2.4

Update from original

merge with itseez/opencv/master

Update

sqrtf to std::sqrt

Correct missing braces in operations_in_arrays.rst

Updating own opencv fork to 3.x

[GSOC] Speeding-up AKAZE, part #1 (opencv#8869)

* ts: expand arguments before stringifications in CV_ENUM and CV_FLAGS

added protective macros to always force macro expansion of arguments. This allows using CV_ENUM and CV_FLAGS with macro arguments.

* feature2d: unify perf test

use the same test for all detectors/descriptors we have.

* added AKAZE tests

* features2d: extend perf tests

* add BRISK, KAZE, MSER
* run all extract tests on AKAZE keypoints, so that the test si more comparable for the speed of extraction

* feature2d: rework opencl perf tests

use the same configuration as cpu tests

* feature2d: fix descriptors allocation for AKAZE and KAZE

fix crash when descriptors are UMat

* feature2d: name enum to fix build with older gcc

* Revert "ts: expand arguments before stringifications in CV_ENUM and CV_FLAGS"

This reverts commit 19538ca.

This wasn't a great idea after all. There is a lot of flags implemented as #define, that we don't want to expand.

* feature2d: fix expansion problems with CV_ENUM in perf

* expand arguments before passing them to CV_ENUM. This does not need modifications of CV_ENUM.
* added include guards to `perf_feature2d.hpp`

* feature2d: fix crash in AKAZE when using KAZE descriptors

* out-of-bound access in Get_MSURF_Descriptor_64
* this happened reliably when running on provided keypoints (not computed by the same instance)

* feature2d: added regression tests for AKAZE

* test with both MLDB and KAZE keypoints

* feature2d: do not compute keypoints orientation twice

* always compute keypoints orientation, when computing keypoints
* do not recompute keypoint orientation when computing descriptors

this allows to test detection and extraction separately

* features2d: fix crash in AKAZE

* out-of-bound reads near the image edge
* same as the bug in KAZE descriptors

* feature2d: refactor invariance testing

* split detectors and descriptors tests
* rewrite to google test to simplify debugging
* add tests for AKAZE and one test for ORB

* stitching: add tests with AKAZE feature finder

* added basic stitching cpu and ocl tests
* fix bug in AKAZE wrapper for stitching pipeline causing lots of
! OPENCV warning: getUMat()/getMat() call chain possible problem.
!                 Base object is dead, while nested/derived object is still alive or processed.
!                 Please check lifetime of UMat/Mat objects!

The address sanitizer highlighted this issue in our code base. It
looks like the code is currently grabbing a pointer to a temporary
object and then performing operations on it.

I printed some information right before the asan crash:

    eigensolver address: 0x7f0ad95032f0
    eigensolver size: 4528
    eig_vecs_ ptr: 0x7f0ad95045e0
    eig_vecs_ offset: 4848

This shows that `eig_vecs_` points past the end of `eigensolver`. In
other words, it points at the temporary object created by the
`eigensolver.eigenvectors()` call.

Compare the docs for `.eigenvalues()`:
https://eigen.tuxfamily.org/dox/classEigen_1_1EigenSolver.html#a0f507ad7ab14797882f474ca8f2773e7
to the docs for `.eigenvectors()`:
https://eigen.tuxfamily.org/dox/classEigen_1_1EigenSolver.html#a66288022802172e3ee059283b26201d7

The difference in return types is interesting. `.eigenvalues()`
returns a reference. But `.eigenvectors()` returns a matrix.

This patch here fixes the problem by saving the temporary object and
then grabbing a pointer into it.

This is a curated snippet of the original asan failure:

    ==12==ERROR: AddressSanitizer: stack-use-after-scope on address 0x7fc633704640 at pc 0x7fc64f7f1593 bp 0x7ffe8875fc90 sp 0x7ffe8875fc88
    READ of size 8 at 0x7fc633704640 thread T0
        #0 0x7fc64f7f1592 in cv::usac::EssentialMinimalSolverStewenius5ptsImpl::estimate(std::__1::vector<int, std::__1::allocator<int> > const&, std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> >&) const /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/essential_solver.cpp:181:48
        #1 0x7fc64f915d92 in cv::usac::EssentialEstimatorImpl::estimateModels(std::__1::vector<int, std::__1::allocator<int> > const&, std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> >&) const /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/estimator.cpp:110:46
        #2 0x7fc64fa74fb0 in cv::usac::Ransac::run(cv::Ptr<cv::usac::RansacOutput>&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/ransac_solvers.cpp:152:58
        #3 0x7fc64fa6cd8e in cv::usac::run(cv::Ptr<cv::usac::Model const> const&, cv::_InputArray const&, cv::_InputArray const&, int, cv::Ptr<cv::usac::RansacOutput>&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/ransac_solvers.cpp:1010:16
        #4 0x7fc64fa6fb46 in cv::usac::findEssentialMat(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, int, double, double, cv::_OutputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/ransac_solvers.cpp:527:9
        #5 0x7fc64f3b5522 in cv::findEssentialMat(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, int, double, double, int, cv::_OutputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/five-point.cpp:437:16
        #6 0x7fc64f3b7e00 in cv::findEssentialMat(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, int, double, double, cv::_OutputArray const&) /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/five-point.cpp:486:12
        ...

