Backport to 4.x: patchNaNs() SIMD accelerationopencv#24480backport fromopencv#23098connected PR in extra: [opencv#1118@extra](opencv/opencv_extra#1118)### This PR contains:* new SIMD code for `patchNaNs()`* CPU perf test<details><summary>Performance comparison</summary>Geometric mean (ms)|Name of Test|noopt|sse2|avx2|sse2 vs noopt (x-factor)|avx2 vs noopt (x-factor)||---|:-:|:-:|:-:|:-:|:-:||PatchNaNs::OCL_PatchNaNsFixture::(640x480, 32FC1)|0.019|0.017|0.018|1.11|1.07||PatchNaNs::OCL_PatchNaNsFixture::(640x480, 32FC4)|0.037|0.037|0.033|1.00|1.10||PatchNaNs::OCL_PatchNaNsFixture::(1280x720, 32FC1)|0.032|0.032|0.033|0.99|0.98||PatchNaNs::OCL_PatchNaNsFixture::(1280x720, 32FC4)|0.072|0.072|0.070|1.00|1.03||PatchNaNs::OCL_PatchNaNsFixture::(1920x1080, 32FC1)|0.051|0.051|0.050|1.00|1.01||PatchNaNs::OCL_PatchNaNsFixture::(1920x1080, 32FC4)|0.137|0.138|0.128|0.99|1.06||PatchNaNs::OCL_PatchNaNsFixture::(3840x2160, 32FC1)|0.137|0.128|0.129|1.07|1.06||PatchNaNs::OCL_PatchNaNsFixture::(3840x2160, 32FC4)|0.450|0.450|0.448|1.00|1.01||PatchNaNs::PatchNaNsFixture::(640x480, 32FC1)|0.149|0.029|0.020|5.13|7.44||PatchNaNs::PatchNaNsFixture::(640x480, 32FC2)|0.304|0.058|0.040|5.25|7.65||PatchNaNs::PatchNaNsFixture::(640x480, 32FC3)|0.448|0.086|0.059|5.22|7.55||PatchNaNs::PatchNaNsFixture::(640x480, 32FC4)|0.601|0.133|0.083|4.51|7.23||PatchNaNs::PatchNaNsFixture::(1280x720, 32FC1)|0.451|0.093|0.060|4.83|7.52||PatchNaNs::PatchNaNsFixture::(1280x720, 32FC2)|0.892|0.184|0.126|4.85|7.06||PatchNaNs::PatchNaNsFixture::(1280x720, 32FC3)|1.345|0.311|0.230|4.32|5.84||PatchNaNs::PatchNaNsFixture::(1280x720, 32FC4)|1.831|0.546|0.436|3.35|4.20||PatchNaNs::PatchNaNsFixture::(1920x1080, 32FC1)|1.017|0.250|0.160|4.06|6.35||PatchNaNs::PatchNaNsFixture::(1920x1080, 32FC2)|2.077|0.646|0.605|3.21|3.43||PatchNaNs::PatchNaNsFixture::(1920x1080, 32FC3)|3.134|1.053|0.961|2.97|3.26||PatchNaNs::PatchNaNsFixture::(1920x1080, 32FC4)|4.222|1.436|1.288|2.94|3.28||PatchNaNs::PatchNaNsFixture::(3840x2160, 32FC1)|4.225|1.401|1.277|3.01|3.31||PatchNaNs::PatchNaNsFixture::(3840x2160, 32FC2)|8.310|2.953|2.635|2.81|3.15||PatchNaNs::PatchNaNsFixture::(3840x2160, 32FC3)|12.396|4.455|4.252|2.78|2.92||PatchNaNs::PatchNaNsFixture::(3840x2160, 32FC4)|17.174|5.831|5.824|2.95|2.95|</details>### Pull Request Readiness ChecklistSee details athttps://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

Optimize the Implementation of RVV Universal Intrinsic.

DNN graph fusion with shared nodesopencv#24463### Pull Request Readiness ChecklistFor now, nodes from matched pattern are removed during the matching process so if nodes are used in similar subgraph, they cannot be found.required foropencv#24397**Merge with extra**:opencv/opencv_extra#1115A part from [model_name ](https://github.com/onnx/models/blob/main/vision/object_detection_segmentation/fcn/model/fcn-resnet101-11.onnx) with two Resize subgraphs with shared nodes:![image](https://github.com/opencv/opencv/assets/25801568/611d89d9-12fb-4add-9218-13b10d2c086a)See details athttps://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

