Init qrcode algo (#11829)

modules/objdetect/include/opencv2/objdetect.hpp

@@ -670,6 +670,14 @@ public:
     void groupRectangles(std::vector<cv::Rect>& rectList, std::vector<double>& weights, int groupThreshold, double eps) const;
 };
 
+/** @brief Detect QR code in image and return minimum area of quadrangle that describes QR code.
+    @param in  Matrix of the type CV_8UC1 containing an image where QR code are detected.
+    @param points Output vector of vertices of a quadrangle of minimal area that describes QR code.
+    @param eps_x Epsilon neighborhood, which allows you to determine the horizontal pattern of the scheme 1:1:3:1:1 according to QR code standard.
+    @param eps_y Epsilon neighborhood, which allows you to determine the vertical pattern of the scheme 1:1:3:1:1 according to QR code standard.
+    */
+CV_EXPORTS bool detectQRCode(InputArray in, std::vector<Point> &points, double eps_x = 0.2, double eps_y = 0.1);
+
 //! @} objdetect
 
 }

modules/objdetect/src/qrcode.cpp

+// 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.
+//
+// Copyright (C) 2018, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+
+#include "precomp.hpp"
+#include "opencv2/objdetect.hpp"
+// #include "opencv2/calib3d.hpp"
+
+#include <limits>
+#include <cmath>
+#include <iostream>
+
+namespace cv
+{
+class QRDecode
+{
+ public:
+    void init(Mat src, double eps_vertical_ = 0.19, double eps_horizontal_ = 0.09);
+    void binarization();
+    bool localization();
+    bool transformation();
+    Mat getBinBarcode() { return bin_barcode; }
+    Mat getLocalizationBarcode() { return local_barcode; }
+    Mat getTransformationBarcode() { return transform_barcode; }
+    std::vector<Point> getTransformationPoints() { return transformation_points; }
+    Mat getStraightBarcode() { return straight_barcode; }
+ protected:
+    std::vector<Vec3d> searchVerticalLines();
+    std::vector<Vec3d> separateHorizontalLines(std::vector<Vec3d> list_lines);
+    std::vector<Vec3d> pointClustering(std::vector<Vec3d> list_lines);
+    void fixationPoints(std::vector<Point> &local_point, std::vector<double> &local_len);
+    Point getTransformationPoint(Point left, Point center, double cos_angle_rotation,
+                                 bool right_rotate = true);
+    Point intersectionLines(Point a1, Point a2, Point b1, Point b2);
+    std::vector<Point> getQuadrilateral(std::vector<Point> angle_list);
+    double getQuadrilateralArea(Point a, Point b, Point c, Point d);
+    double getCosVectors(Point a, Point b, Point c);
+
+    Mat barcode, bin_barcode, local_barcode, transform_barcode, straight_barcode;
+    std::vector<Point>  localization_points, transformation_points;
+    std::vector<double> localization_length;
+    double experimental_area;
+
+    double eps_vertical, eps_horizontal;
+    std::vector<Vec3d> result;
+    std::vector<double> test_lines;
+    uint8_t next_pixel, future_pixel;
+    double length, weight;
+};
+
+void QRDecode::init(Mat src, double eps_vertical_, double eps_horizontal_)
+{
+    barcode = src;
+    eps_vertical   = eps_vertical_;
+    eps_horizontal = eps_horizontal_;
+}
+
+void QRDecode::binarization()
+{
+    Mat filter_barcode;
+    GaussianBlur(barcode, filter_barcode, Size(3, 3), 0);
+    threshold(filter_barcode, bin_barcode, 0, 255, THRESH_BINARY + THRESH_OTSU);
+}
+
+bool QRDecode::localization()
+{
+    cvtColor(bin_barcode, local_barcode, COLOR_GRAY2RGB);
+    Point begin, end;
+
+    std::vector<Vec3d> list_lines_x = searchVerticalLines();
+    std::vector<Vec3d> list_lines_y = separateHorizontalLines(list_lines_x);
+    std::vector<Vec3d> result_point = pointClustering(list_lines_y);
+    for (int i = 0; i < 3; i++)
+    {
+        localization_points.push_back(
+            Point(static_cast<int>(result_point[i][0]),
