rightPattern, const FinderPatternInfo& _bottomPattern,
+           Point2f _center, float dist): centerPattern(_centerPattern), rightPattern(_rightPattern), bottomPattern(_bottomPattern),
+           center(_center), distance(dist) {
+               moduleSize = (centerPattern.moduleSize + rightPattern.moduleSize + bottomPattern.moduleSize) / 3.f;
+           }
+
+    vector<Point2f> getQRCorners() const {
+        Point2f a1 = rightPattern.getQRCorner().second;
+        Point2f a2 = rightPattern.getCornerForIntersection().second;
+
+        Point2f b1 = bottomPattern.getQRCorner().second;
+        Point2f b2 = bottomPattern.getCornerForIntersection().second;
+
+        Point2f rightBottom = intersectionLines(a1, a2, b1, b2);
+
+        return {centerPattern.getQRCorner().second, rightPattern.getQRCorner().second, rightBottom, bottomPattern.getQRCorner().second};
+    }
+
+    static QRCode checkCompatibilityPattern(const FinderPatternInfo &_pattern1, const FinderPatternInfo& _pattern2, const FinderPatternInfo& _pattern3,
+                                            Point3i& index, const QRCodeDetectorAruco::Params& qrDetectorParameters) {
+        FinderPatternInfo pattern1 = _pattern1, pattern2 = _pattern2, pattern3 = _pattern3;
+        Point2f centerQR;
+        float distance = std::numeric_limits<float>::max();
+
+        if (abs(pattern1.minQrAngle - pattern2.minQrAngle) >  qrDetectorParameters.maxRotation ||
+            abs(pattern1.minQrAngle - pattern3.minQrAngle) > qrDetectorParameters.maxRotation) // check maxRotation
+            return QRCode(pattern1, pattern2, pattern3, centerQR, distance);
+        if (max(pattern1.moduleSize, pattern2.moduleSize) / min(pattern1.moduleSize, pattern2.moduleSize) > qrDetectorParameters.maxModuleSizeMismatch ||
+            max(pattern1.moduleSize, pattern3.moduleSize) / min(pattern1.moduleSize, pattern3.moduleSize) > qrDetectorParameters.maxModuleSizeMismatch)
+            return QRCode(pattern1, pattern2, pattern3, centerQR, distance);
+        // QR code:
+        // center       right
+        //    1 ________ 2
+        //     |_|    |_|
+        //     |     /  |
+        //     |    /   |
+        //     |   /    |
+        //     |_ /     |
+        //     |_|______|
+        //    4
+        //  bottom
+
+        // sides length check
+        const float side1 = sqrt(normL2Sqr<float>(pattern1.center - pattern2.center));
+        const float side2 = sqrt(normL2Sqr<float>(pattern1.center - pattern3.center));
+        const float side3 = sqrt(normL2Sqr<float>(pattern2.center - pattern3.center));
+        std::array<float, 3> sides = {side1, side2, side3};
+        std::sort(sides.begin(), sides.end());
+        // check sides diff
+        if (sides[1] / sides[0] < qrDetectorParameters.maxModuleSizeMismatch) {
+            // find center pattern
+            if (side1 > side2 && side1 > side3) { // centerPattern is pattern3
+                std::swap(pattern3, pattern1); // now pattern1 is centerPattern
+                std::swap(index.x, index.z);
+            }
+            else if (side2 > side1 && side2 > side3) { // centerPattern is pattern2
+                std::swap(pattern2, pattern1); // now pattern1 is centerPattern
+                std::swap(index.x, index.y);
+            }
+            // now pattern1 is centerPattern
+            centerQR = (pattern2.center + pattern3.center) / 2.f;
+            pattern1.setType(FinderPatternInfo::TypePattern::CENTER, centerQR);
+            // check triangle angle
+            if (pattern1.checkTriangleAngle(pattern2, pattern3, sides[0]*sides[1]) == false)
+                return QRCode(pattern1, pattern2, pattern3, centerQR, distance);