…_dnn_sampleAdded PyTorch fcnresnet101 segmentation conversion casesopencv#24397We write a sample code about transforming Pytorch fcnresnet101 to ONNX running on OpenCV.The input source image was shooted by ourself.### Pull Request Readiness ChecklistSee details athttps://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- [ ] 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

* improve and refactor softmax layer* fix building error* compatible region layer* fix axisStep when disable SIMD* fix dynamic array* try to fix error* use nlanes from VTraits* move axisBias to srcOffset* fix bug caused by axisBias* remove macro* replace #ifdef with #if for CV_SIMD

Get the SSE2 condition match the emmintrin.h inclusion condition.opencv#24495### Pull Request Readiness ChecklistSee details athttps://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

dnn onnx: add instance norm layeropencv#24378Resolvesopencv#24377Relatesopencv#24092 (comment)| Perf | multi-thread | single-thread || - | - | - || x: [2, 64, 180, 240] | 3.95ms | 11.12ms |Todo:- [x] speed up by multi-threading- [x] add perf- [x] add backend: OpenVINO- [x] add backend: CUDA- [x] add backend: OpenCL (no fp16)- [ ] add backend: CANN (will be done viaopencv#24462)### Pull Request Readiness ChecklistSee details athttps://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```force_builders=Linux OpenCL,Win64 OpenCL,Custombuildworker:Custom=linux-4build_image:Custom=ubuntu:18.04modules_filter:Custom=nonedisable_ipp:Custom=ON```

Added scripts for creating an AAR package and a local Maven repository with OpenCV libraryopencv#24456Added scripts for creating an AAR package and a local Maven repository with OpenCV library.The build_java_shared_aar.py script creates AAR with Java + C++ shared libraries.The build_static_aar.py script creates AAR with static C++ libraries.The scripts use an Android project template. The project is almost a default Android AAR library project with empty Java code and one empty C++ library. Only build.gradle.template and CMakeLists.txt.template files contain significant changes.See README.md for more information.

dnn (onnx): add subgraph fusion testsopencv#24500### Pull Request Readiness ChecklistSee details athttps://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

…tractoor_java_ctorAdded Java bindings for BOWImgDescriptorExtractor constructor

Add JavaScript bindings for SimpleBlobDetector

Einsum Layer Performance Testopencv#24445## This PR adds performance tests for Einsum Layer. See below results of performance test on different inputs**Notation:**- WX: windows10_x64- MX: macos_x64- MA: macos_arm64- UX: ubuntu_x64- UA: ubuntu_arm64All data in ms (milliseconds).Gemm is backend for matrix multiplication---Benchmarks:| Equation                | Inputs Mat Dims                   | UX (ms)        | UA (ms) | MX (ms) | MA (ms) | WX (ms) ||-------------------------|-----------------------------------|----------------|---------|---------|---------|---------|| "ij, jk -> ik"          | [2, 3], [3,2]                     | 0.04 ± 0.00    | -       | -       | -       | -       || "ij, jk -> ik"          | [20, 30], [30,20]                 | 0.08 ± 0.00    | -       | -       | -       | -       || "ij, jk -> ik"          | [113, 127], [127,113]             | 2.41 ± 0.05    | -       | -       | -       | -       || "imkj, injs -> imnks"   | [1, 4, 7, 9], [1, 5, 9, 8]        | 0.11 ± 0.00    | -       | -       | -       | -       || "imkj, injs -> imnks"   | [1, 4, 70, 90], [1, 5, 90, 80]    | 15.49 ± 0.46   | -       | -       | -       | -       || "imkj, injs -> imnks"   | [1, 4, 73, 91], [1, 5, 91, 57]    | 11.53 ± 0.06   | -       | -       | -       | -       || "ij -> i"               | [30, 40]                          | 0.03 ± 0.00    | -       | -       | -       | -       || "ij -> i"               | [113, 374]                        | 0.13 ± 0.00    | -       | -       | -       | -       || "...ij -> ...i"         | [30, 40]                          | 0.03 ± 0.00    | -       | -       | -       | -       || "...ij -> ...i"         | [113, 374]                        | 0.13 ± 0.00    | -       | -       | -       | -       || "...ij, ...jk -> ...ik" | [40, 50], [50,80]                 | 0.37 ± 0.01    | -       | -       | -       | -       || "...ij, ...jk -> ...ik" | [47, 51], [51, 83]                | 0.43 ± 0.01    | -       | -       | -       | -       |-----### Pull Request Readiness ChecklistSee details athttps://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- [ ] 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