+                  static_cast<int>(result_point[i][1] + result_point[i][2])));
+        localization_length.push_back(result_point[i][2]);
+    }
+
+    fixationPoints(localization_points, localization_length);
+
+
+    if (localization_points.size() != 3) { return false; }
+    return true;
+
+}
+
+std::vector<Vec3d> QRDecode::searchVerticalLines()
+{
+    result.clear();
+    int temp_length = 0;
+
+    for (int x = 0; x < bin_barcode.rows; x++)
+    {
+        for (int y = 0; y < bin_barcode.cols; y++)
+        {
+            if (bin_barcode.at<uint8_t>(x, y) > 0) { continue; }
+
+            // --------------- Search vertical lines --------------- //
+
+            test_lines.clear();
+            future_pixel = 255;
+
+            for (int i = x; i < bin_barcode.rows - 1; i++)
+            {
+                next_pixel = bin_barcode.at<uint8_t>(i + 1, y);
+                temp_length++;
+                if (next_pixel == future_pixel)
+                {
+                    future_pixel = 255 - future_pixel;
+                    test_lines.push_back(temp_length);
+                    temp_length = 0;
+                    if (test_lines.size() == 5) { break; }
+                }
+            }
+
+            // --------------- Compute vertical lines --------------- //
+
+            if (test_lines.size() == 5)
+            {
+                length = 0.0; weight = 0.0;
+
+                for (size_t i = 0; i < test_lines.size(); i++) { length += test_lines[i]; }
+
+                for (size_t i = 0; i < test_lines.size(); i++)
+                {
+                    if (i == 2) { weight += abs((test_lines[i] / length) - 3.0/7.0); }
+                    else        { weight += abs((test_lines[i] / length) - 1.0/7.0); }
+                }
+
+                if (weight < eps_vertical)
+                {
+                    Vec3d line;
+                    line[0] = x; line[1] = y, line[2] = length;
+                    result.push_back(line);
+                }
+            }
+        }
+    }
+    return result;
+}
+
+std::vector<Vec3d> QRDecode::separateHorizontalLines(std::vector<Vec3d> list_lines)
+{
+    result.clear();
+    int temp_length = 0;
+    int x, y;
+
+    for (size_t pnt = 0; pnt < list_lines.size(); pnt++)
+    {
+        x = static_cast<int>(list_lines[pnt][0] + list_lines[pnt][2] / 2);
+        y = static_cast<int>(list_lines[pnt][1]);
+
+        // --------------- Search horizontal up-lines --------------- //
+        test_lines.clear();
+        future_pixel = 255;
+
+        for (int j = y; j < bin_barcode.cols - 1; j++)
+        {
+            next_pixel = bin_barcode.at<uint8_t>(x, j + 1);
+            temp_length++;
+            if (next_pixel == future_pixel)
+            {
+                future_pixel = 255 - future_pixel;
+                test_lines.push_back(temp_length);
+                temp_length = 0;
+                if (test_lines.size() == 3) { break; }
+            }
+        }
+
+        // --------------- Search horizontal down-lines --------------- //
+        future_pixel = 255;
+
+        for (int j = y; j >= 1; j--)
+        {
+            next_pixel = bin_barcode.at<uint8_t>(x, j - 1);
+            temp_length++;
+            if (next_pixel == future_pixel)
+            {
+                future_pixel = 255 - future_pixel;
+                test_lines.push_back(temp_length);
+                temp_length = 0;
+                if (test_lines.size() == 6) { break; }
+            }
+        }
+
+        // --------------- Compute horizontal lines --------------- //
+
+        if (test_lines.size() == 6)
+        {
+            length = 0.0; weight = 0.0;
+
+            for (size_t i = 0; i < test_lines.size(); i++) { length += test_lines[i]; }
+
+            for (size_t i = 0; i < test_lines.size(); i++)
+            {
+                if (i % 3 == 0) { weight += abs((test_lines[i] / length) - 3.0/14.0); }