+            // check that pattern2 is right
+            pattern2.setType(FinderPatternInfo::TypePattern::RIGHT, centerQR);
+            bool ok = pattern1.checkAngle(pattern2, qrDetectorParameters.maxRotation);
+            if (!ok) {
+                // check that pattern3 is right
+                pattern3.setType(FinderPatternInfo::TypePattern::RIGHT, centerQR);
+                ok = pattern1.checkAngle(pattern3, qrDetectorParameters.maxRotation);
+                if (ok) {
+                    std::swap(pattern3, pattern2); // now pattern2 is rightPattern
+                    std::swap(index.y, index.z);
+                }
+            }
+            if (ok) {
+                // check that pattern3 is bottom
+                pattern3.setType(FinderPatternInfo::TypePattern::BOTTOM, centerQR);
+                ok = pattern1.checkAngle(pattern3, qrDetectorParameters.maxRotation);
+                if (ok) {
+                    // intersection check
+                    Point2f c1 = intersectionLines(pattern1.getQRCorner().second, pattern1.points[pattern1.innerCornerId],
+                                                   pattern2.getQRCorner().second, pattern2.points[pattern2.innerCornerId]);
+                    Point2f c2 = intersectionLines(pattern1.getQRCorner().second, pattern1.points[pattern1.innerCornerId],
+                                                   pattern3.getQRCorner().second, pattern3.points[pattern3.innerCornerId]);
+                    const float centerDistance = sqrt(normL2Sqr<float>(c1 - c2));
+                    distance = (sides[0] + sides[1] + centerDistance)*(sides[1] / sides[0]);
+                }
+            }
+        }
+        QRCode qrcode(pattern1, pattern2, pattern3, centerQR, distance);
+        return qrcode;
+    }
+
+     int calculateScoreByTimingPattern(Mat &img, const QRCodeDetectorAruco::Params& params) {
+        const int minModulesInTimingPattern = 4;
+
+        const Point3i v1 = centerPattern.getTimingPatternScore(rightPattern.getTimingStart(FinderPatternInfo::CENTER),
+                                                                centerPattern.getTimingStart(FinderPatternInfo::RIGHT), img,
+                                                                params.maxTimingPatternMismatch);
+
+        if ((float)v1.z > params.maxPenalties*v1.x || v1.x <= minModulesInTimingPattern || abs(v1.y / (float)v1.x - 0.5f) > params.maxColorsMismatch)
+            return std::numeric_limits<int>::max();
+
+        const Point3i v2 = centerPattern.getTimingPatternScore(bottomPattern.getTimingStart(FinderPatternInfo::CENTER),
+                                                                centerPattern.getTimingStart(FinderPatternInfo::BOTTOM), img,
+                                                                params.maxTimingPatternMismatch);
+
+
+        if ((float)v2.z > params.maxPenalties*v2.x || v2.x <= minModulesInTimingPattern || abs(v2.y / (float)v2.x - 0.5f) > params.maxColorsMismatch)
+            return std::numeric_limits<int>::max();
+
+        // TODO: add v1, v2 check, add "y" checks
+        float numModules = (sqrt(normL2Sqr<float>((centerPattern.getQRCorner().second - rightPattern.getQRCorner().second)))*0.5f +
+                            sqrt(normL2Sqr<float>((centerPattern.getQRCorner().second - bottomPattern.getQRCorner().second))*0.5f)) / moduleSize;
+
+        const int sizeDelta = abs(cvRound(numModules) - (14 + v1.z < v2.z ? v1.x : v2.x));
+        const int colorDelta = abs(v1.x - v1.y - v1.y) + abs(v2.x - v2.y - v2.y);
+        const int score = v1.z + v2.z + sizeDelta + colorDelta;
