[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

README.md

@@ -13,7 +13,8 @@ provides production quality support for this module.
 
 ### How to build OpenCV with extra modules
 
-You can build OpenCV, so it will include the modules from this repository.
+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.
+
 Here is the CMake command for you:
 
 ```
@@ -46,6 +47,8 @@ If you prefer using the gui version of cmake (cmake-gui), then, you can add `ope
 
 7. build the `opencv` core with the method you chose (make and make install if you chose Unix makfile at step 6) 
 
+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.
+
 ### Update the repository documentation
 
 In order to keep a clean overview containing all contributed modules the following files need to be created/adapted.

modules/aruco/samples/calibrate_camera.cpp

@@ -58,7 +58,7 @@ const char* about =
 const char* keys  =
         "{w        |       | Number of squares in X direction }"
         "{h        |       | Number of squares in Y direction }"
-        "{l        |       | Marker side lenght (in meters) }"
+        "{l        |       | Marker side length (in meters) }"
         "{s        |       | Separation between two consecutive markers in the grid (in meters) }"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "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

@@ -57,8 +57,8 @@ const char* about =
 const char* keys  =
         "{w        |       | Number of squares in X direction }"
         "{h        |       | Number of squares in Y direction }"
-        "{sl       |       | Square side length (in pixels) }"
-        "{ml       |       | Marker side length (in pixels) }"
+        "{sl       |       | Square side length (in meters) }"
+        "{ml       |       | Marker side length (in meters) }"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "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

@@ -48,7 +48,7 @@ const char* keys  =
         "{@outfile |<none> | Output image }"
         "{w        |       | Number of markers in X direction }"
         "{h        |       | Number of markers in Y direction }"
-        "{l        |       | Marker side lenght (in pixels) }"
+        "{l        |       | Marker side length (in pixels) }"
         "{s        |       | Separation between two consecutive markers in the grid (in pixels)}"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "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

@@ -48,8 +48,8 @@ const char* keys  =
         "{@outfile |<none> | Output image }"
         "{w        |       | Number of squares in X direction }"
         "{h        |       | Number of squares in Y direction }"
-        "{sl       |       | Square side lenght (in pixels) }"
-        "{ml       |       | Marker side lenght (in pixels) }"
+        "{sl       |       | Square side length (in pixels) }"
+        "{ml       |       | Marker side length (in pixels) }"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "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

@@ -49,8 +49,8 @@ namespace {
 const char* about = "Create a ChArUco marker image";
 const char* keys  =
         "{@outfile |<none> | Output image }"
-        "{sl       |       | Square side lenght (in pixels) }"
-        "{ml       |       | Marker side lenght (in pixels) }"
+        "{sl       |       | Square side length (in pixels) }"
+        "{ml       |       | Marker side length (in pixels) }"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "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

@@ -51,8 +51,8 @@ const char* about = "Pose estimation using a ChArUco board";
 const char* keys  =
         "{w        |       | Number of squares in X direction }"
         "{h        |       | Number of squares in Y direction }"
-        "{sl       |       | Square side lenght (in pixels) }"
-        "{ml       |       | Marker side lenght (in pixels) }"
+        "{sl       |       | Square side length (in meters) }"
+        "{ml       |       | Marker side length (in meters) }"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "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

@@ -49,8 +49,8 @@ using namespace cv;
 namespace {
 const char* about = "Detect ChArUco markers";
 const char* keys  =
-        "{sl       |       | Square side lenght (in pixels) }"
-        "{ml       |       | Marker side lenght (in pixels) }"
+        "{sl       |       | Square side length (in meters) }"
+        "{ml       |       | Marker side length (in meters) }"
         "{d        |       | dictionary: DICT_4X4_50=0, DICT_4X4_100=1, DICT_4X4_250=2,"
         "DICT_4X4_1000=3, DICT_5X5_50=4, DICT_5X5_100=5, DICT_5X5_250=6, DICT_5X5_1000=7, "
         "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

@@ -1,5 +1,8 @@
 %YAML:1.0
 nmarkers: 1024
+adaptiveThreshWinSizeMin: 3
+adaptiveThreshWinSizeMax: 23
+adaptiveThreshWinSizeStep: 10
 adaptiveThreshWinSize: 21
 adaptiveThreshConstant: 7
 minMarkerPerimeterRate: 0.03
@@ -8,6 +11,8 @@ polygonalApproxAccuracyRate: 0.05
 minCornerDistance: 10.0
 minDistanceToBorder: 3
 minMarkerDistance: 10.0
+minMarkerDistanceRate: 0.05
+doCornerRefinement: false
 cornerRefinementWinSize: 5
 cornerRefinementMaxIterations: 30
 cornerRefinementMinAccuracy: 0.1
@@ -15,3 +20,5 @@ markerBorderBits: 1
 perspectiveRemovePixelPerCell: 8
 perspectiveRemoveIgnoredMarginPerCell: 0.13
 maxErroneousBitsInBorderRate: 0.04
+minOtsuStdDev: 5.0
+errorCorrectionRate: 0.6

modules/aruco/tutorials/aruco_board_detection/aruco_board_detection.markdown

@@ -155,6 +155,11 @@ The output image will be something like this:
 
 A full working example of board creation is included in the ```create_board.cpp``` inside the module samples folder.
 
+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
+``` c++
+    "_output path_/aboard.png" -w=5 -h=7 -l=100 -s=10 -d=10
+```
+
 Finally, a full example of board detection:
 
 ``` c++
@@ -204,6 +209,12 @@ Sample video:
 
 A full working example is included in the ```detect_board.cpp``` inside the module samples folder.
 