+                else            { weight += abs((test_lines[i] / length) - 1.0/ 7.0); }
+            }
+        }
+
+        if(weight < eps_horizontal)
+        {
+            result.push_back(list_lines[pnt]);
+        }
+    }
+    return result;
+}
+
+std::vector<Vec3d> QRDecode::pointClustering(std::vector<Vec3d> list_lines)
+{
+    std::vector<Vec3d> centers;
+    std::vector<Point> clusters[3];
+    double weight_clusters[3] = {0.0, 0.0, 0.0};
+    Point basis[3], temp_pnt;
+    double temp_norm = 0.0, temp_compute_norm, distance[3];
+
+    basis[0] = Point(static_cast<int>(list_lines[0][1]), static_cast<int>(list_lines[0][0]));
+    for (size_t i = 1; i < list_lines.size(); i++)
+    {
+        temp_pnt = Point(static_cast<int>(list_lines[i][1]), static_cast<int>(list_lines[i][0]));
+        temp_compute_norm = norm(basis[0] - temp_pnt);
+        if (temp_norm < temp_compute_norm)
+        {
+            basis[1] = temp_pnt;
+            temp_norm = temp_compute_norm;
+        }
+    }
+
+    for (size_t i = 1; i < list_lines.size(); i++)
+    {
+        temp_pnt = Point(static_cast<int>(list_lines[i][1]), static_cast<int>(list_lines[i][0]));
+        temp_compute_norm = norm(basis[0] - temp_pnt) + norm(basis[1] - temp_pnt);
+        if (temp_norm < temp_compute_norm)
+        {
+            basis[2] = temp_pnt;
+            temp_norm = temp_compute_norm;
+        }
+    }
+
+    for (size_t i = 0; i < list_lines.size(); i++)
+    {
+        temp_pnt = Point(static_cast<int>(list_lines[i][1]), static_cast<int>(list_lines[i][0]));
+        distance[0] = norm(basis[0] - temp_pnt);
+        distance[1] = norm(basis[1] - temp_pnt);
+        distance[2] = norm(basis[2] - temp_pnt);
+        if (distance[0] < distance[1] && distance[0] < distance[2])
+        {
+            clusters[0].push_back(temp_pnt);
+            weight_clusters[0] += list_lines[i][2];
+        }
+        else if (distance[1] < distance[0] && distance[1] < distance[2])
+        {
+            clusters[1].push_back(temp_pnt);
+            weight_clusters[1] += list_lines[i][2];
+        }
+        else
+        {
+            clusters[2].push_back(temp_pnt);
+            weight_clusters[2] += list_lines[i][2];
+        }
+    }
+
+    for (int i = 0; i < 3; i++)
+    {
+        basis[i] = Point(0, 0);
+        for (size_t j = 0; j < clusters[i].size(); j++) { basis[i] += clusters[i][j]; }
+        basis[i] = basis[i] / static_cast<int>(clusters[i].size());
+        weight = weight_clusters[i] / (2 * clusters[i].size());
+        centers.push_back(Vec3d(basis[i].x, basis[i].y, weight));
+    }
+
+    return centers;
+}
+
+void QRDecode::fixationPoints(std::vector<Point> &local_point, std::vector<double> &local_len)
+{
+    double cos_angles[3], norm_triangl[3];
+
+    norm_triangl[0] = norm(local_point[1] - local_point[2]);
+    norm_triangl[1] = norm(local_point[0] - local_point[2]);
+    norm_triangl[2] = norm(local_point[1] - local_point[0]);
+
+    cos_angles[0] = (pow(norm_triangl[1], 2) + pow(norm_triangl[2], 2) - pow(norm_triangl[0], 2))
+                  / (2 * norm_triangl[1] * norm_triangl[2]);
+    cos_angles[1] = (pow(norm_triangl[0], 2) + pow(norm_triangl[2], 2) - pow(norm_triangl[1], 2))
+                  / (2 * norm_triangl[0] * norm_triangl[2]);
+    cos_angles[2] = (pow(norm_triangl[0], 2) + pow(norm_triangl[1], 2) - pow(norm_triangl[2], 2))
+                  / (2 * norm_triangl[0] * norm_triangl[1]);
+
+    int i_min_cos =
+      (cos_angles[0] < cos_angles[1] && cos_angles[0] < cos_angles[2]) ? 0 :
+      (cos_angles[1] < cos_angles[0] && cos_angles[1] < cos_angles[2]) ? 1 : 2;
+
+    Point temp_pnt;
+    double tmp_len;
+    temp_pnt = local_point[0];
+    tmp_len = local_len[0];
+    local_point[0] = local_point[i_min_cos];
+    local_len[0] = local_len[i_min_cos];
