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Sarthak AhujaSarthak Ahuja
Sarthak Ahuja
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Sarthak Ahuja
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[Aruco] detector_params YAML updated
[Aruco] Fixed the spelling of Length in Samples replaced images to 6x6_250 Updated README [Aruco] Updated Charuco Diamond Detection Tutorial Readme [Aruco] Updated Charuco Board Detection Tutorial Readme [Aruco] Updated Aruco Tutorials Readme [Aruco] Updated Aruco Tutorials Readme Added a new line at the end of file. Update aruco_board_detection.markdown Update aruco_calibration.markdown Update aruco_detection.markdown Update charuco_detection.markdown Update charuco_diamond_detection.markdown Update README.md Update charuco_detection.markdown
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‎README.md

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### How to build OpenCV with extra modules
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You can build OpenCV, so it will include the modules from this repository.
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You can build OpenCV, so it will include the modules from this repository. Contrib modules are under constant development and it is recommended to use them alongside the master branch or latest releases of OpenCV.
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Here is the CMake command for you:
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```
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7. build the `opencv` core with the method you chose (make and make install if you chose Unix makfile at step 6)
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8. to run, linker flags to contrib modules will need to be added to use them in your code/IDE. For example to use the aruco module, "-lopencv_aruco" flag will be added.
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### Update the repository documentation
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In order to keep a clean overview containing all contributed modules the following files need to be created/adapted.
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1. Update the README.md file under the modules folder. Here you add your model with a single line description.
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2. Add a README.md inside your own module folder. This README explains which functionality (seperate functions) is available, links to the corresponding samples and explains in somewhat more detail what the module is expected to do. If any extra requirements are needed to build the module without problems, add them here also.
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2. Add a README.md inside your own module folder. This README explains which functionality (seperate functions) is available, links to the corresponding samples and explains in somewhat more detail what the module is expected to do. If any extra requirements are needed to build the module without problems, add them here also.

‎modules/aruco/samples/calibrate_camera.cpp

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const char* keys =
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"{w | | Number of squares in X direction }"
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"{h | | Number of squares in Y direction }"
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"{l | | Marker side lenght (in meters) }"
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"{l | | Marker side length (in meters) }"
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"{s | | Separation between two consecutive markers in the grid (in meters) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "

‎modules/aruco/samples/calibrate_camera_charuco.cpp

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const char* keys =
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"{w | | Number of squares in X direction }"
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"{h | | Number of squares in Y direction }"
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"{sl | | Square side length (in pixels) }"
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"{ml | | Marker side length (in pixels) }"
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"{sl | | Square side length (in meters) }"
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"{ml | | Marker side length (in meters) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"

‎modules/aruco/samples/create_board.cpp

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"{@outfile |<none> | Output image }"
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"{w | | Number of markers in X direction }"
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"{h | | Number of markers in Y direction }"
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"{l | | Marker side lenght (in pixels) }"
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"{l | | Marker side length (in pixels) }"
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"{s | | Separation between two consecutive markers in the grid (in pixels)}"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "

‎modules/aruco/samples/create_board_charuco.cpp

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"{@outfile |<none> | Output image }"
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"{w | | Number of squares in X direction }"
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"{h | | Number of squares in Y direction }"
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"{sl | | Square side lenght (in pixels) }"
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"{ml | | Marker side lenght (in pixels) }"
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"{sl | | Square side length (in pixels) }"
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"{ml | | Marker side length (in pixels) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"

‎modules/aruco/samples/create_diamond.cpp

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const char* about = "Create a ChArUco marker image";
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const char* keys =
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"{@outfile |<none> | Output image }"
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"{sl | | Square side lenght (in pixels) }"
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"{ml | | Marker side lenght (in pixels) }"
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"{sl | | Square side length (in pixels) }"
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"{ml | | Marker side length (in pixels) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"

‎modules/aruco/samples/detect_board_charuco.cpp

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const char* keys =
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"{w | | Number of squares in X direction }"
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"{h | | Number of squares in Y direction }"
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"{sl | | Square side lenght (in pixels) }"
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"{ml | | Marker side lenght (in pixels) }"
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"{sl | | Square side length (in meters) }"
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"{ml | | Marker side length (in meters) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"

‎modules/aruco/samples/detect_diamonds.cpp

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namespace {
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const char* about = "Detect ChArUco markers";
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const char* keys =
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"{sl | | Square side lenght (in pixels) }"
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"{ml | | Marker side lenght (in pixels) }"
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"{sl | | Square side length (in meters) }"
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"{ml | | Marker side length (in meters) }"
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"{d | | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
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"DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
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"DICT_6X6_50=8, DICT_6X6_100=9, DICT_6X6_250=10, DICT_6X6_1000=11, DICT_7X7_50=12,"

‎modules/aruco/samples/detector_params.yml

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%YAML:1.0
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nmarkers: 1024
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adaptiveThreshWinSizeMin: 3
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adaptiveThreshWinSizeMax: 23
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adaptiveThreshWinSizeStep: 10
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adaptiveThreshWinSize: 21
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adaptiveThreshConstant: 7
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minMarkerPerimeterRate: 0.03
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minCornerDistance: 10.0
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minDistanceToBorder: 3
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minMarkerDistance: 10.0
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minMarkerDistanceRate: 0.05
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doCornerRefinement: false
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cornerRefinementWinSize: 5
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cornerRefinementMaxIterations: 30
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cornerRefinementMinAccuracy: 0.1
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markerBorderBits: 1
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perspectiveRemovePixelPerCell: 8
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perspectiveRemoveIgnoredMarginPerCell: 0.13
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maxErroneousBitsInBorderRate: 0.04
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minOtsuStdDev: 5.0
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errorCorrectionRate: 0.6

‎modules/aruco/tutorials/aruco_board_detection/aruco_board_detection.markdown

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A full working example of board creation is included in the ```create_board.cpp``` inside the module samples folder.
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Note: The samples now take input via commandline via the [OpenCV Commandline Parser](http://docs.opencv.org/trunk/d0/d2e/classcv_1_1CommandLineParser.html#gsc.tab=0). For this file the example parameters will look like
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``` c++
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"_output path_/aboard.png" -w=5 -h=7 -l=100 -s=10 -d=10
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```
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Finally, a full example of board detection:
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``` c++
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A full working example is included in the ```detect_board.cpp``` inside the module samples folder.
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Note: The samples now take input via commandline via the [OpenCV Commandline Parser](http://docs.opencv.org/trunk/d0/d2e/classcv_1_1CommandLineParser.html#gsc.tab=0). For this file the example parameters will look like
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``` c++
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-c="_path_"/calib.txt" "_path_/aboard.png" -w=5 -h=7 -l=100 -s=10 -d=10
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```
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Refine marker detection
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-----

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