+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
+``` c++
+    -c="_path_"/calib.txt" "_path_/aboard.png" -w=5 -h=7 -l=100 -s=10 -d=10
+```
+
+
 
 Refine marker detection
 -----

modules/aruco/tutorials/aruco_calibration/aruco_calibration.markdown

@@ -61,6 +61,11 @@ Finally, the ```calibrationFlags``` parameter determines some of the options for
 
 A full working example is included in the ```calibrate_camera_charuco.cpp``` inside the module samples folder.
 
+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
+``` c++
+    _output path_" -dp="_path_/detector_params.yml" -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10
+```
+
 
 
 Calibration with ArUco Boards
@@ -100,3 +105,8 @@ The rest of parameters are the same than in ```calibrateCameraCharuco()```, exce
 any ```Board``` object.
 
 A full working example is included in the ```calibrate_camera.cpp``` inside the module samples folder.
+
+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
+``` c++
+    "_path_/calib.txt" -w=5 -h=7 -l=100 -s=10 -d=10
+```

modules/aruco/tutorials/aruco_detection/aruco_detection.markdown

@@ -103,6 +103,10 @@ The generated image is:
 
 A full working example is included in the ```create_marker.cpp``` inside the module samples folder.
 
+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
+``` c++
+    "/Users/Sarthak/Dropbox/OpenCV_GSoC/marker.png" -d=10 -id=1
+```
 
 Marker Detection
 ------
@@ -226,6 +230,11 @@ output vector of rejected candidates.
 
 A full working example is included in the ```detect_markers.cpp``` inside the module samples folder.
 
+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
+``` c++
+    -c="_path_/calib.txt" -d=10
+```
+
 
 
 Pose Estimation
@@ -331,6 +340,12 @@ Sample video:
 
 A full working example is included in the ```detect_markers.cpp``` inside the module samples folder.
 
+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
+``` c++
+    -c="_path_/calib.txt" -d=10
+```
+
+
 
 Selecting a dictionary
 ------

modules/aruco/tutorials/charuco_detection/charuco_detection.markdown

@@ -78,6 +78,11 @@ The output image will be something like this:
 
 A full working example is included in the ```create_board_charuco.cpp``` inside the module samples folder.
 
+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
+``` c++
+    "_ output path_/chboard.png" -w=5 -h=7 -sl=200 -ml=120 -d=10
+```
+
 
 ChArUco Board Detection
 ------
@@ -240,6 +245,11 @@ Sample video:
 
 A full working example is included in the ```detect_board_charuco.cpp``` inside the module samples folder.
 
+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
+``` c++
+    -c="_path_/calib.txt" -dp="_path_/detector_params.yml" -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10
+```
+
 ChArUco Pose Estimation
 ------
 
@@ -312,3 +322,8 @@ A full example of ChArUco detection with pose estimation:
 ```
 
 A full working example is included in the ```detect_board_charuco.cpp``` inside the module samples folder.
+
+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
+``` c++
+    "_path_/calib.txt" -dp="_path_/detector_params.yml" -w=5 -h=7 -sl=0.04 -ml=0.02 -d=10
+```

modules/aruco/tutorials/charuco_diamond_detection/charuco_diamond_detection.markdown

@@ -60,6 +60,10 @@ The image produced will be:
 
 A full working example is included in the ```create_diamond.cpp``` inside the module samples folder.
 
+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
+``` c++
+    "_path_/mydiamond.png" -sl=200 -ml=120 -d=10 -ids=45,68,28,74
+```
 
 ChArUco Diamond Detection
 ------
@@ -116,6 +120,10 @@ The result is the same that the one produced by ```drawDetectedMarkers()```, but
 
 A full working example is included in the ```detect_diamonds.cpp``` inside the module samples folder.
 
+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
+``` c++
+    -c="_path_/calib.txt" -dp="_path_/detector_params.yml" -sl=0.04 -ml=0.02 -d=10
+```
 
 ChArUco Diamond Pose Estimation
 ------
@@ -159,3 +167,8 @@ Sample video:
 @endhtmlonly
 
 A full working example is included in the ```detect_diamonds.cpp``` inside the module samples folder.
+
+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
+``` c++
+    -c="_output path_/calib.txt" -dp="_path_/detector_params.yml" -sl=0.04 -ml=0.02 -d=10
+```