+    local_point[i_min_cos] = temp_pnt;
+    local_len[i_min_cos] = tmp_len;
+
+    Mat vector_mult(Size(3, 3), CV_32FC1);
+    vector_mult.at<float>(0, 0) = 1;
+    vector_mult.at<float>(1, 0) = 1;
+    vector_mult.at<float>(2, 0) = 1;
+    vector_mult.at<float>(0, 1) = static_cast<float>((local_point[1] - local_point[0]).x);
+    vector_mult.at<float>(1, 1) = static_cast<float>((local_point[1] - local_point[0]).y);
+    vector_mult.at<float>(0, 2) = static_cast<float>((local_point[2] - local_point[0]).x);
+    vector_mult.at<float>(1, 2) = static_cast<float>((local_point[2] - local_point[0]).y);
+    double res_vect_mult = determinant(vector_mult);
+    if (res_vect_mult < 0)
+    {
+        temp_pnt = local_point[1];
+        tmp_len = local_len[1];
+        local_point[1] = local_point[2];
+        local_len[1] = local_len[2];
+        local_point[2] = temp_pnt;
+        local_len[2] = tmp_len;
+    }
+}
+
+bool QRDecode::transformation()
+{
+    cvtColor(bin_barcode, transform_barcode, COLOR_GRAY2RGB);
+    if (localization_points.size() != 3) { return false; }
+
+    Point red   = localization_points[0];
+    Point green = localization_points[1];
+    Point blue  = localization_points[2];
+    Point adj_b_r_pnt,  adj_r_b_pnt, adj_g_r_pnt, adj_r_g_pnt;
+    Point line_r_b_pnt, line_r_g_pnt, norm_r_b_pnt, norm_r_g_pnt;
+    adj_b_r_pnt  = getTransformationPoint(blue, red, -1);
+    adj_r_b_pnt  = getTransformationPoint(red, blue, -1);
+    adj_g_r_pnt  = getTransformationPoint(green, red, -1);
+    adj_r_g_pnt  = getTransformationPoint(red, green, -1);
+    line_r_b_pnt = getTransformationPoint(red, blue,  -0.91);
+    line_r_g_pnt = getTransformationPoint(red, green, -0.91);
+    norm_r_b_pnt = getTransformationPoint(red, blue,  0.0, true);
+    norm_r_g_pnt = getTransformationPoint(red, green, 0.0, false);
+
+    transformation_points.push_back(intersectionLines(
+        adj_r_g_pnt, line_r_g_pnt, adj_r_b_pnt, line_r_b_pnt));
+    transformation_points.push_back(intersectionLines(
+        adj_b_r_pnt, norm_r_g_pnt, adj_r_g_pnt, line_r_g_pnt));
+    transformation_points.push_back(intersectionLines(
+        norm_r_b_pnt, adj_g_r_pnt, adj_b_r_pnt, norm_r_g_pnt));
+    transformation_points.push_back(intersectionLines(
+        norm_r_b_pnt, adj_g_r_pnt, adj_r_b_pnt, line_r_b_pnt));
+
+    experimental_area = getQuadrilateralArea(transformation_points[0],
+                                             transformation_points[1],
+                                             transformation_points[2],
+                                             transformation_points[3]);
+    std::vector<Point> quadrilateral = getQuadrilateral(transformation_points);
+    transformation_points = quadrilateral;
+
+    int max_length_norm = -1;
+    size_t transform_size = transformation_points.size();
+    for (size_t i = 0; i < transform_size; i++)
+    {
+        int len_norm = static_cast<int>(norm(transformation_points[i % transform_size] -
+                                             transformation_points[(i + 1) % transform_size]));
+        if (max_length_norm < len_norm) { max_length_norm = len_norm; }
+    }
+
+    std::vector<Point> perspective_points;
+    perspective_points.push_back(Point(0, 0));
+    perspective_points.push_back(Point(0, max_length_norm));
+    perspective_points.push_back(Point(max_length_norm, max_length_norm));
+    perspective_points.push_back(Point(max_length_norm, 0));
+
+    // warpPerspective(bin_barcode, straight_barcode,
+    //                 findHomography(transformation_points, perspective_points),
+    //                 Size(max_length_norm, max_length_norm));
+    return true;
+}
+
+Point QRDecode::getTransformationPoint(Point left, Point center, double cos_angle_rotation,
+                                       bool right_rotate)
