remove camParams and add cornerIndex check

modules/aruco/include/opencv2/aruco.hpp

@@ -206,21 +206,19 @@ struct CV_EXPORTS_W DetectorParameters {
  * @param parameters marker detection parameters
  * @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
  * correct codification. Useful for debugging purposes.
- * @param cameraMatrix optional input 3x3 floating-point camera matrix
- * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
- * @param distCoeff optional vector of distortion coefficients
- * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
  *
  * Performs marker detection in the input image. Only markers included in the specific 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.
- * @sa estimatePoseSingleMarkers,  estimatePoseBoard
+ * @note The function does not correct lens distortion or takes it into account. It's recommended to undistort
+ * input image with corresponging camera model, if camera parameters are known
+ * @sa undistort, estimatePoseSingleMarkers,  estimatePoseBoard
  *
  */
 CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
                                 OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
-                                OutputArrayOfArrays rejectedImgPoints = noArray(), InputArray cameraMatrix= noArray(), InputArray distCoeff= noArray());
+                                OutputArrayOfArrays rejectedImgPoints = noArray());
 
 
 

modules/aruco/src/aruco.cpp

@@ -857,6 +857,7 @@ class MarkerSubpixelParallel : public ParallelLoopBody {
  * @param nContours, contour-container
  */
 static Point3f _interpolate2Dline(const std::vector<cv::Point2f>& nContours){
+    CV_Assert(nContours.size() >= 2);
 	float minX, minY, maxX, maxY;
 	minX = maxX = nContours[0].x;
 	minY = maxY = nContours[0].y;
@@ -907,21 +908,6 @@ static Point2f _getCrossPoint(Point3f nLine1, Point3f nLine2){
 	return Vec2f(A.solve(B).val);
 }
 
-static void _distortPoints(vector<cv::Point2f>& in, const Mat& camMatrix, const Mat& distCoeff) {
-    // trivial extrinsics
-    Matx31f Rvec(0,0,0);
-    Matx31f Tvec(0,0,0);
-
-    // calculate 3d points and then reproject, so opencv makes the distortion internally
-    vector<cv::Point3f> cornersPoints3d;
-    for (unsigned int i = 0; i < in.size(); i++){
-        float x= (in[i].x - float(camMatrix.at<double>(0, 2))) / float(camMatrix.at<double>(0, 0));
-        float y= (in[i].y - float(camMatrix.at<double>(1, 2))) / float(camMatrix.at<double>(1, 1));
-        cornersPoints3d.push_back(Point3f(x,y,1));
-    }
-    cv::projectPoints(cornersPoints3d, Rvec, Tvec, camMatrix, distCoeff, in);
-}
-
 /**
  * Refine Corners using the contour vector :: Called from function detectMarkers
  * @param nContours, contour-container
@@ -929,13 +915,8 @@ static void _distortPoints(vector<cv::Point2f>& in, const Mat& camMatrix, const
  * @param camMatrix, cameraMatrix input 3x3 floating-point camera matrix
  * @param distCoeff, distCoeffs vector of distortion coefficient
  */
-static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Point2f>& nCorners, const Mat& camMatrix, const Mat& distCoeff){
+static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Point2f>& nCorners){
 	vector<Point2f> contour2f(nContours.begin(), nContours.end());
-
-	if(!camMatrix.empty() && !distCoeff.empty()){
-		undistortPoints(contour2f, contour2f, camMatrix, distCoeff);
-	}
-
 	/* 5 groups :: to group the edges
 	 * 4 - classified by its corner
 	 * extra group - (temporary) if contours do not begin with a corner
@@ -953,10 +934,10 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 		}
 		cntPts[group].push_back(contour2f[i]);
 	}
-
+    for (int i = 0; i < 4; i++)
+        CV_Assert(cornerIndex[i] != -1);
 	// saves extra group into corresponding
 	if( !cntPts[4].empty() ){
-            CV_CheckLT(group, 4, "FIXIT: avoiding infinite loop: implementation should be revised: https://github.com/opencv/opencv_contrib/issues/2738");
 		for( unsigned int i=0; i < cntPts[4].size() ; i++ )
 			cntPts[group].push_back(cntPts[4].at(i));
 		cntPts[4].clear();
@@ -989,10 +970,6 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
 		else
 			nCorners[i] = _getCrossPoint(lines[ i ], lines[ (i+3)%4 ]);	// 30 01 12 23
 	}
-
-	if(!camMatrix.empty() && !distCoeff.empty()){
-		_distortPoints(nCorners, camMatrix, distCoeff);
-	}
 }
 
 
@@ -1002,13 +979,13 @@ static void _refineCandidateLines(std::vector<Point>& nContours, std::vector<Poi
   */
 class MarkerContourParallel : public ParallelLoopBody {
     public:
-    MarkerContourParallel( vector< vector< Point > >& _contours, vector< vector< Point2f > >& _candidates,  const Mat& _camMatrix, const Mat& _distCoeff)
+    MarkerContourParallel( vector< vector< Point > >& _contours, vector< vector< Point2f > >& _candidates)
-        : contours(_contours), candidates(_candidates), camMatrix(_camMatrix), distCoeff(_distCoeff){}
+        : contours(_contours), candidates(_candidates){}
 
     void operator()(const Range &range) const CV_OVERRIDE {
 
         for(int i = range.start; i < range.end; i++) {
-            _refineCandidateLines(contours[i], candidates[i], camMatrix, distCoeff);
+            _refineCandidateLines(contours[i], candidates[i]);
         }
     }
 
@@ -1019,8 +996,6 @@ class MarkerContourParallel : public ParallelLoopBody {
 
     vector< vector< Point > >& contours;
     vector< vector< Point2f > >& candidates;
-    const Mat& camMatrix;
-    const Mat& distCoeff;
 };
 
 #ifdef APRIL_DEBUG
@@ -1162,7 +1137,7 @@ static void _apriltag(Mat im_orig, const Ptr<DetectorParameters> & _params, std:
   */
 void detectMarkers(InputArray _image, const Ptr<Dictionary> &_dictionary, OutputArrayOfArrays _corners,
                    OutputArray _ids, const Ptr<DetectorParameters> &_params,
-                   OutputArrayOfArrays _rejectedImgPoints, InputArrayOfArrays camMatrix, InputArrayOfArrays distCoeff) {
+                   OutputArrayOfArrays _rejectedImgPoints) {
 
     CV_Assert(!_image.empty());
 
@@ -1221,7 +1196,7 @@ void detectMarkers(InputArray _image, const Ptr<Dictionary> &_dictionary, Output
         if(! _ids.empty()){
 
             // do corner refinement using the contours for each detected markers
-            parallel_for_(Range(0, _corners.cols()), MarkerContourParallel(contours, candidates, camMatrix.getMat(), distCoeff.getMat()));
+            parallel_for_(Range(0, _corners.cols()), MarkerContourParallel(contours, candidates));
 
             // copy the corners to the output array
             _copyVector2Output(candidates, _corners);