Merge pull request #973 from szk1509:master

new corner refinement method :: using the contour-lines (#973)

* doCornerRefinement to CornerRefinementMethod :: detected contours points are used to detect the corners

* some little corrections

* samples edited

* documented :)

* tabs corrected

* Docu corrections

* refinement for all candidates

* refinement for all candidates :: copy paste error corrected

* comment

Author: szk1509

modules/aruco/include/opencv2/aruco.hpp

@@ -76,7 +76,11 @@ namespace aruco {
 //! @addtogroup aruco
 //! @{
 
-
+enum CornerRefineMethod{
+	CORNER_REFINE_NONE,     // default corners
+	CORNER_REFINE_SUBPIX,   // refine the corners using subpix
+	CORNER_REFINE_CONTOUR   // refine the corners using the contour-points
+};
 
 /**
  * @brief Parameters for the detectMarker process:
@@ -100,7 +104,8 @@ namespace aruco {
  * - minMarkerDistanceRate: minimum mean distance beetween two marker corners to be considered
  *   similar, so that the smaller one is removed. The rate is relative to the smaller perimeter
  *   of the two markers (default 0.05).
- * - doCornerRefinement: do subpixel refinement or not
+ * - cornerRefinementMethod: corner refinement method. (CORNER_REFINE_NONE, no refinement.
+ *   CORNER_REFINE_SUBPIX, do subpixel refinement. CORNER_REFINE_CONTOUR use contour-Points)
  * - cornerRefinementWinSize: window size for the corner refinement process (in pixels) (default 5).
  * - cornerRefinementMaxIterations: maximum number of iterations for stop criteria of the corner
  *   refinement process (default 30).
@@ -137,7 +142,7 @@ struct CV_EXPORTS_W DetectorParameters {
     CV_PROP_RW double minCornerDistanceRate;
     CV_PROP_RW int minDistanceToBorder;
     CV_PROP_RW double minMarkerDistanceRate;
-    CV_PROP_RW bool doCornerRefinement;
+    CV_PROP_RW int cornerRefinementMethod;
     CV_PROP_RW int cornerRefinementWinSize;
     CV_PROP_RW int cornerRefinementMaxIterations;
     CV_PROP_RW double cornerRefinementMinAccuracy;
@@ -165,6 +170,10 @@ struct CV_EXPORTS_W DetectorParameters {
  * @param parameters marker detection parameters
  * @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
  * correct codification. Useful for debugging purposes.
+ * @param cameraMatrix optional input 3x3 floating-point camera matrix
+ * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
+ * @param distCoeff optional vector of distortion coefficients
+ * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
  *
  * Performs marker detection in the input image. Only markers included in the specific dictionary
  * are searched. For each detected marker, it returns the 2D position of its corner in the image
@@ -175,7 +184,7 @@ struct CV_EXPORTS_W DetectorParameters {
  */
 CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                                 OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
-                                OutputArrayOfArrays rejectedImgPoints = noArray());
+                                OutputArrayOfArrays rejectedImgPoints = noArray(), InputArray cameraMatrix= noArray(), InputArray distCoeff= noArray());
 
 
 
@@ -196,6 +205,7 @@ CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &diction
  * Each element in rvecs corresponds to the specific marker in imgPoints.
  * @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>).
  * Each element in tvecs corresponds to the specific marker in imgPoints.
+ * @param _objPoints array of object points of all the marker corners
  *
  * This function receives the detected markers and returns their pose estimation respect to
  * the camera individually. So for each marker, one rotation and translation vector is returned.
@@ -209,7 +219,7 @@ CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &diction
  */
 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                             InputArray cameraMatrix, InputArray distCoeffs,
-                                            OutputArray rvecs, OutputArray tvecs);
+                                            OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints = noArray());
 
 
 

modules/aruco/samples/calibrate_camera.cpp

@@ -90,7 +90,7 @@ static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameter
     fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
     fs["minDistanceToBorder"] >> params->minDistanceToBorder;
     fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
-    fs["doCornerRefinement"] >> params->doCornerRefinement;
+    fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
     fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
     fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
     fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;

modules/aruco/samples/calibrate_camera_charuco.cpp

@@ -90,7 +90,7 @@ static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameter
     fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
     fs["minDistanceToBorder"] >> params->minDistanceToBorder;
     fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
-    fs["doCornerRefinement"] >> params->doCornerRefinement;
+    fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
     fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
     fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
     fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;

modules/aruco/samples/detect_board.cpp

@@ -93,7 +93,7 @@ static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameter
     fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
     fs["minDistanceToBorder"] >> params->minDistanceToBorder;
     fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
-    fs["doCornerRefinement"] >> params->doCornerRefinement;
+    fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
     fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
     fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
     fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;
@@ -145,7 +145,7 @@ int main(int argc, char *argv[]) {
             return 0;
         }
     }
-    detectorParams->doCornerRefinement = true; // do corner refinement in markers
+    detectorParams->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX; // do corner refinement in markers
 
     String video;
     if(parser.has("v")) {

modules/aruco/samples/detect_board_charuco.cpp

@@ -93,7 +93,7 @@ static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameter
     fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
     fs["minDistanceToBorder"] >> params->minDistanceToBorder;
     fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
-    fs["doCornerRefinement"] >> params->doCornerRefinement;
+    fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
     fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
     fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
     fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;

modules/aruco/samples/detect_diamonds.cpp

@@ -94,7 +94,7 @@ static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameter
     fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
     fs["minDistanceToBorder"] >> params->minDistanceToBorder;
     fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
-    fs["doCornerRefinement"] >> params->doCornerRefinement;
+    fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
     fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
     fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
     fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;

modules/aruco/samples/detect_markers.cpp

@@ -88,7 +88,7 @@ static bool readDetectorParameters(string filename, Ptr<aruco::DetectorParameter
     fs["minCornerDistanceRate"] >> params->minCornerDistanceRate;
     fs["minDistanceToBorder"] >> params->minDistanceToBorder;
     fs["minMarkerDistanceRate"] >> params->minMarkerDistanceRate;
-    fs["doCornerRefinement"] >> params->doCornerRefinement;
+    fs["cornerRefinementMethod"] >> params->cornerRefinementMethod;
     fs["cornerRefinementWinSize"] >> params->cornerRefinementWinSize;
     fs["cornerRefinementMaxIterations"] >> params->cornerRefinementMaxIterations;
     fs["cornerRefinementMinAccuracy"] >> params->cornerRefinementMinAccuracy;
@@ -127,7 +127,7 @@ int main(int argc, char *argv[]) {
             return 0;
         }
     }
-    detectorParams->doCornerRefinement = true; // do corner refinement in markers
+    detectorParams->cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX; // do corner refinement in markers
 
     int camId = parser.get<int>("ci");