    Address 0x7fc633704640 is located in stack of thread T0 at offset 17984 in frame
        #0 0x7fc64f7ed4ff in cv::usac::EssentialMinimalSolverStewenius5ptsImpl::estimate(std::__1::vector<int, std::__1::allocator<int> > const&, std::__1::vector<cv::Mat, std::__1::allocator<cv::Mat> >&) const /proc/self/cwd/external/com_github_opencv_opencv/modules/calib3d/src/usac/essential_solver.cpp:36

      This frame has 63 object(s):
        [32, 56) 'coefficients' (line 38)
        [96, 384) 'ee' (line 55)
        ...
        [13040, 17568) 'eigensolver' (line 142)
        [17824, 17840) 'ref.tmp518' (line 143)
        [17856, 17872) 'ref.tmp523' (line 144)
        [17888, 19488) 'ref.tmp524' (line 144) <== Memory access at offset 17984 is inside this variable
        [19616, 19640) 'ref.tmp532' (line 169)
        ...

The crash report says that we're accessing a temporary object from
line 144 when we shouldn't be. Line 144 looks like this:
https://github.com/opencv/opencv/blob/4.6.0/modules/calib3d/src/usac/essential_solver.cpp#L144

    const auto * const eig_vecs_ = (double *) eigensolver.eigenvectors().real().data();

We are using version 4.6.0 for this, but the problem is present on the
4.x branch.

Note that I am dropping the .real() call here. I think that is safe because
of the code further down (line 277 in the most recent version):

    const int eig_i = 20 * i + 12; // eigen stores imaginary values too

The code appears to expect to have to skip doubles for the imaginary parts
of the complex numbers.

Admittedly, I couldn't find a test case that exercised this code path to
validate correctness.

Handle huge images in IPP distanceTransform opencv#24535

### Pull Request Readiness Checklist

* Do not use IPP for huge Mat (reproduced with opencv#23895 (comment) on `DIST_MASK_5`)

  I have observed two types of errors on the reproducer from the issue:

  1. When `temp` is not allocated:

    ```
    Thread 1 "app" received signal SIGSEGV, Segmentation fault.
    0x00007ffff65dc755 in icv_l9_ownDistanceTransform_5x5_8u32f_C1R_21B_g9e9 () from /home/dkurtaev/opencv_install/bin/../lib/libopencv_imgproc.so.408
    (gdb) bt
    #0  0x00007ffff65dc755 in icv_l9_ownDistanceTransform_5x5_8u32f_C1R_21B_g9e9 () from /home/dkurtaev/opencv_install/bin/../lib/libopencv_imgproc.so.408
    #1  0x00007ffff659e8df in icv_l9_ippiDistanceTransform_5x5_8u32f_C1R () from /home/dkurtaev/opencv_install/bin/../lib/libopencv_imgproc.so.408
    #2  0x00007ffff5c390f0 in cv::distanceTransform (_src=..., _dst=..., _labels=..., distType=2, maskSize=5, labelType=1) at /home/dkurtaev/opencv/modules/imgproc/src/distransform.cpp:854
    #3  0x00007ffff5c396ef in cv::distanceTransform (_src=..., _dst=..., distanceType=2, maskSize=5, dstType=5) at /home/dkurtaev/opencv/modules/imgproc/src/distransform.cpp:903
    #4  0x000055555555669e in main (argc=1, argv=0x7fffffffdef8) at /home/dkurtaev/main.cpp:18
    ```

  2. When we keep `temp` allocated every time:

    ```
    OpenCV(4.8.0-dev) Error: Assertion failed (udata < (uchar*)ptr && ((uchar*)ptr - udata) <= (ptrdiff_t)(sizeof(void*)+64)) in fastFree, file /home/dkurtaev/opencv/modules/core/src/alloc.cpp, line 191
    terminate called after throwing an instance of 'cv::Exception'
      what():  OpenCV(4.8.0-dev) /home/dkurtaev/opencv/modules/core/src/alloc.cpp:191: error: (-215:Assertion failed) udata < (uchar*)ptr && ((uchar*)ptr - udata) <= (ptrdiff_t)(sizeof(void*)+64) in function 'fastFree'
    ```

