fix docs/API

AleksandrPanov · AleksandrPanov · commit 64804f06b39c · 2022-07-25T17:31:11.000+03:00
diff --git a/modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp b/modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp
@@ -12,39 +12,37 @@ namespace aruco {
 //! @addtogroup aruco
 //! @{
 
-/** @brief
- * rvec/tvec define the right handed coordinate system of the marker.
+/** @brief rvec/tvec define the right handed coordinate system of the marker.
  * PatternPos defines center this system and axes direction.
  * Axis X (red color) - first coordinate, axis Y (green color) - second coordinate,
  * axis Z (blue color) - third coordinate.
  * @sa estimatePoseSingleMarkers(), @ref tutorial_aruco_detection
  */
 enum PatternPos {
     /** @brief The marker coordinate system is centered on the middle of the marker.
-        * The coordinates of the four corners (CCW order) of the marker in its own coordinate system are:
-        * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
-        * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0).
-        *
-        * These pattern points define this coordinate system:
-        * ![Image with axes drawn](images/singlemarkersaxes.jpg)
-        */
-    CCW_center,
+     * The coordinates of the four corners (CCW order) of the marker in its own coordinate system are:
+     * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
+     * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0).
+     *
+     * These pattern points define this coordinate system:
+     * ![Image with axes drawn](images/singlemarkersaxes.jpg)
+     */
+    CCW_CENTER,
     /** @brief The marker coordinate system is centered on the top-left corner of the marker.
-        * The coordinates of the four corners (CW order) of the marker in its own coordinate system are:
-        * (0, 0, 0), (markerLength, 0, 0),
-        * (markerLength, markerLength, 0), (0, markerLength, 0).
-        *
-        * These pattern points define this coordinate system:
-        * ![Image with axes drawn](images/singlemarkersaxes2.jpg)
-        *
-        * These pattern dots are convenient to use with a chessboard/ChArUco board.
-        */
-    CW_top_left_corner
+     * The coordinates of the four corners (CW order) of the marker in its own coordinate system are:
+     * (0, 0, 0), (markerLength, 0, 0),
+     * (markerLength, markerLength, 0), (0, markerLength, 0).
+     *
+     * These pattern points define this coordinate system:
+     * ![Image with axes drawn](images/singlemarkersaxes2.jpg)
+     *
+     * These pattern dots are convenient to use with a chessboard/ChArUco board.
+     */
+    CW_TOP_LEFT_CORNER
 };
 
-/** @brief
- * Pose estimation parameters
- * @param pattern Defines center this system and axes direction (default PatternPos::CCW_center).
+/** @brief Pose estimation parameters
+ * @param pattern Defines center this system and axes direction (default PatternPos::CCW_CENTER).
  * @param useExtrinsicGuess Parameter used for SOLVEPNP_ITERATIVE. If true (1), the function uses the provided
  * rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further
  * optimizes them (default false).
@@ -56,7 +54,7 @@ struct CV_EXPORTS_W EstimateParameters {
     CV_PROP_RW bool useExtrinsicGuess;
     CV_PROP_RW SolvePnPMethod solvePnPMethod;
 
-    EstimateParameters(): pattern(CCW_center), useExtrinsicGuess(false),
+    EstimateParameters(): pattern(CCW_CENTER), useExtrinsicGuess(false),
                           solvePnPMethod(SOLVEPNP_ITERATIVE) {}
 
     CV_WRAP static Ptr<EstimateParameters> create() {
@@ -82,9 +80,9 @@ struct CV_EXPORTS_W EstimateParameters {
  * Each element in rvecs corresponds to the specific marker in imgPoints.
  * @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>).
  * Each element in tvecs corresponds to the specific marker in imgPoints.
- * @param _objPoints array of object points of all the marker corners
+ * @param objPoints array of object points of all the marker corners
  * @param estimateParameters set the origin of coordinate system and the coordinates of the four corners of the marker
- * (default estimateParameters.pattern = PatternPos::CCW_center, estimateParameters.useExtrinsicGuess = false,
+ * (default estimateParameters.pattern = PatternPos::CCW_CENTER, estimateParameters.useExtrinsicGuess = false,
  * estimateParameters.solvePnPMethod = SOLVEPNP_ITERATIVE).
  *
  * This function receives the detected markers and returns their pose estimation respect to
@@ -103,8 +101,8 @@ struct CV_EXPORTS_W EstimateParameters {
  */
 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                             InputArray cameraMatrix, InputArray distCoeffs,
-                                            OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints = noArray(),
-                                            Ptr<EstimateParameters> estimateParameters = EstimateParameters::create());
+                                            OutputArray rvecs, OutputArray tvecs, OutputArray objPoints = noArray(),
+                                            const Ptr<EstimateParameters>& estimateParameters = EstimateParameters::create());
 
