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Merged
merged 3 commits into from
Feb 27, 2024
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Merged

(5.x) Merge 4.x #1151

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839f2b8
add new test data for aruco
Jan 19, 2024
a98ed66
Merge pull request #1143 from AleksandrPanov:move-aruco-tutorial
asmorkalov Feb 26, 2024
59823be
Merge branch 4.x
asmorkalov Feb 26, 2024
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Binary file added testdata/cv/aruco/chocclusion_original.jpg
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Binary file added testdata/cv/aruco/choriginal.jpg
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30 changes: 30 additions & 0 deletions testdata/cv/aruco/detector_params.yml
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Original file line number Diff line number Diff line change
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%YAML:1.0
adaptiveThreshWinSizeMin: 3
adaptiveThreshWinSizeMax: 23
adaptiveThreshWinSizeStep: 10
adaptiveThreshWinSize: 21
adaptiveThreshConstant: 7
minMarkerPerimeterRate: 0.03
maxMarkerPerimeterRate: 4.0
polygonalApproxAccuracyRate: 0.05
minCornerDistanceRate: 0.05
minDistanceToBorder: 3
minMarkerDistance: 10.0
minMarkerDistanceRate: 0.05
cornerRefinementMethod: 0
cornerRefinementWinSize: 5
cornerRefinementMaxIterations: 30
cornerRefinementMinAccuracy: 0.1
markerBorderBits: 1
perspectiveRemovePixelPerCell: 8
perspectiveRemoveIgnoredMarginPerCell: 0.13
maxErroneousBitsInBorderRate: 0.04
minOtsuStdDev: 5.0
errorCorrectionRate: 0.6

# new aruco 3 functionality
useAruco3Detection: 0
minSideLengthCanonicalImg: 32 # 16, 32, 64 --> tau_c from the paper
minMarkerLengthRatioOriginalImg: 0.02 # range [0,0.2] --> tau_i from the paper
cameraMotionSpeed: 0.1 # range [0,1) --> tau_s from the paper
useGlobalThreshold: 0
Binary file added testdata/cv/aruco/diamondmarkers.jpg
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Binary file added testdata/cv/aruco/gboriginal.jpg
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Binary file added testdata/cv/aruco/singlemarkersoriginal.jpg
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38 changes: 38 additions & 0 deletions testdata/cv/aruco/tutorial_dict.yml
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%YAML:1.0
nmarkers: 35
markersize: 6
marker_0: "101011111011111001001001101100000000"
marker_1: "000000000010011001010011111010111000"
marker_2: "011001100000001010000101111101001101"
marker_3: "001000111111000111011001110000011111"
marker_4: "100110110100101111000000111101110011"
marker_5: "010101101110111000111010111100010111"
marker_6: "101001000110011110101001010100110100"
marker_7: "011010100100110000011101110110100010"
marker_8: "111110001000101000110001010010111101"
marker_9: "011101101100110111001100100001010100"
marker_10: "100001100001010001110001011000000111"
marker_11: "110010010010011100101111111000001111"
marker_12: "110101001001010110011111010110001101"
marker_13: "001111000001000100010001101001010001"
marker_14: "000000010010101010111110110011010011"
marker_15: "110001110111100101110011111100111010"
marker_16: "101011001110001010110011111011001110"
marker_17: "101110111101110100101101011001010111"
marker_18: "000100111000111101010011010101000101"
marker_19: "001110001110001101100101110100000011"
marker_20: "100101101100010110110110110001100011"
marker_21: "010110001001011010000100111000110110"
marker_22: "001000000000100100000000010100010010"
marker_23: "101001110010100110000111111010010000"
marker_24: "111001101010001100011010010001011100"
marker_25: "101000010001010000110100111101101001"
marker_26: "101010000001010011001010110110000001"
marker_27: "100101001000010101001000111101111110"
marker_28: "010010100110010011110001110101011100"
marker_29: "011001000101100001101111010001001111"
marker_30: "000111011100011110001101111011011001"
marker_31: "010100001011000100111101110001101010"
marker_32: "100101101001101010111111101101110100"
marker_33: "101101001010111000000100110111010101"
marker_34: "011111010000111011111110110101100101"