+        return score;
+     }
+
+    QRCode& operator*=(const float scale) {
+        centerPattern *= scale;
+        rightPattern *= scale;
+        bottomPattern *= scale;
+        center *= scale;
+        moduleSize *= scale;
+        return *this;
+    }
+
+    FinderPatternInfo centerPattern;
+    FinderPatternInfo rightPattern;
+    FinderPatternInfo bottomPattern;
+    Point2f center;
+    float distance = std::numeric_limits<float>::max();
+    int timingPatternScore = std::numeric_limits<int>::max();
+    float moduleSize = 0.f;
+};
+
+} // namespace
+
+static
+vector<QRCode> analyzeFinderPatterns(const vector<vector<Point2f> > &corners, const Mat& img,
+                                     const QRCodeDetectorAruco::Params& qrDetectorParameters) {
+    vector<QRCode> qrCodes;
+    vector<FinderPatternInfo> patterns;
+    if (img.empty())
+        return qrCodes;
+    float maxModuleSize = 0.f;
+    for (size_t i = 0ull; i < corners.size(); i++) {
+        FinderPatternInfo pattern = FinderPatternInfo(corners[i]);
+        // TODO: improve thinning Aruco markers
+        bool isUniq = true;
+        for (const FinderPatternInfo& tmp : patterns) {
+            Point2f dist = pattern.center - tmp.center;
+            if (max(abs(dist.x), abs(dist.y)) < 3.f * tmp.moduleSize) {
+                isUniq = false;
+                break;
+            }
+        }
+        if (isUniq) {
+            patterns.push_back(pattern);
+            maxModuleSize = max(maxModuleSize, patterns.back().moduleSize);
+        }
+    }
+    const int threshold = cvRound(qrDetectorParameters.minModuleSizeInPyramid * 12.5f) +
+                          (cvRound(qrDetectorParameters.minModuleSizeInPyramid * 12.5f) % 2 ? 0 : 1);
+    int maxLevelPyramid = 0;
+    while (maxModuleSize / 2.f > qrDetectorParameters.minModuleSizeInPyramid) {
+        maxLevelPyramid++;
+        maxModuleSize /= 2.f;
+    }
+    vector<Mat> pyramid;
+    buildPyramid(img, pyramid, maxLevelPyramid);
+    // TODO: ADAPTIVE_THRESH_GAUSSIAN_C vs ADAPTIVE_THRESH_MEAN_C
+    for (Mat& pyr: pyramid) {
+        adaptiveThreshold(pyr, pyr, 255, ADAPTIVE_THRESH_GAUSSIAN_C, THRESH_BINARY, threshold, -1);
+    }
+
+    for (size_t i = 0ull; i < patterns.size(); i++) {
+        QRCode qrCode;
+        int indexes[3] = {0};
+        for (size_t j = i + 1ull; j < patterns.size(); j++) {
+            for (size_t k = j + 1ull; k < patterns.size(); k++) {
+                Point3i index((int)i, (int)j, (int)k);
+                QRCode tmp = QRCode::checkCompatibilityPattern(patterns[i], patterns[j], patterns[k], index, qrDetectorParameters);
+                if (tmp.distance != std::numeric_limits<float>::max()) {
+                    int levelPyramid = 0;
+                    QRCode qrCopy = tmp;
+                    while (tmp.moduleSize / 2.f > qrDetectorParameters.minModuleSizeInPyramid) {
+                        tmp *= 0.5f;
+                        levelPyramid++;
+                    }
+                    qrCopy.timingPatternScore = tmp.calculateScoreByTimingPattern(pyramid[levelPyramid], qrDetectorParameters);
+                    if (qrCopy.timingPatternScore != std::numeric_limits<int>::max() &&
+                        qrCopy.timingPatternScore * qrDetectorParameters.scaleTimingPatternScore < (float)qrCode.timingPatternScore
+                        && qrCopy.distance < qrCode.distance)
+                    {
+                        qrCode = qrCopy;
+                        indexes[0] = (int)i;
+                        indexes[1] = (int)j;
+                        indexes[2] = (int)k;
+                    }
+                }
+            }
+        }
