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+Detection of ArUco boards {#tutorial_aruco_board_detection}
+=========================
+
+@prev_tutorial{tutorial_aruco_detection}
+
+|    |    |
+| -: | :- |
+| Original authors | Sergio Garrido, Alexander Panov |
+| Compatibility    | OpenCV >= 4.7.0 |
+
+An ArUco board is a set of markers that acts like a single marker in the sense that it provides a
+single pose for the camera.
+
+The most popular board is the one with all the markers in the same plane, since it can be easily printed:
+
+![](images/gboriginal.jpg)
+
+However, boards are not limited to this arrangement and can represent any 2d or 3d layout.
+
+The difference between a board and a set of independent markers is that the relative position between
+the markers in the board is known a priori. This allows that the corners of all the markers can be used for
+estimating the pose of the camera respect to the whole board.
+
+When you use a set of independent markers, you can estimate the pose for each marker individually,
+since you dont know the relative position of the markers in the environment.
+
+The main benefits of using boards are:
+
+- The pose estimation is much more versatile. Only some markers are necessary to perform pose estimation.
+Thus, the pose can be calculated even in the presence of occlusions or partial views.
+- The obtained pose is usually more accurate since a higher amount of point correspondences (marker
+corners) are employed.
+
+Board Detection
+---------------
+
+A board detection is similar to the standard marker detection. The only difference is in the pose estimation step.
+In fact, to use marker boards, a standard marker detection should be done before estimating the board pose.
+
+To perform pose estimation for boards, you should use `solvePnP()` function, as shown below
+in the `samples/cpp/tutorial_code/objectDetection/detect_board.cpp`.
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board.cpp aruco_detect_board_full_sample
+
+
+The parameters are:
+
+- `objPoints`, `imgPoints` object and image points, matched with `cv::aruco::GridBoard::matchImagePoints()`
+   which, in turn, takes as input `markerCorners` and `markerIds` structures of detected markers from
+   `cv::aruco::ArucoDetector::detectMarkers()` function.
+- `board` the `cv::aruco::Board` object that defines the board layout and its ids
+- `cameraMatrix` and `distCoeffs`: camera calibration parameters necessary for pose estimation.
+- `rvec` and `tvec`: estimated pose of the board. If not empty then treated as initial guess.
+- The function returns the total number of markers employed for estimating the board pose.
+
+The drawFrameAxes() function can be used to check the obtained pose. For instance:
+
+![Board with axis](images/gbmarkersaxis.jpg)
+
+And this is another example with the board partially occluded:
+
+![Board with occlusions](images/gbocclusion.jpg)
+
+As it can be observed, although some markers have not been detected, the board pose can still be
+estimated from the rest of markers.
+
+Sample video:
+
+@youtube{Q1HlJEjW_j0}
+
+A full working example is included in the `detect_board.cpp` inside the `samples/cpp/tutorial_code/objectDetection/`.
+
+The samples now take input via command line via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    -w=5 -h=7 -l=100 -s=10
+    -v=/path_to_opencv/opencv/doc/tutorials/objdetect/aruco_board_detection/gboriginal.jpg
+    -c=/path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/tutorial_camera_params.yml
+    -cd=/path_to_opencv/opencv/samples/cpp/tutorial_code/objectDetection/tutorial_dict.yml
+@endcode
+Parameters for `detect_board.cpp`:
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board.cpp aruco_detect_board_keys
+
+Grid Board
+----------
+
+Creating the `cv::aruco::Board` object requires specifying the corner positions for each marker in the environment.
+However, in many cases, the board will be just a set of markers in the same plane and in a grid layout,
+so it can be easily printed and used.
+
+Fortunately, the aruco module provides the basic functionality to create and print these types of markers
+easily.
+
+The `cv::aruco::GridBoard` class is a specialized class that inherits from the `cv::aruco::Board`
+class and which represents a Board with all the markers in the same plane and in a grid layout,
+as in the following image:
+
+![Image with aruco board](images/gboriginal.jpg)
+
+Concretely, the coordinate system in a grid board is positioned in the board plane, centered in the bottom left
+corner of the board and with the Z pointing out, like in the following image (X:red, Y:green, Z:blue):
+
+![Board with axis](images/gbaxis.jpg)
+
+A `cv::aruco::GridBoard` object can be defined using the following parameters:
+
+- Number of markers in the X direction.
+- Number of markers in the Y direction.
+- Length of the marker side.
+- Length of the marker separation.
+- The dictionary of the markers.
+- Ids of all the markers (X*Y markers).
