Merge branch 4.x

modules/objdetect/include/opencv2/objdetect.hpp

@@ -721,19 +721,21 @@ public:
         ECI_UTF8 = 26
     };
 
-    /** @brief QR code encoder parameters.
-     @param version The optional version of QR code (by default - maximum possible depending on
-                    the length of the string).
-     @param correction_level The optional level of error correction (by default - the lowest).
-     @param mode The optional encoding mode - Numeric, Alphanumeric, Byte, Kanji, ECI or Structured Append.
-     @param structure_number The optional number of QR codes to generate in Structured Append mode.
-    */
+    /** @brief QR code encoder parameters. */
     struct CV_EXPORTS_W_SIMPLE Params
     {
         CV_WRAP Params();
+
+        //! The optional version of QR code (by default - maximum possible depending on the length of the string).
         CV_PROP_RW int version;
+
+        //! The optional level of error correction (by default - the lowest).
         CV_PROP_RW CorrectionLevel correction_level;
+
+        //! The optional encoding mode - Numeric, Alphanumeric, Byte, Kanji, ECI or Structured Append.
         CV_PROP_RW EncodeMode mode;
+
+        //! The optional number of QR codes to generate in Structured Append mode.
         CV_PROP_RW int structure_number;
     };
 

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

@@ -36,6 +36,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
         minMarkerDistanceRate = 0.05;
         cornerRefinementMethod = (int)CORNER_REFINE_NONE;
         cornerRefinementWinSize = 5;
+        relativeCornerRefinmentWinSize = 0.3f;
         cornerRefinementMaxIterations = 30;
         cornerRefinementMinAccuracy = 0.1;
         markerBorderBits = 1;
@@ -56,7 +57,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
         useAruco3Detection = false;
         minSideLengthCanonicalImg = 32;
         minMarkerLengthRatioOriginalImg = 0.0;
-    };
+    }
 
     /** @brief Read a new set of DetectorParameters from FileNode (use FileStorage.root()).
      */
@@ -108,9 +109,27 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
     /** @brief default value CORNER_REFINE_NONE */
     CV_PROP_RW int cornerRefinementMethod;
 
-    /// window size for the corner refinement process (in pixels) (default 5).
+    /** @brief maximum window size for the corner refinement process (in pixels) (default 5).
+     *
+     * The window size may decrease if the ArUco marker is too small, check relativeCornerRefinmentWinSize.
+     * The final window size is calculated as:
+     * min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
+     * where averageArucoModuleSize is average module size of ArUco marker in pixels.
+     * (ArUco marker is composed of black and white modules)
+     */
     CV_PROP_RW int cornerRefinementWinSize;
 
+    /** @brief Dynamic window size for corner refinement relative to Aruco module size (default 0.3).
+     *
+     * The final window size is calculated as:
+     * min(cornerRefinementWinSize, averageArucoModuleSize*relativeCornerRefinmentWinSize),
+     * where averageArucoModuleSize is average module size of ArUco marker in pixels.
+     * (ArUco marker is composed of black and white modules)
+     * In the case of markers located far from each other, it may be useful to increase the value of the parameter to 0.4-0.5.
+     * In the case of markers located close to each other, it may be useful to decrease the parameter value to 0.1-0.2.
+     */
+    CV_PROP_RW float relativeCornerRefinmentWinSize;
+
     /// maximum number of iterations for stop criteria of the corner refinement process (default 30).
     CV_PROP_RW int cornerRefinementMaxIterations;
 

modules/objdetect/include/opencv2/objdetect/detection_based_tracker.hpp

@@ -192,7 +192,7 @@ class CV_EXPORTS DetectionBasedTracker
             {
                 lastPositions.push_back(rect);
                 id=getNextId();
-            };
+            }
 
             static int getNextId()
             {

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

@@ -20,7 +20,7 @@ model download link: https://github.com/opencv/opencv_zoo/tree/master/models/fac
 class CV_EXPORTS_W FaceDetectorYN
 {
 public:
-    virtual ~FaceDetectorYN() {};
+    virtual ~FaceDetectorYN() {}
 
     /** @brief Set the size for the network input, which overwrites the input size of creating model. Call this method when the size of input image does not match the input size when creating model
      *
@@ -99,7 +99,7 @@ model download link: https://github.com/opencv/opencv_zoo/tree/master/models/fac
 class CV_EXPORTS_W FaceRecognizerSF
 {
 public:
-    virtual ~FaceRecognizerSF() {};
+    virtual ~FaceRecognizerSF() {}
 
     /** @brief Definition of distance used for calculating the distance between two face features
      */