+{
+    Point temp_pnt, prev_pnt(0, 0), next_pnt, start_pnt(center);
+    double temp_delta, min_delta;
+    int steps = 0;
+
+    future_pixel = 255;
+    while(true)
+    {
+        min_delta = std::numeric_limits<double>::max();
+        for (int i = -1; i < 2; i++)
+        {
+            for (int j = -1; j < 2; j++)
+            {
+                if (i == 0 && j == 0) { continue; }
+                temp_pnt = Point(start_pnt.x + i, start_pnt.y + j);
+                temp_delta = abs(getCosVectors(left, center, temp_pnt) - cos_angle_rotation);
+                if (temp_delta < min_delta && prev_pnt != temp_pnt)
+                {
+                    next_pnt = temp_pnt;
+                    min_delta  = temp_delta;
+                }
+            }
+        }
+        prev_pnt = start_pnt;
+        start_pnt = next_pnt;
+        next_pixel = bin_barcode.at<uint8_t>(start_pnt.y, start_pnt.x);
+        if (next_pixel == future_pixel)
+        {
+            future_pixel = 255 - future_pixel;
+            steps++;
+            if (steps == 3) { break; }
+        }
+    }
+
+    if (cos_angle_rotation == 0.0)
+    {
+        Mat vector_mult(Size(3, 3), CV_32FC1);
+        vector_mult.at<float>(0, 0) = 1;
+        vector_mult.at<float>(1, 0) = 1;
+        vector_mult.at<float>(2, 0) = 1;
+        vector_mult.at<float>(0, 1) = static_cast<float>((left - center).x);
+        vector_mult.at<float>(1, 1) = static_cast<float>((left - center).y);
+        vector_mult.at<float>(0, 2) = static_cast<float>((left - start_pnt).x);
+        vector_mult.at<float>(1, 2) = static_cast<float>((left - start_pnt).y);
+        double res_vect_mult = determinant(vector_mult);
+        if (( right_rotate && res_vect_mult < 0) ||
+            (!right_rotate && res_vect_mult > 0))
+        {
+            start_pnt = getTransformationPoint(start_pnt, center, -1);
+        }
+    }
+
+    return start_pnt;
+}
+
+Point QRDecode::intersectionLines(Point a1, Point a2, Point b1, Point b2)
+{
+    Point result_square_angle(
+      static_cast<int>(
+        static_cast<double>
+        ((a1.x * a2.y  -  a1.y * a2.x) * (b1.x - b2.x) -
+         (b1.x * b2.y  -  b1.y * b2.x) * (a1.x - a2.x)) /
+        ((a1.x - a2.x) * (b1.y - b2.y) -
+         (a1.y - a2.y) * (b1.x - b2.x))),
+      static_cast<int>(
+        static_cast<double>
+        ((a1.x * a2.y  -  a1.y * a2.x) * (b1.y - b2.y) -
+         (b1.x * b2.y  -  b1.y * b2.x) * (a1.y - a2.y)) /
+        ((a1.x - a2.x) * (b1.y - b2.y) -
+         (a1.y - a2.y) * (b1.x - b2.x)))
+    );
+    return result_square_angle;
+}
+
+std::vector<Point> QRDecode::getQuadrilateral(std::vector<Point> angle_list)
+{
+    size_t angle_size = angle_list.size();
+    uint8_t value, mask_value;
+    Mat mask(bin_barcode.rows + 2, bin_barcode.cols + 2, CV_8UC1);
+    for (size_t i = 0; i < angle_size; i++)
+    {
+        LineIterator line_iter(bin_barcode, angle_list[ i      % angle_size],
+                                            angle_list[(i + 1) % angle_size]);
+        for(int j = 0; j < line_iter.count; j++, ++line_iter)
+        {
+            value = bin_barcode.at<uint8_t>(line_iter.pos());
+            mask_value = mask.at<uint8_t>(line_iter.pos() + Point(1, 1));
+            if (value == 0 && mask_value == 0)
+            {
+                floodFill(bin_barcode, mask, line_iter.pos(), 255);
+            }
+        }
+    }
+    std::vector<Point> locations;
+    Mat mask_roi = mask(Range(1, bin_barcode.rows - 1),
+                        Range(1, bin_barcode.cols - 1));
+
+    cv::findNonZero(mask_roi, locations);
+
+    for (size_t i = 0; i < angle_list.size(); i++)
+    {
+        locations.push_back(angle_list[i]);
+    }
+
+    std::vector< std::vector<Point> > hull(1), approx_hull(1);
+    convexHull(Mat(locations), hull[0]);