* Try enable IPP for 3x3 (see opencv#15904)
* Reduce memory footprint with IPP

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake

Use size_t when calculating size of all_points opencv#26650

Closes: opencv#26642 

Asan log
```
=================================================================
==41401==ERROR: AddressSanitizer: heap-buffer-overflow on address 0x7fc55a02a3fc at pc 0x7fc58e304131 bp 0x7ffd54787b00 sp 0x7ffd54787af8
WRITE of size 4 at 0x7fc55a02a3fc thread T0
    #0 0x7fc58e304130 in cv::QRDetectMulti::checkSets(std::vector<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >, std::allocator<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > > > >&, std::vector<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >, std::allocator<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > > > >&, std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >&) /home/fanta/source/opencv/modules/objdetect/src/qrcode.cpp:3726
    #1 0x7fc58e3054b0 in cv::QRDetectMulti::localization() /home/fanta/source/opencv/modules/objdetect/src/qrcode.cpp:3829
    #2 0x7fc58e308020 in cv::ImplContour::detectMulti(cv::_InputArray const&, cv::_OutputArray const&) const /home/fanta/source/opencv/modules/objdetect/src/qrcode.cpp:3987
    #3 0x7fc58e30b5b1 in cv::ImplContour::detectAndDecodeMulti(cv::_InputArray const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&, cv::_OutputArray const&, cv::_OutputArray const&) const /home/fanta/source/opencv/modules/objdetect/src/qrcode.cpp:4176
    #4 0x7fc58e28922f in cv::GraphicalCodeDetector::detectAndDecodeMulti(cv::_InputArray const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&, cv::_OutputArray const&, cv::_OutputArray const&) const /home/fanta/source/opencv/modules/objdetect/src/graphical_code_detector.cpp:42
    #5 0x5954e8 in Body /home/fanta/source/opencv/modules/objdetect/test/test_qrcode.cpp:48
    #6 0x594fc0 in TestBody /home/fanta/source/opencv/modules/objdetect/test/test_qrcode.cpp:42
    #7 0x67ee6a in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:3919
    #8 0x6734a4 in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:3955
    #9 0x641fe8 in testing::Test::Run() /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:3993
    #10 0x6431ac in testing::TestInfo::Run() /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:4169
    #11 0x643d15 in testing::TestCase::Run() /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:4287
    #12 0x659ff3 in testing::internal::UnitTestImpl::RunAllTests() /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:6662
    #13 0x681205 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:3919
    #14 0x675127 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:3955
    #15 0x65734c in testing::UnitTest::Run() /home/fanta/source/opencv/modules/ts/src/ts_gtest.cpp:6271
    #16 0x5907f0 in RUN_ALL_TESTS() /home/fanta/source/opencv/modules/ts/include/opencv2/ts/ts_gtest.h:22240
    #17 0x590cdd in main (/home/fanta/source/opencv-build-4.x-clang/bin/opencv_test_objdetect+0x590cdd) (BuildId: a9363fc788d57c48225fc0559ac9199d07d415db)
    #18 0x7fc58ab242ad in __libc_start_call_main (/lib64/libc.so.6+0x2a2ad) (BuildId: 03f1631dc9760d3e30311fe62e15cc4baaa89db7)
    opencv#19 0x7fc58ab24378 in __libc_start_main@@GLIBC_2.34 (/lib64/libc.so.6+0x2a378) (BuildId: 03f1631dc9760d3e30311fe62e15cc4baaa89db7)
    opencv#20 0x417014 in _start ../sysdeps/x86_64/start.S:115

0x7fc55a02a3fc is located 0 bytes after 2938510332-byte region [0x7fc4aadc8800,0x7fc55a02a3fc)
allocated by thread T0 here:
    #0 0x7fc58e590298 in operator new(unsigned long) (/lib64/libasan.so.8+0xfd298) (BuildId: da72ee674d801ced58193987786b90646d94ff8d)
    #1 0x7fc58e34d010 in std::__new_allocator<cv::Vec<int, 3> >::allocate(unsigned long, void const*) /usr/include/c++/14/bits/new_allocator.h:151

SUMMARY: AddressSanitizer: heap-buffer-overflow /home/fanta/source/opencv/modules/objdetect/src/qrcode.cpp:3726 in cv::QRDetectMulti::checkSets(std::vector<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >, std::allocator<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > > > >&, std::vector<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >, std::allocator<std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > > > >&, std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >&)

Shadow bytes around the buggy address:
  0x7fc55a02a100: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  0x7fc55a02a180: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  0x7fc55a02a200: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  0x7fc55a02a280: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  0x7fc55a02a300: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
=>0x7fc55a02a380: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00[04]
  0x7fc55a02a400: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
  0x7fc55a02a480: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
  0x7fc55a02a500: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
  0x7fc55a02a580: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
  0x7fc55a02a600: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa
Shadow byte legend (one shadow byte represents 8 application bytes):
  Addressable:           00
  Partially addressable: 01 02 03 04 05 06 07
  Heap left redzone:       fa
  Freed heap region:       fd
  Stack left redzone:      f1
  Stack mid redzone:       f2
  Stack right redzone:     f3
  Stack after return:      f5
  Stack use after scope:   f8
  Global redzone:          f9
  Global init order:       f6
  Poisoned by user:        f7
  Container overflow:      fc
  Array cookie:            ac
  Intra object redzone:    bb
  ASan internal:           fe
  Left alloca redzone:     ca
  Right alloca redzone:    cb
==41401==ABORTING
```

`(true_points_group[i].size()` is 1794 and `(true_points_group[i].size() - 2 ) * (true_points_group[i].size() - 1) * true_points_group[i].size())` is 5764222464 which overflows `int`

### 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