Merge branch 4.x

modules/objdetect/include/opencv2/objdetect/aruco_board.hpp

@@ -58,14 +58,22 @@ public:
     CV_WRAP const Point3f& getRightBottomCorner() const;
 
     /** @brief Given a board configuration and a set of detected markers, returns the corresponding
-     * image points and object points to call solvePnP()
+     * image points and object points, can be used in solvePnP()
      *
      * @param detectedCorners List of detected marker corners of the board.
-     * For CharucoBoard class you can set list of charuco corners.
-     * @param detectedIds List of identifiers for each marker or list of charuco identifiers for each corner.
-     * For CharucoBoard class you can set list of charuco identifiers for each corner.
-     * @param objPoints Vector of vectors of board marker points in the board coordinate space.
-     * @param imgPoints Vector of vectors of the projections of board marker corner points.
+     * For cv::Board and cv::GridBoard the method expects std::vector<std::vector<Point2f>> or std::vector<Mat> with Aruco marker corners.
+     * For cv::CharucoBoard the method expects std::vector<Point2f> or Mat with ChAruco corners (chess board corners matched with Aruco markers).
+     *
+     * @param detectedIds List of identifiers for each marker or charuco corner.
+     * For any Board class the method expects std::vector<int> or Mat.
+     *
+     * @param objPoints Vector of marker points in the board coordinate space.
+     * For any Board class the method expects std::vector<cv::Point3f> objectPoints or cv::Mat
+     *
+     * @param imgPoints Vector of marker points in the image coordinate space.
+     * For any Board class the method expects std::vector<cv::Point2f> objectPoints or cv::Mat
+     *
+     * @sa solvePnP
      */
     CV_WRAP void matchImagePoints(InputArrayOfArrays detectedCorners, InputArray detectedIds,
                                   OutputArray objPoints, OutputArray imgPoints) const;
@@ -138,6 +146,18 @@ public:
     CV_WRAP CharucoBoard(const Size& size, float squareLength, float markerLength,
                          const Dictionary &dictionary, InputArray ids = noArray());
 
+    /** @brief set legacy chessboard pattern.
+     *
+     * Legacy setting creates chessboard patterns starting with a white box in the upper left corner
+     * if there is an even row count of chessboard boxes, otherwise it starts with a black box.
+     * This setting ensures compatibility to patterns created with OpenCV versions prior OpenCV 4.6.0.
+     * See https://github.com/opencv/opencv/issues/23152.
+     *
+     * Default value: false.
+     */
+    CV_WRAP void setLegacyPattern(bool legacyPattern);
+    CV_WRAP bool getLegacyPattern() const;
+
     CV_WRAP Size getChessboardSize() const;
     CV_WRAP float getSquareLength() const;
     CV_WRAP float getMarkerLength() const;

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

@@ -269,13 +269,13 @@ public:
      * 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 corresponging camera model, if camera parameters are known
+     * input image with corresponding camera model, if camera parameters are known
      * @sa undistort, estimatePoseSingleMarkers,  estimatePoseBoard
      */
     CV_WRAP void detectMarkers(InputArray image, OutputArrayOfArrays corners, OutputArray ids,
                                OutputArrayOfArrays rejectedImgPoints = noArray()) const;
 
-    /** @brief Refind not detected markers based on the already detected and the board layout
+    /** @brief Refine not detected markers based on the already detected and the board layout
      *
      * @param image input image
      * @param board layout of markers in the board.

modules/objdetect/include/opencv2/objdetect/charuco_detector.hpp

@@ -13,7 +13,7 @@ namespace aruco {
 //! @{
 
 struct CV_EXPORTS_W_SIMPLE CharucoParameters {
-    CharucoParameters() {
+    CV_WRAP CharucoParameters() {
         minMarkers = 2;
         tryRefineMarkers = false;
     }

modules/objdetect/include/opencv2/objdetect/face.hpp

@@ -54,10 +54,20 @@ public:
 
     CV_WRAP virtual int getTopK() = 0;
 
-    /** @brief A simple interface to detect face from given image
-     *
+    /** @brief Detects faces in the input image. Following is an example output.
+
+     * ![image](pics/lena-face-detection.jpg)
+
      *  @param image an image to detect
-     *  @param faces detection results stored in a cv::Mat
+     *  @param faces detection results stored in a 2D cv::Mat of shape [num_faces, 15]
+     *  - 0-1: x, y of bbox top left corner
+     *  - 2-3: width, height of bbox
+     *  - 4-5: x, y of right eye (blue point in the example image)
+     *  - 6-7: x, y of left eye (red point in the example image)
+     *  - 8-9: x, y of nose tip (green point in the example image)
+     *  - 10-11: x, y of right corner of mouth (pink point in the example image)
+     *  - 12-13: x, y of left corner of mouth (yellow point in the example image)
+     *  - 14: face score
      */
     CV_WRAP virtual int detect(InputArray image, OutputArray faces) = 0;