+    int hull_size = static_cast<int>(hull[0].size());
+
+    Point min_pnt;
+
+    std::vector<Point> min_abc;
+    double min_abs_cos_abc, abs_cos_abc;
+    for (int count = 0; count < 4; count++)
+    {
+        min_abs_cos_abc = std::numeric_limits<double>::max();
+        for (int i = 0; i < hull_size; i++)
+        {
+            Point a = hull[0][ i      % hull_size];
+            Point b = hull[0][(i + 1) % hull_size];
+            Point c = hull[0][(i + 2) % hull_size];
+            abs_cos_abc = abs(getCosVectors(a, b, c));
+
+            bool flag_detect = true;
+            for (size_t j = 0; j < min_abc.size(); j++)
+            {
+                if (min_abc[j] == b) { flag_detect = false; break; }
+            }
+
+            if (flag_detect && (abs_cos_abc < min_abs_cos_abc))
+            {
+                min_pnt = b;
+                min_abs_cos_abc = abs_cos_abc;
+            }
+        }
+        min_abc.push_back(min_pnt);
+    }
+
+
+    int min_abc_size = static_cast<int>(min_abc.size());
+    std::vector<int> index_min_abc(min_abc_size);
+    for (int i = 0; i < min_abc_size; i++)
+    {
+        for (int j = 0; j < hull_size; j++)
+        {
+            if (hull[0][j] == min_abc[i]) { index_min_abc[i] = j; break; }
+        }
+    }
+
+    std::vector<Point> result_hull_point(angle_size);
+    double min_norm, temp_norm;
+    for (size_t i = 0; i < angle_size; i++)
+    {
+        min_norm = std::numeric_limits<double>::max();
+        Point closest_pnt;
+        for (int j = 0; j < min_abc_size; j++)
+        {
+            if (min_norm > norm(hull[0][index_min_abc[j]] - angle_list[i]))
+            {
+                min_norm = norm(hull[0][index_min_abc[j]] - angle_list[i]);
+                closest_pnt = hull[0][index_min_abc[j]];
+            }
+        }
+        result_hull_point[i] = closest_pnt;
+    }
+
+    int start_line[2] = {0, 0}, finish_line[2] = {0, 0}, unstable_pnt = 0;
+    for (int i = 0; i < hull_size; i++)
+    {
+        if (result_hull_point[3] == hull[0][i]) { start_line[0] = i; }
+        if (result_hull_point[2] == hull[0][i]) { finish_line[0] = start_line[1] = i; }
+        if (result_hull_point[1] == hull[0][i]) { finish_line[1] = i; }
+        if (result_hull_point[0] == hull[0][i]) { unstable_pnt = i; }
+    }
+
+    int index_hull, extra_index_hull, next_index_hull, extra_next_index_hull, count_points;
+    Point result_side_begin[4], result_side_end[4];
+
+    min_norm = std::numeric_limits<double>::max();
+    index_hull = start_line[0];
+    count_points = abs(start_line[0] - finish_line[0]);
+    do
+    {
+        if (count_points > hull_size / 2) { next_index_hull = index_hull + 1; }
+        else { next_index_hull = index_hull - 1; }
+
+        if (next_index_hull == hull_size) { next_index_hull = 0; }
+        if (next_index_hull == -1) { next_index_hull = hull_size - 1; }
+
+        Point angle_closest_pnt =  norm(hull[0][index_hull] - angle_list[2]) >
+          norm(hull[0][index_hull] - angle_list[3]) ? angle_list[3] : angle_list[2];
+
+        Point intrsc_line_hull =
+          intersectionLines(hull[0][index_hull], hull[0][next_index_hull],
+                            angle_list[2], angle_list[3]);
+        temp_norm = getCosVectors(hull[0][index_hull], intrsc_line_hull, angle_closest_pnt);
+        if (min_norm > temp_norm &&
+            norm(hull[0][index_hull] - hull[0][next_index_hull]) >
+            norm(angle_list[2] - angle_list[3]) / 10)
+        {
+            min_norm = temp_norm;
+            result_side_begin[0] = hull[0][index_hull];
+            result_side_end[0]   = hull[0][next_index_hull];
+        }
+
+
+        index_hull = next_index_hull;
+    }
+    while(index_hull != finish_line[0]);
+
+    if (min_norm == std::numeric_limits<double>::max())
+    {
+        result_side_begin[0] = angle_list[2];