Fix gstreamer backend with manual pipelinesopencv#24243- Fix broken seeking in audio/video playback- Fix broken audio playback- Fix unreliable seeking- Estimate frame count if it is not available directly- Return -1 for frame count and fps if it is not available. - Return 0 for fps if the video has variable frame rate- Enable and fix tests### Pull Request Readiness ChecklistSee details athttps://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- [-] There is a reference to the original bug report and related work => Reproducible test provided- [-] 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 CMake1. Download two test videos:```bashwgethttps://github.com/ietf-wg-cellar/matroska-test-files/raw/master/test_files/test1.mkvwgethttps://test-videos.co.uk/vids/jellyfish/mkv/360/Jellyfish_360_10s_5MB.mkv```2. I modified a OpenCV videoio sample to demonstrate the problem, here it is the patch:http://dpaste.com//C9MAT2K6W3. Build the sample, on Ubuntu:```bashg++ -g videocapture_audio_combination.cpp -I/usr/include/opencv4 `pkg-config --libs --cflags opencv4` -o videocapture_audio_combination```4. Play an audio stream with seeking BEFORE the fix:```bash$ ./videocapture_audio_combination --audio "filesrc location=test1.mkv ! queue ! matroskademux name=demux demux.audio_0 ! decodebin ! audioconvert ! appsink"[ERROR:0@0.009] global cap.cpp:164 open VIDEOIO(GSTREAMER): raised OpenCV exception:OpenCV(4.8.0-dev) ./modules/videoio/src/cap_gstreamer.cpp:153: error: (-215:Assertion failed) ptr in function 'get'[ WARN:0@0.009] global cap.cpp:204 open VIDEOIO(GSTREAMER): backend is generally available but can't be used to capture by nameERROR! Can't to open file: filesrc location=test1.mkv ! queue ! matroskademux name=demux demux.audio_0 ! decodebin ! audioconvert ! appsink```5. Play a video stream with seeking BEFORE the fix:```bash$ ./videocapture_audio_combination --audio "filesrc location=Jellyfish_360_10s_5MB.mkv ! queue ! matroskademux name=demux demux.video_0 ! decodebin ! videoconvert ! video/x-raw, format=BGR ! appsink drop=1"[ WARN:0@0.034] global cap_gstreamer.cpp:1728 open OpenCV | GStreamer warning: Cannot query video position: status=1, value=22, duration=300CAP_PROP_AUDIO_DATA_DEPTH: CV_16SCAP_PROP_AUDIO_SAMPLES_PER_SECOND: 44100CAP_PROP_AUDIO_TOTAL_CHANNELS: 0CAP_PROP_AUDIO_TOTAL_STREAMS: [ WARN:0@0.034] global cap_gstreamer.cpp:1898 getProperty OpenCV | GStreamer: CAP_PROP_AUDIO_TOTAL_STREAMS property is not supported0[ WARN:0@0.034] global cap_gstreamer.cpp:1817 getProperty OpenCV | GStreamer: CAP_PROP_POS_MSEC property result may be unrealiable:opencv#19025Timestamp: 0.6218Timestamp: 33.1085Timestamp: 67.1274Timestamp: 100.1182Timestamp: 133.1204Timestamp: 167.1195Timestamp: 200.1161Timestamp: 233.1147Timestamp: 267.1194Timestamp: 300.1202[ WARN:0@0.338] global cap_gstreamer.cpp:1949 setProperty OpenCV | GStreamer warning: GStreamer: unable to seek0:00:00.338215907 3892572 0x5592899c7580 WARN                 basesrc gstbasesrc.c:3127:gst_base_src_loop:<filesrc0> error: Internal data stream error.0:00:00.338235884 3892572 0x5592899c7580 WARN                 basesrc gstbasesrc.c:3127:gst_base_src_loop:<filesrc0> error: streaming stopped, reason not-linked (-1)0:00:00.338264287 3892572 0x5592899c7580 WARN                   queue gstqueue.c:992:gst_queue_handle_sink_event:<queue0> error: Internal data stream error.0:00:00.338270329 3892572 0x5592899c7580 WARN                   queue gstqueue.c:992:gst_queue_handle_sink_event:<queue0> error: streaming stopped, reason not-linked (-1)[ WARN:0@0.339] global cap_gstreamer.cpp:2784 handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module filesrc0 reported: Internal data stream error.