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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2026-03-19 09:19:35 +03:00
parent 7394d128c6 9e5cd6bf9b
commit b5a7e0c662
67 changed files with 1881 additions and 555 deletions
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modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
+9 -3
View File
@@ -20,6 +20,8 @@ enum CornerRefineMethod{
CORNER_REFINE_APRILTAG, ///< Tag and corners detection based on the AprilTag 2 approach @cite wang2016iros
};
static constexpr float DEFAULT_VALID_BIT_ID_THRESHOLD{0.49f};
/** @brief struct DetectorParameters is used by ArucoDetector
*/
struct CV_EXPORTS_W_SIMPLE DetectorParameters {
@@ -49,7 +51,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
aprilTagQuadSigma = 0.0;
aprilTagMinClusterPixels = 5;
aprilTagMaxNmaxima = 10;
aprilTagCriticalRad = (float)(10* CV_PI /180);
aprilTagCriticalRad = (float)(10 * CV_PI / 180);
aprilTagMaxLineFitMse = 10.0;
aprilTagMinWhiteBlackDiff = 5;
aprilTagDeglitch = 0;
@@ -57,6 +59,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
useAruco3Detection = false;
minSideLengthCanonicalImg = 32;
minMarkerLengthRatioOriginalImg = 0.0;
validBitIdThreshold = DEFAULT_VALID_BIT_ID_THRESHOLD;
}
/** @brief Read a new set of DetectorParameters from FileNode (use FileStorage.root()).
@@ -168,12 +171,12 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
*/
CV_PROP_RW double maxErroneousBitsInBorderRate;
/** @brief minimun standard deviation in pixels values during the decodification step to apply Otsu
/** @brief minimum standard deviation in pixels values during the decodification step to apply Otsu
* thresholding (otherwise, all the bits are set to 0 or 1 depending on mean higher than 128 or not) (default 5.0)
*/
CV_PROP_RW double minOtsuStdDev;
/// error correction rate respect to the maximun error correction capability for each dictionary (default 0.6).
/// error correction rate respect to the maximum error correction capability for each dictionary (default 0.6).
CV_PROP_RW double errorCorrectionRate;
/** @brief April :: User-configurable parameters.
@@ -231,6 +234,9 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
/// range [0,1], eq (2) from paper. The parameter tau_i has a direct influence on the processing speed.
CV_PROP_RW float minMarkerLengthRatioOriginalImg;
/// range [0,1], define the acceptable threshold when comparing the detected marker to the dictionary during marker identification.
CV_PROP_RW float validBitIdThreshold;
};
/** @brief struct RefineParameters is used by ArucoDetector
modules/objdetect/include/opencv2/objdetect/aruco_dictionary.hpp
+10
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@@ -65,6 +65,12 @@ class CV_EXPORTS_W_SIMPLE Dictionary {
*/
CV_WRAP bool identify(const Mat &onlyBits, CV_OUT int &idx, CV_OUT int &rotation, double maxCorrectionRate) const;
/** @brief Given a matrix of pixel ratio raging from 0 to 1. Returns whether if marker is identified or not.
*
* Returns reference to the marker id in the dictionary (if any) and its rotation.
*/
CV_WRAP bool identify(const Mat &onlyCellPixelRatio, CV_OUT int &idx, CV_OUT int &rotation, double maxCorrectionRate, float validBitIdThreshold) const;
/** @brief Returns Hamming distance of the input bits to the specific id.
*
* If `allRotations` flag is set, the four possible marker rotations are considered
@@ -84,6 +90,10 @@ class CV_EXPORTS_W_SIMPLE Dictionary {
/** @brief Transform list of bytes to matrix of bits
*/
CV_WRAP static Mat getBitsFromByteList(const Mat &byteList, int markerSize, int rotationId = 0);
/** @brief Get ground truth bits float
*/
CV_WRAP Mat getMarkerBits(int markerId, int rotationId = 0) const;
};