+        result_side_end[0]   = angle_list[3];
+    }
+
+    min_norm = std::numeric_limits<double>::max();
+    index_hull = start_line[1];
+    count_points = abs(start_line[1] - finish_line[1]);
+    do
+    {
+        if (count_points > hull_size / 2) { next_index_hull = index_hull + 1; }
+        else { next_index_hull = index_hull - 1; }
+
+        if (next_index_hull == hull_size) { next_index_hull = 0; }
+        if (next_index_hull == -1) { next_index_hull = hull_size - 1; }
+
+        Point angle_closest_pnt =  norm(hull[0][index_hull] - angle_list[1]) >
+          norm(hull[0][index_hull] - angle_list[2]) ? angle_list[2] : angle_list[1];
+
+        Point intrsc_line_hull =
+          intersectionLines(hull[0][index_hull], hull[0][next_index_hull],
+                            angle_list[1], angle_list[2]);
+        temp_norm = getCosVectors(hull[0][index_hull], intrsc_line_hull, angle_closest_pnt);
+        if (min_norm > temp_norm &&
+            norm(hull[0][index_hull] - hull[0][next_index_hull]) >
+            norm(angle_list[1] - angle_list[2]) / 20)
+        {
+            min_norm = temp_norm;
+            result_side_begin[1] = hull[0][index_hull];
+            result_side_end[1]   = hull[0][next_index_hull];
+        }
+
+
+        index_hull = next_index_hull;
+    }
+    while(index_hull != finish_line[1]);
+
+    if (min_norm == std::numeric_limits<double>::max())
+    {
+        result_side_begin[1] = angle_list[1];
+        result_side_end[1]   = angle_list[2];
+    }
+
+    double test_norm[4] = { 0.0, 0.0, 0.0, 0.0 };
+    int test_index[4];
+    for (int i = 0; i < 4; i++)
+    {
+        test_index[i] = (i < 2) ? static_cast<int>(start_line[0])
+                                : static_cast<int>(finish_line[1]);
+        do
+        {
+            next_index_hull = ((i + 1) % 2 != 0) ? test_index[i] + 1 : test_index[i] - 1;
+            if (next_index_hull == hull_size) { next_index_hull = 0; }
+            if (next_index_hull == -1) { next_index_hull = hull_size - 1; }
+            test_norm[i] += norm(hull[0][next_index_hull] - hull[0][unstable_pnt]);
+            test_index[i] = next_index_hull;
+        }
+        while(test_index[i] != unstable_pnt);
+    }
+
+    std::vector<Point> result_angle_list(4), test_result_angle_list(4);
+    double min_area = std::numeric_limits<double>::max(), test_area;
+    index_hull = start_line[0];
+    do
+    {
+        if (test_norm[0] < test_norm[1]) { next_index_hull = index_hull + 1; }
+        else { next_index_hull = index_hull - 1; }
+
+        if (next_index_hull == hull_size) { next_index_hull = 0; }
+        if (next_index_hull == -1) { next_index_hull = hull_size - 1; }
+
+        extra_index_hull = finish_line[1];
+        do
+        {
+            if (test_norm[2] < test_norm[3]) { extra_next_index_hull = extra_index_hull + 1; }
+            else { extra_next_index_hull = extra_index_hull - 1; }
+
+            if (extra_next_index_hull == hull_size) { extra_next_index_hull = 0; }
+            if (extra_next_index_hull == -1) { extra_next_index_hull = hull_size - 1; }
+
+            test_result_angle_list[0]
+                = intersectionLines(result_side_begin[0], result_side_end[0],
+                                    result_side_begin[1], result_side_end[1]);
+            test_result_angle_list[1]
+                = intersectionLines(result_side_begin[1], result_side_end[1],
+                                    hull[0][extra_index_hull], hull[0][extra_next_index_hull]);
+            test_result_angle_list[2]
+                = intersectionLines(hull[0][extra_index_hull], hull[0][extra_next_index_hull],
+                                    hull[0][index_hull], hull[0][next_index_hull]);
+            test_result_angle_list[3]
+                = intersectionLines(hull[0][index_hull], hull[0][next_index_hull],