+
+This object can be easily created from these parameters using the `cv::aruco::GridBoard` constructor:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board.cpp aruco_create_board
+
+- The first and second parameters are the number of markers in the X and Y direction respectively.
+- The third and fourth parameters are the marker length and the marker separation respectively.
+  They can be provided in any unit, having in mind that the estimated pose for this board will be
+  measured in the same units (in general, meters are used).
+- Finally, the dictionary of the markers is provided.
+
+So, this board will be composed by 5x7=35 markers. The ids of each of the markers are assigned, by default,
+in ascending order starting on 0, so they will be 0, 1, 2, ..., 34.
+
+After creating a grid board, we probably want to print it and use it.
+There are two ways to do this:
+1. By using the script `doc/patter_tools/gen_pattern.py `, see @subpage tutorial_camera_calibration_pattern.
+2. By using the function `cv::aruco::GridBoard::generateImage()`.
+
+The function `cv::aruco::GridBoard::generateImage()` is provided in cv::aruco::GridBoard class and
+can be called by using the following code:
+
+@snippet samples/cpp/tutorial_code/objectDetection/create_board.cpp aruco_generate_board_image
+
+- The first parameter is the size of the output image in pixels. In this case 600x500 pixels. If this is not proportional
+to the board dimensions, it will be centered on the image.
+- `boardImage`: the output image with the board.
+- The third parameter is the (optional) margin in pixels, so none of the markers are touching the image border.
+In this case the margin is 10.
+- Finally, the size of the marker border, similarly to `generateImageMarker()` function. The default value is 1.
+
+A full working example of board creation is included in the `samples/cpp/tutorial_code/objectDetection/create_board.cpp`
+
+The output image will be something like this:
+
+![](images/board.png)
+
+The samples now take input via commandline via the `cv::CommandLineParser`. For this file the example
+parameters will look like:
+@code{.cpp}
+    "_output_path_/aboard.png" -w=5 -h=7 -l=100 -s=10 -d=10
+@endcode
+
+Refine marker detection
+-----------------------
+
+ArUco boards can also be used to improve the detection of markers. If we have detected a subset of the markers
+that belongs to the board, we can use these markers and the board layout information to try to find the
+markers that have not been previously detected.
+
+This can be done using the `cv::aruco::refineDetectedMarkers()` function, which should be called
+after calling `cv::aruco::ArucoDetector::detectMarkers()`.
+
+The main parameters of this function are the original image where markers were detected, the board object,
+the detected marker corners, the detected marker ids and the rejected marker corners.
+
+The rejected corners can be obtained from the `cv::aruco::ArucoDetector::detectMarkers()` function and
+are also known as marker candidates. This candidates are square shapes that have been found in the
+original image but have failed to pass the identification step (i.e. their inner codification presents
+too many errors) and thus they have not been recognized as markers.
+
+However, these candidates are sometimes actual markers that have not been correctly identified due to high
+noise in the image, very low resolution or other related problems that affect to the binary code extraction.
+The `cv::aruco::ArucoDetector::refineDetectedMarkers()` function finds correspondences between these
+candidates and the missing markers of the board. This search is based on two parameters:
+
+- Distance between the candidate and the projection of the missing marker. To obtain these projections,
+it is necessary to have detected at least one marker of the board. The projections are obtained using the
+camera parameters (camera matrix and distortion coefficients) if they are provided. If not, the projections
+are obtained from local homography and only planar board are allowed (i.e. the Z coordinate of all the
+marker corners should be the same). The `minRepDistance` parameter in `refineDetectedMarkers()`
+determines the minimum euclidean distance between the candidate corners and the projected marker corners
+(default value 10).
+
+- Binary codification. If a candidate surpasses the minimum distance condition, its internal bits
+are analyzed again to determine if it is actually the projected marker or not. However, in this case,
+the condition is not so strong and the number of allowed erroneous bits can be higher. This is indicated
+in the `errorCorrectionRate` parameter (default value 3.0). If a negative value is provided, the
+internal bits are not analyzed at all and only the corner distances are evaluated.
+
+This is an example of using the `cv::aruco::ArucoDetector::refineDetectedMarkers()` function:
+
+@snippet samples/cpp/tutorial_code/objectDetection/detect_board.cpp aruco_detect_and_refine
+
+It must also be noted that, in some cases, if the number of detected markers in the first place is
+too low (for instance only 1 or 2 markers), the projections of the missing markers can be of bad
+quality, producing erroneous correspondences.
+
+See module samples for a more detailed implementation.