+        if (qrCode.distance != std::numeric_limits<float>::max()) {
+            qrCodes.push_back(qrCode);
+            std::swap(patterns[indexes[2]], patterns.back());
+            patterns.pop_back();
+            std::swap(patterns[indexes[1]], patterns.back());
+            patterns.pop_back();
+            std::swap(patterns[indexes[0]], patterns.back());
+            patterns.pop_back();
+            i--;
+        }
+    }
+    return qrCodes;
+}
+
+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);
+        arucoParams.minMarkerPerimeterRate = 0.02;
+        arucoDetector = aruco::ArucoDetector(dictionary, arucoParams);
+    }
+
+    bool detectMulti(InputArray in, OutputArray points) const override {
+        Mat gray;
+        if (!checkQRInputImage(in, gray)) {
+            points.release();
+            return false;
+        }
+        vector<Point2f> result;
+        vector<vector<Point2f> > corners;
+        vector<int> ids;
+        arucoDetector.detectMarkers(gray, corners, ids);
+        if (corners.size() >= 3ull) {
+            vector<QRCode> qrCodes = analyzeFinderPatterns(corners, gray.clone(), qrParams);
+            if (qrCodes.size() == 0ull)
+                return false;
+            for (auto& qr : qrCodes) {
+                for (Point2f& corner : qr.getQRCorners()) {
+                    result.push_back(corner);
+                }
+            }
+        }
+        if (result.size() >= 4) {
+            updatePointsResult(points, result);
+            return true;
+        }
+        return false;
+    }
+
+    bool detect(InputArray img, OutputArray points) const override {
+        vector<Point2f> corners, result;
+        bool flag = detectMulti(img, corners);
+        CV_Assert((int)corners.size() % 4 == 0);
+
+        Point2f imageCenter(((float)img.cols())/2.f, ((float)img.rows())/2.f);
+        size_t minQrId = 0ull;
+        float minDist = std::numeric_limits<float>::max();
+        for (size_t i = 0ull; i < corners.size(); i += 4ull) {
+            Point2f qrCenter((corners[i] + corners[i+1ull] + corners[i+2ull] + corners[i+3ull]) / 4.f);
+            float dist = sqrt(normL2Sqr<float>(qrCenter - imageCenter));
+            if (dist < minDist) {
+                minQrId = i;
+                minDist = dist;
+            }
+        }
+        if (flag) {
+            result = {corners[minQrId], corners[minQrId+1ull], corners[minQrId+2ull], corners[minQrId+3ull]};
+            updatePointsResult(points, result);
+        }
+        return flag;
+    }
+};
+
+QRCodeDetectorAruco::QRCodeDetectorAruco() {
+    p = makePtr<PimplQRAruco>();
+}
+
+QRCodeDetectorAruco::QRCodeDetectorAruco(const QRCodeDetectorAruco::Params& params) {
+    p = makePtr<PimplQRAruco>();
+    std::dynamic_pointer_cast<PimplQRAruco>(p)->qrParams = params;
+}
+
+const QRCodeDetectorAruco::Params& QRCodeDetectorAruco::getDetectorParameters() const {
+    return std::dynamic_pointer_cast<PimplQRAruco>(p)->qrParams;
 }
 
+QRCodeDetectorAruco& QRCodeDetectorAruco::setDetectorParameters(const QRCodeDetectorAruco::Params& params) {
+    std::dynamic_pointer_cast<PimplQRAruco>(p)->qrParams = params;
+    return *this;
+}
+
+aruco::DetectorParameters QRCodeDetectorAruco::getArucoParameters() {
+    return std::dynamic_pointer_cast<PimplQRAruco>(p)->arucoParams;
+}
+
+void QRCodeDetectorAruco::setArucoParameters(const aruco::DetectorParameters& params) {
+    std::dynamic_pointer_cast<PimplQRAruco>(p)->arucoParams = params;
+}
 
 }  // namespace

modules/objdetect/test/test_qr_utils.hpp

+// 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;
 

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;