[ WARN:0@0.339] global cap_gstreamer.cpp:1199 startPipeline OpenCV | GStreamer warning: unable to start pipelineNumber of audio samples: 0Number of video frames: 10[ WARN:0@0.339] global cap_gstreamer.cpp:1164 isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created```6. Play an audio stream with seeking AFTER the fix:```bash$ ./videocapture_audio_combination --audio "filesrc location=test1.mkv ! queue ! matroskademux name=demux demux.audio_0 ! decodebin ! audioconvert ! appsink"CAP_PROP_AUDIO_DATA_DEPTH: CV_16SCAP_PROP_AUDIO_SAMPLES_PER_SECOND: 48000CAP_PROP_AUDIO_TOTAL_CHANNELS: 2CAP_PROP_AUDIO_TOTAL_STREAMS: [ WARN:0@0.025] global cap_gstreamer.cpp:1903 getProperty OpenCV | GStreamer: CAP_PROP_AUDIO_TOTAL_STREAMS property is not supported0Timestamp: 0.0000Timestamp: 24.0000Timestamp: 48.0000Timestamp: 72.0000Timestamp: 96.0000Timestamp: 120.0000Timestamp: 144.0000Timestamp: 168.0000Timestamp: 192.0000Timestamp: 216.0000Timestamp: 3500.0000Timestamp: 3504.0000Timestamp: 3528.0000Timestamp: 3552.0000Timestamp: 3576.0000Timestamp: 3600.0000Timestamp: 3624.0000Timestamp: 3648.0000Timestamp: 3672.0000Timestamp: 3696.0000Timestamp: 3720.0000Timestamp: 3744.0000Timestamp: 3768.0000Timestamp: 3792.0000Timestamp: 3816.0000Timestamp: 3840.0000Timestamp: 3864.0000Timestamp: 3888.0000Timestamp: 3912.0000Timestamp: 3936.0000```7. Play a video stream with seeking AFTER the fix:```bash$ ./videocapture_audio_combination --audio "filesrc location=Jellyfish_360_10s_5MB.mkv ! queue ! matroskademux name=demux demux.video_0 ! decodebin ! videoconvert ! video/x-raw, format=BGR ! appsink drop=1"[ WARN:0@0.033] global cap_gstreamer.cpp:1746 open OpenCV | GStreamer warning: Cannot query video position: status=1, value=22, duration=300CAP_PROP_AUDIO_DATA_DEPTH: CV_16SCAP_PROP_AUDIO_SAMPLES_PER_SECOND: 44100CAP_PROP_AUDIO_TOTAL_CHANNELS: 0CAP_PROP_AUDIO_TOTAL_STREAMS: [ WARN:0@0.034] global cap_gstreamer.cpp:1903 getProperty OpenCV | GStreamer: CAP_PROP_AUDIO_TOTAL_STREAMS property is not supported0Timestamp: 0.0000Timestamp: 33.0000Timestamp: 67.0000Timestamp: 100.0000Timestamp: 133.0000Timestamp: 167.0000Timestamp: 200.0000Timestamp: 233.0000Timestamp: 267.0000Timestamp: 300.00000:00:00.335931693 3893501 0x55bbe76ad920 WARN      matroskareadcommon matroska-read-common.c:759:gst_matroska_read_common_parse_skip:<demux:sink> Unknown CueTrackPositions subelement 0xf0 - ignoring0:00:00.335952823 3893501 0x55bbe76ad920 WARN      matroskareadcommon matroska-read-common.c:759:gst_matroska_read_common_parse_skip:<demux:sink> Unknown CueTrackPositions subelement 0xf0 - ignoring0:00:00.335988029 3893501 0x55bbe76ad920 WARN                 basesrc gstbasesrc.c:1742:gst_base_src_perform_seek:<filesrc0> duplicate event found 184Timestamp: 3467.0000Timestamp: 3500.0000Timestamp: 3533.0000Timestamp: 3567.0000Timestamp: 3600.0000Timestamp: 3633.0000Timestamp: 3667.0000Timestamp: 3700.0000Timestamp: 3733.0000Timestamp: 3767.0000Timestamp: 3800.0000Timestamp: 3833.0000Timestamp: 3867.0000Timestamp: 3900.0000Timestamp: 3933.0000Timestamp: 3967.0000Timestamp: 4000.0000Timestamp: 4033.0000Timestamp: 4067.0000Timestamp: 4100.0000```

Reformat USAC tutorial

Fixed build warning introduced inopencv#24243

Commutative rules for DNN subgraphs fusionopencv#24483### Pull Request Readiness Checklistrelated:opencv#24463 (comment)See details athttps://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

…ls_from_docsExclude RVV UI internals from Doxygen documentation.

Link lib_acl_op_compiler when compile with CANN

…ringFix contour filtering in ArUco

…ource_ffmpegUse video stream fps first in FFmpeg backend for VideoCapture

…pe_checkReworked camera stream check to exclude non-video formats