Merge remote-tracking branch 'upstream/master'

Author: Nerdyvedi

modules/aruco/include/opencv2/aruco.hpp

@@ -144,6 +144,8 @@ enum CornerRefineMethod{
  *   done at full resolution.
  * - aprilTagQuadSigma: What Gaussian blur should be applied to the segmented image (used for quad detection?)
  *   Parameter is the standard deviation in pixels.  Very noisy images benefit from non-zero values (e.g. 0.8).
+ * - detectInvertedMarker: to check if there is a white marker. In order to generate a "white" marker just
+ *   invert a normal marker by using a tilde, ~markerImage. (default false)
  */
 struct CV_EXPORTS_W DetectorParameters {
 
@@ -183,6 +185,9 @@ struct CV_EXPORTS_W DetectorParameters {
     CV_PROP_RW float aprilTagMaxLineFitMse;
     CV_PROP_RW int aprilTagMinWhiteBlackDiff;
     CV_PROP_RW int aprilTagDeglitch;
+
+    // to detect white (inverted) markers
+    CV_PROP_RW bool detectInvertedMarker;
 };
 
 
@@ -257,7 +262,7 @@ CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float ma
 /**
  * @brief Board of markers
  *
- * A board is a set of markers in the 3D space with a common cordinate system.
+ * A board is a set of markers in the 3D space with a common coordinate system.
  * The common form of a board of marker is a planar (2D) board, however any 3D layout can be used.
  * A Board object is composed by:
  * - The object points of the marker corners, i.e. their coordinates respect to the board system.
@@ -268,7 +273,7 @@ class CV_EXPORTS_W Board {
 
     public:
     /**
-    * @brief Provide way to create Board by passing nessesary data. Specially needed in Python.
+    * @brief Provide way to create Board by passing necessary data. Specially needed in Python.
     *
     * @param objPoints array of object points of all the marker corners in the board
     * @param dictionary the dictionary of markers employed for this board
@@ -292,7 +297,7 @@ class CV_EXPORTS_W Board {
 
 /**
  * @brief Planar board with grid arrangement of markers
- * More common type of board. All markers are placed in the same plane in a grid arrangment.
+ * More common type of board. All markers are placed in the same plane in a grid arrangement.
  * The board can be drawn using drawPlanarBoard() function (@sa drawPlanarBoard)
  */
 class CV_EXPORTS_W GridBoard : public Board {