Merge branch 4.x

modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp

@@ -285,6 +285,16 @@ public:
                           const DetectorParameters &detectorParams = DetectorParameters(),
                           const RefineParameters& refineParams = RefineParameters());
 
+    /** @brief ArucoDetector constructor for multiple dictionaries
+     *
+     * @param dictionaries indicates the type of markers that will be searched. Empty dictionaries will throw an error.
+     * @param detectorParams marker detection parameters
+     * @param refineParams marker refine detection parameters
+     */
+    CV_WRAP ArucoDetector(const std::vector<Dictionary> &dictionaries,
+                          const DetectorParameters &detectorParams = DetectorParameters(),
+                          const RefineParameters& refineParams = RefineParameters());
+
     /** @brief Basic marker detection
      *
      * @param image input image
@@ -297,7 +307,7 @@ public:
      * @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
      * correct codification. Useful for debugging purposes.
      *
-     * Performs marker detection in the input image. Only markers included in the specific dictionary
+     * Performs marker detection in the input image. Only markers included in the first specified dictionary
      * are searched. For each detected marker, it returns the 2D position of its corner in the image
      * and its corresponding identifier.
      * Note that this function does not perform pose estimation.
@@ -329,6 +339,8 @@ public:
      * If camera parameters and distortion coefficients are provided, missing markers are reprojected
      * using projectPoint function. If not, missing marker projections are interpolated using global
      * homography, and all the marker corners in the board must have the same Z coordinate.
+     * @note This function assumes that the board only contains markers from one dictionary, so only the
+     * first configured dictionary is used. It has to match the dictionary of the board to work properly.
      */
     CV_WRAP void refineDetectedMarkers(InputArray image, const Board &board,
                                        InputOutputArrayOfArrays detectedCorners,
@@ -336,9 +348,59 @@ public:
                                        InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
                                        OutputArray recoveredIdxs = noArray()) const;
 
+    /** @brief Basic marker detection
+     *
+     * @param image input image
+     * @param corners vector of detected marker corners. For each marker, its four corners
+     * are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
+     * the dimensions of this array is Nx4. The order of the corners is clockwise.
+     * @param ids vector of identifiers of the detected markers. The identifier is of type int
+     * (e.g. std::vector<int>). For N detected markers, the size of ids is also N.
+     * The identifiers have the same order than the markers in the imgPoints array.
+     * @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
+     * correct codification. Useful for debugging purposes.
+     * @param dictIndices vector of dictionary indices for each detected marker. Use getDictionaries() to get the
+     * list of corresponding dictionaries.
+     *
+     * Performs marker detection in the input image. Only markers included in the specific dictionaries
+     * are searched. For each detected marker, it returns the 2D position of its corner in the image
+     * and its corresponding identifier.
+     * Note that this function does not perform pose estimation.
+     * @note The function does not correct lens distortion or takes it into account. It's recommended to undistort
+     * input image with corresponding camera model, if camera parameters are known
+     * @sa undistort, estimatePoseSingleMarkers,  estimatePoseBoard
+     */
+    CV_WRAP void detectMarkersMultiDict(InputArray image, OutputArrayOfArrays corners, OutputArray ids,
+                               OutputArrayOfArrays rejectedImgPoints = noArray(), OutputArray dictIndices = noArray()) const;
+
+    /** @brief Returns first dictionary from internal list used for marker detection.
+     *
+     * @return The first dictionary from the configured ArucoDetector.
+     */
     CV_WRAP const Dictionary& getDictionary() const;
+
+    /** @brief Sets and replaces the first dictionary in internal list to be used for marker detection.
+     *
+     * @param dictionary The new dictionary that will replace the first dictionary in the internal list.
+     */
     CV_WRAP void setDictionary(const Dictionary& dictionary);
 
+    /** @brief Returns all dictionaries currently used for marker detection as a vector.
+     *
+     * @return A std::vector<Dictionary> containing all dictionaries used by the ArucoDetector.
+     */
+    CV_WRAP std::vector<Dictionary> getDictionaries() const;
+
+    /** @brief Sets the entire collection of dictionaries to be used for marker detection, replacing any existing dictionaries.
+     *
+     * @param dictionaries A std::vector<Dictionary> containing the new set of dictionaries to be used.
+     *
+     * Configures the ArucoDetector to use the provided vector of dictionaries for marker detection.
+     * This method replaces any dictionaries that were previously set.
+     * @note Setting an empty vector of dictionaries will throw an error.
+     */
+    CV_WRAP void setDictionaries(const std::vector<Dictionary>& dictionaries);
+
     CV_WRAP const DetectorParameters& getDetectorParameters() const;
     CV_WRAP void setDetectorParameters(const DetectorParameters& detectorParameters);