+                                    result_side_begin[0], result_side_end[0]);
+            test_area = getQuadrilateralArea(test_result_angle_list[0],
+                                             test_result_angle_list[1],
+                                             test_result_angle_list[2],
+                                             test_result_angle_list[3]);
+            if (min_area > test_area)
+            {
+                min_area = test_area;
+                for (size_t i = 0; i < test_result_angle_list.size(); i++)
+                {
+                    result_angle_list[i] = test_result_angle_list[i];
+                }
+            }
+
+            extra_index_hull = extra_next_index_hull;
+        }
+        while(extra_index_hull != unstable_pnt);
+
+        index_hull = next_index_hull;
+    }
+    while(index_hull != unstable_pnt);
+
+    if (norm(result_angle_list[0] - angle_list[2]) >
+        norm(angle_list[2] - angle_list[1]) / 3) { result_angle_list[0] = angle_list[2]; }
+
+    if (norm(result_angle_list[1] - angle_list[1]) >
+        norm(angle_list[1] - angle_list[0]) / 3) { result_angle_list[1] = angle_list[1]; }
+
+    if (norm(result_angle_list[2] - angle_list[0]) >
+        norm(angle_list[0] - angle_list[3]) / 3) { result_angle_list[2] = angle_list[0]; }
+
+    if (norm(result_angle_list[3] - angle_list[3]) >
+        norm(angle_list[3] - angle_list[2]) / 3) { result_angle_list[3] = angle_list[3]; }
+
+
+
+    return result_angle_list;
+}
+
+//        b __________ c
+//        /           |
+//       /            |
+//      /      S      |
+//     /              |
+//   a --------------- d
+
+double QRDecode::getQuadrilateralArea(Point a, Point b, Point c, Point d)
+{
+    double length_sides[4], perimeter = 0.0, result_area = 1.0;
+    length_sides[0] = norm(a - b); length_sides[1] = norm(b - c);
+    length_sides[2] = norm(c - d); length_sides[3] = norm(d - a);
+
+    for (int i = 0; i < 4; i++) { perimeter += length_sides[i]; }
+    perimeter /= 2;
+
+    for (int i = 0; i < 4; i++)
+    {
+        result_area *= (perimeter - length_sides[i]);
+    }
+
+    result_area = sqrt(result_area);
+
+    return result_area;
+}
+
+//      / | b
+//     /  |
+//    /   |
+//  a/    | c
+
+double QRDecode::getCosVectors(Point a, Point b, Point c)
+{
+    return ((a - b).x * (c - b).x + (a - b).y * (c - b).y) / (norm(a - b) * norm(c - b));
+}
+
+CV_EXPORTS bool detectQRCode(InputArray in, std::vector<Point> &points, double eps_x, double eps_y)
+{
+    CV_Assert(in.isMat());
+    CV_Assert(in.getMat().type() == CV_8UC1);
+    QRDecode qrdec;
+    qrdec.init(in.getMat(), eps_x, eps_y);
+    qrdec.binarization();
+    if (!qrdec.localization()) { return false; }
+    if (!qrdec.transformation()) { return false; }
+    points = qrdec.getTransformationPoints();
+    return true;
+}
+
+}

modules/objdetect/test/test_qrcode.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+namespace opencv_test { namespace {
+
+TEST(Objdetect_QRCode, regression)
+{
+    String root = cvtest::TS::ptr()->get_data_path() + "qrcode/";
+    // String cascades[] =
+    // {
+        // root + "haarcascade_frontalface_alt.xml",
+        // root + "lbpcascade_frontalface.xml",
+        // String()
+    // };
+
+    // vector<Rect> objects;
+    // RNG rng((uint64)-1);
+
+    // for( int i = 0; !cascades[i].empty(); i++ )
+    // {
+        // printf("%d. %s\n", i, cascades[i].c_str());
+        // CascadeClassifier cascade(cascades[i]);
+        // for( int j = 0; j < 100; j++ )
+        // {
+            // int width = rng.uniform(1, 100);
+            // int height = rng.uniform(1, 100);
+            // Mat img(height, width, CV_8U);
+            // randu(img, 0, 256);
+            // cascade.detectMultiScale(img, objects);
+        // }
+    // }
+}
+
+}} // namespace