 /**
  * @brief Pose estimation for a board of markers
@@ -193,16 +191,18 @@ double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArr
                             Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
                             OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArray stdDeviationsIntrinsics,
                             OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags = 0,
-                            TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
+                            const TermCriteria& criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
 
-/** @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
+/**
+ * @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
+ * @overload
  */
 CV_EXPORTS_W double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArray counter,
                                          const Ptr<Board> &board, Size imageSize, InputOutputArray cameraMatrix,
                                          InputOutputArray distCoeffs, OutputArrayOfArrays rvecs = noArray(),
                                          OutputArrayOfArrays tvecs = noArray(), int flags = 0,
-                                         TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,
-                                                                              30, DBL_EPSILON));
+                                         const TermCriteria& criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS,
+                                                                                     30, DBL_EPSILON));
 
 /**
  * @brief Pose estimation for a ChArUco board given some of their corners
@@ -267,17 +267,18 @@ double calibrateCameraCharuco(InputArrayOfArrays charucoCorners, InputArrayOfArr
                               const Ptr<CharucoBoard> &board, Size imageSize, InputOutputArray cameraMatrix,
                               InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
                               OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics,
-                              OutputArray perViewErrors, int flags = 0, TermCriteria criteria = TermCriteria(
+                              OutputArray perViewErrors, int flags = 0, const TermCriteria& criteria = TermCriteria(
                               TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
 
-/** @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
-*/
+/**
+ * @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
+ */
 CV_EXPORTS_W double calibrateCameraCharuco(InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds,
                                            const Ptr<CharucoBoard> &board, Size imageSize,
                                            InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
                                            OutputArrayOfArrays rvecs = noArray(),
                                            OutputArrayOfArrays tvecs = noArray(), int flags = 0,
-                                           TermCriteria criteria=TermCriteria(TermCriteria::COUNT +
+                                           const TermCriteria& criteria=TermCriteria(TermCriteria::COUNT +
                                                                  TermCriteria::EPS, 30, DBL_EPSILON));
 //! @}
 
diff --git a/modules/aruco/include/opencv2/aruco/board.hpp b/modules/aruco/include/opencv2/aruco/board.hpp
@@ -26,7 +26,7 @@ class Dictionary;
  */
 class CV_EXPORTS_W Board {
     public:
-    /**
+   /**
     * @brief Provide way to create Board by passing necessary data. Specially needed in Python.
     *
     * @param objPoints array of object points of all the marker corners in the board
@@ -36,14 +36,14 @@ class CV_EXPORTS_W Board {
     */
     CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
 
-    /**
+   /**
     * @brief Set ids vector
     *
     * @param ids vector of the identifiers of the markers in the board (should be the same size
     * as objPoints)
     *
     * Recommended way to set ids vector, which will fail if the size of ids does not match size
-     * of objPoints.
+    * of objPoints.
     */
     CV_WRAP void setIds(InputArray ids);
 
diff --git a/modules/aruco/include/opencv2/aruco_detector.hpp b/modules/aruco/include/opencv2/aruco_detector.hpp
@@ -285,8 +285,7 @@ struct CV_EXPORTS_W RefineParameters {
 };
 
 /**
- * @brief
- * The main functionality of ArucoDetector class is detection of markers in an image with detectMarkers() method.
+ * @brief The main functionality of ArucoDetector class is detection of markers in an image with detectMarkers() method.
  * After detecting some markers in the image, you can try to find undetected markers from this dictionary with
  * refineDetectedMarkers() method.
  * @see DetectorParameters, RefineParameters
@@ -382,8 +381,8 @@ class CV_EXPORTS_W ArucoDetector : public Algorithm
     }
 
     /** @brief simplified API for language bindings
-    * @overload
-    */
+     * @overload
+     */
     CV_WRAP void write(const String& fileName) const {
         FileStorage fs(fileName, FileStorage::WRITE);
         write(fs);
diff --git a/modules/aruco/src/aruco_calib_pose.cpp b/modules/aruco/src/aruco_calib_pose.cpp
@@ -47,13 +47,13 @@ static Mat _getSingleMarkerObjectPoints(float markerLength, const EstimateParame
     CV_Assert(markerLength > 0);
     Mat objPoints(4, 1, CV_32FC3);
     // set coordinate system in the top-left corner of the marker, with Z pointing out
-    if (estimateParameters.pattern == CW_top_left_corner) {
+    if (estimateParameters.pattern == CW_TOP_LEFT_CORNER) {
         objPoints.ptr<Vec3f>(0)[0] = Vec3f(0.f, 0.f, 0);
         objPoints.ptr<Vec3f>(0)[1] = Vec3f(markerLength, 0.f, 0);
         objPoints.ptr<Vec3f>(0)[2] = Vec3f(markerLength, markerLength, 0);
         objPoints.ptr<Vec3f>(0)[3] = Vec3f(0.f, markerLength, 0);
     }
-    else if (estimateParameters.pattern == CCW_center) {
+    else if (estimateParameters.pattern == CCW_CENTER) {
         objPoints.ptr<Vec3f>(0)[0] = Vec3f(-markerLength/2.f, markerLength/2.f, 0);
         objPoints.ptr<Vec3f>(0)[1] = Vec3f(markerLength/2.f, markerLength/2.f, 0);
         objPoints.ptr<Vec3f>(0)[2] = Vec3f(markerLength/2.f, -markerLength/2.f, 0);
@@ -67,7 +67,7 @@ static Mat _getSingleMarkerObjectPoints(float markerLength, const EstimateParame
 void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
                                InputArray _cameraMatrix, InputArray _distCoeffs,
                                OutputArray _rvecs, OutputArray _tvecs, OutputArray _objPoints,
-                               Ptr<EstimateParameters> estimateParameters) {
+                               const Ptr<EstimateParameters>& estimateParameters) {
     CV_Assert(markerLength > 0);
 
