opencv
diff --git a/‎doc/pattern_tools/test_charuco_board.py
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+27-15Lines changed: 27 additions & 15 deletions b/‎doc/pattern_tools/test_charuco_board.py
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+27-15Lines changed: 27 additions & 15 deletions
diff --git a/‎modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
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+17-3Lines changed: 17 additions & 3 deletions b/‎modules/objdetect/include/opencv2/objdetect/aruco_detector.hpp
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+17-3Lines changed: 17 additions & 3 deletions
@@ -34,7 +34,7 @@ def test_aruco_dicts(self):
                 aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type[aruco_type_i])
                 board = cv.aruco.CharucoBoard((cols, rows), square_size, marker_size, aruco_dict)
                 charuco_detector = cv.aruco.CharucoDetector(board)
-                from_cv_img = board.generateImage((cols*square_size*10, rows*square_size*10))
+                from_cv_img = board.generateImage((cols*square_size, rows*square_size))
 
                 #draw desk using svg
                 fd1, filesvg = tempfile.mkstemp(prefix="out", suffix=".svg")
@@ -50,15 +50,20 @@ def test_aruco_dicts(self):
                     pm.make_charuco_board()
                     pm.save()
                     drawing = svg2rlg(filesvg)
-                    renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=720)
+                    renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=72)
                     from_svg_img = cv.imread(filepng)
+                    _charucoCorners, _charuco_ids_svg, marker_corners_svg, marker_ids_svg = charuco_detector.detectBoard(from_svg_img)
+                    _charucoCorners, _charuco_ids_cv, marker_corners_cv, marker_ids_cv = charuco_detector.detectBoard(from_cv_img)
+                    marker_corners_svg_map, marker_corners_cv_map = {}, {}
+                    for i in range(len(marker_ids_svg)):
+                        marker_corners_svg_map[int(marker_ids_svg[i][0])] = marker_corners_svg[i]
+                    for i in range(len(marker_ids_cv)):
+                        marker_corners_cv_map[int(marker_ids_cv[i][0])] = marker_corners_cv[i]
 
-                    #test
-                    _charucoCorners, _charucoIds, markerCorners_svg, markerIds_svg = charuco_detector.detectBoard(from_svg_img)
-                    _charucoCorners, _charucoIds, markerCorners_cv, markerIds_cv = charuco_detector.detectBoard(from_cv_img)
-
-                    np.testing.assert_allclose(markerCorners_svg, markerCorners_cv, 0.1, 0.1)
-                    np.testing.assert_allclose(markerIds_svg, markerIds_cv, 0.1, 0.1)
+                    for key_svg in marker_corners_svg_map.keys():
+                        marker_svg = marker_corners_svg_map[key_svg]
+                        marker_cv = marker_corners_cv_map[key_svg]
+                        np.testing.assert_allclose(marker_svg, marker_cv, 0.1, 0.1)
                 finally:
                     if os.path.exists(filesvg):
                         os.remove(filesvg)
@@ -87,7 +92,7 @@ def test_aruco_marker_sizes(self):
                 aruco_dict = cv.aruco.getPredefinedDictionary(aruco_type)
                 board = cv.aruco.CharucoBoard((cols, rows), square_size, marker_size, aruco_dict)
                 charuco_detector = cv.aruco.CharucoDetector(board)
-                from_cv_img = board.generateImage((cols*square_size*10, rows*square_size*10))
+                from_cv_img = board.generateImage((cols*square_size, rows*square_size))
 
                 #draw desk using svg
                 fd1, filesvg = tempfile.mkstemp(prefix="out", suffix=".svg")
@@ -102,17 +107,24 @@ def test_aruco_marker_sizes(self):
                     pm.make_charuco_board()
                     pm.save()
                     drawing = svg2rlg(filesvg)
-                    renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=720)
+                    renderPM.drawToFile(drawing, filepng, fmt='PNG', dpi=72)
                     from_svg_img = cv.imread(filepng)
 
                     #test
-                    _charucoCorners, _charucoIds, markerCorners_svg, markerIds_svg = charuco_detector.detectBoard(from_svg_img)
-                    _charucoCorners, _charucoIds, markerCorners_cv, markerIds_cv = charuco_detector.detectBoard(from_cv_img)
+                    _charucoCorners, _charuco_ids_svg, marker_corners_svg, marker_ids_svg = charuco_detector.detectBoard(from_svg_img)
+                    _charucoCorners, _charuco_ids_cv, marker_corners_cv, marker_ids_cv = charuco_detector.detectBoard(from_cv_img)
+                    marker_corners_svg_map, marker_corners_cv_map = {}, {}
+                    for i in range(len(marker_ids_svg)):
+                        marker_corners_svg_map[int(marker_ids_svg[i][0])] = marker_corners_svg[i]
+                    for i in range(len(marker_ids_cv)):
+                        marker_corners_cv_map[int(marker_ids_cv[i][0])] = marker_corners_cv[i]
 
-                    np.testing.assert_allclose(markerCorners_svg, markerCorners_cv, 0.1, 0.1)
-                    np.testing.assert_allclose(markerIds_svg, markerIds_cv, 0.1, 0.1)
+                    for key_svg in marker_corners_svg_map.keys():
+                        marker_svg = marker_corners_svg_map[key_svg]
+                        marker_cv = marker_corners_cv_map[key_svg]
+                        np.testing.assert_allclose(marker_svg, marker_cv, 0.1, 0.1)
                 finally:
                     if os.path.exists(filesvg):
                         os.remove(filesvg)
                     if os.path.exists(filepng):
-                        os.remove(filepng)
+                        os.remove(filepng)
@@ -33,7 +33,7 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
         polygonalApproxAccuracyRate = 0.03;
         minCornerDistanceRate = 0.05;
         minDistanceToBorder = 3;
-        minMarkerDistanceRate = 0.05;
+        minMarkerDistanceRate = 0.125;
         cornerRefinementMethod = (int)CORNER_REFINE_NONE;
         cornerRefinementWinSize = 5;
         relativeCornerRefinmentWinSize = 0.3f;
@@ -100,12 +100,26 @@ struct CV_EXPORTS_W_SIMPLE DetectorParameters {
     /// minimum distance of any corner to the image border for detected markers (in pixels) (default 3)
     CV_PROP_RW int minDistanceToBorder;
 
-    /** @brief minimum mean distance beetween two marker corners to be considered imilar, so that the smaller one is removed.
+    /** @brief minimum average distance between the corners of the two markers to be grouped (default 0.125).
      *
-     * The rate is relative to the smaller perimeter of the two markers (default 0.05).
+     * The rate is relative to the smaller perimeter of the two markers.
+     * Two markers are grouped if average distance between the corners of the two markers is less than
+     * min(MarkerPerimeter1, MarkerPerimeter2)*minMarkerDistanceRate.
+     *
+     * default value is 0.125 because 0.125*MarkerPerimeter = (MarkerPerimeter / 4) * 0.5 = half the side of the marker.
+     *
+     * @note default value was changed from 0.05 after 4.8.1 release, because the filtering algorithm has been changed.
+     * Now a few candidates from the same group can be added to the list of candidates if they are far from each other.
+     * @sa minGroupDistance.
      */
     CV_PROP_RW double minMarkerDistanceRate;
 
+    /** @brief minimum average distance between the corners of the two markers in group to add them to the list of candidates
+     *
+     * The average distance between the corners of the two markers is calculated relative to its module size (default 0.21).
+     */
+    CV_PROP_RW float minGroupDistance = 0.21f;
+
     /** @brief default value CORNER_REFINE_NONE */
     CV_PROP_RW int cornerRefinementMethod;