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have two detectMarkers functions for python backwards compatibility

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using multiple dictionaries for refinement (function split not necessary
as it's backwards compatible)
This commit is contained in:
Benjamin Knecht
2025-02-19 18:37:49 +01:00
parent 9ae23a7f51
commit f212c163e3
5 changed files with 394 additions and 278 deletions
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modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
+28 -5
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@@ -287,7 +287,7 @@ public:
/** @brief ArucoDetector constructor for multiple dictionaries
*
* @param dictionaries indicates the type of markers that will be searched
* @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
*/
@@ -306,10 +306,8 @@ public:
* 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
* 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.
@@ -318,7 +316,7 @@ public:
* @sa undistort, estimatePoseSingleMarkers, estimatePoseBoard
*/
CV_WRAP void detectMarkers(InputArray image, OutputArrayOfArrays corners, OutputArray ids,
OutputArrayOfArrays rejectedImgPoints = noArray(), OutputArray dictIndices = noArray()) const;
OutputArrayOfArrays rejectedImgPoints = noArray()) const;
/** @brief Refine not detected markers based on the already detected and the board layout
*
@@ -350,6 +348,31 @@ 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;
CV_WRAP const Dictionary& getDictionary(int index = 0) const;
CV_WRAP void setDictionary(const Dictionary& dictionary, int index = 0);
CV_WRAP const std::vector<Dictionary>& getDictionaries() const;