     Mat markerObjPoints = _getSingleMarkerObjectPoints(markerLength, *estimateParameters);
@@ -178,7 +178,7 @@ double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputA
                             OutputArray _stdDeviationsIntrinsics,
                             OutputArray _stdDeviationsExtrinsics,
                             OutputArray _perViewErrors,
-                            int flags, TermCriteria criteria) {
+                            int flags, const TermCriteria& criteria) {
     // for each frame, get properly processed imagePoints and objectPoints for the calibrateCamera
     // function
     vector<Mat> processedObjectPoints, processedImagePoints;
@@ -212,7 +212,7 @@ double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputA
 
 double calibrateCameraAruco(InputArrayOfArrays _corners, InputArray _ids, InputArray _counter, const Ptr<Board> &board,
                             Size imageSize, InputOutputArray _cameraMatrix, InputOutputArray _distCoeffs,
-                            OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags, TermCriteria criteria) {
+                            OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs, int flags, const TermCriteria& criteria) {
     return calibrateCameraAruco(_corners, _ids, _counter, board, imageSize, _cameraMatrix, _distCoeffs,
                                 _rvecs, _tvecs, noArray(), noArray(), noArray(), flags, criteria);
 }
@@ -224,7 +224,7 @@ double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfAr
                               OutputArray _stdDeviationsIntrinsics,
                               OutputArray _stdDeviationsExtrinsics,
                               OutputArray _perViewErrors,
-                              int flags, TermCriteria criteria) {
+                              int flags, const TermCriteria& criteria) {
     CV_Assert(_charucoIds.total() > 0 && (_charucoIds.total() == _charucoCorners.total()));
 
     // Join object points of charuco corners in a single vector for calibrateCamera() function
@@ -248,7 +248,7 @@ double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfAr
 double calibrateCameraCharuco(InputArrayOfArrays _charucoCorners, InputArrayOfArrays _charucoIds,
                               const Ptr<CharucoBoard> &_board, Size imageSize, InputOutputArray _cameraMatrix,
                               InputOutputArray _distCoeffs, OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs,
-                              int flags, TermCriteria criteria) {
+                              int flags, const TermCriteria& criteria) {
 return calibrateCameraCharuco(_charucoCorners, _charucoIds, _board, imageSize, _cameraMatrix, _distCoeffs, _rvecs,
                               _tvecs, noArray(), noArray(), noArray(), flags, criteria);
 }
diff --git a/modules/aruco/test/test_charucodetection.cpp b/modules/aruco/test/test_charucodetection.cpp
@@ -441,7 +441,7 @@ void CV_CharucoDiamondDetection::run(int) {
                 }
 
                 Ptr<aruco::EstimateParameters> estimateParameters = aruco::EstimateParameters::create();
-                estimateParameters->pattern = aruco::CW_top_left_corner;
+                estimateParameters->pattern = aruco::CW_TOP_LEFT_CORNER;
                 // estimate diamond pose
                 vector< Vec3d > estimatedRvec, estimatedTvec;
                 aruco::estimatePoseSingleMarkers(diamondCorners, squareLength, cameraMatrix, distCoeffs, estimatedRvec,

Original file line number	Diff line number	Diff line change
`@@ -441,7 +441,7 @@ void CV_CharucoDiamondDetection::run(int) {`
`441`	`441`	`}`
`442`	`442`
`443`	`443`	`Ptr<aruco::EstimateParameters> estimateParameters = aruco::EstimateParameters::create();`
`444`		`- estimateParameters->pattern = aruco::CW_top_left_corner;`
	`444`	`+ estimateParameters->pattern = aruco::CW_TOP_LEFT_CORNER;`
`445`	`445`	`// estimate diamond pose`
`446`	`446`	`vector< Vec3d > estimatedRvec, estimatedTvec;`
`447`	`447`	`aruco::estimatePoseSingleMarkers(diamondCorners, squareLength, cameraMatrix, distCoeffs, estimatedRvec,`