fix docs

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco.hpp

@@ -223,9 +223,8 @@ CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &diction
 /** @brief
  * rvec/tvec define the right handed coordinate system of the marker.
  * PatternPos defines center this system and axes direction.
- * Axis X (red color)   - first coordinate
- * Axis Y (green color) - second coordinate
- * Axis Z (blue color)  - third coordinate
+ * Axis X (red color) - first coordinate, axis Y (green color) - second coordinate,
+ * axis Z (blue color) - third coordinate.
  * @sa estimatePoseSingleMarkers(), @ref tutorial_aruco_detection
  */
 enum PatternPos {
@@ -251,11 +250,11 @@ enum PatternPos {
 
 /** @brief
  * Pose estimation parameters
- * @param pattern Defines center this system and axes direction.
+ * @param pattern Defines center this system and axes direction (default PatternPos::CCW_center).
  * @param useExtrinsicGuess Parameter used for SOLVEPNP_ITERATIVE. If true (1), the function uses the provided
  * rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further
- * optimizes them.
- * @param solvePnPMethod Method for solving a PnP problem: see @ref calib3d_solvePnP_flags.
+ * optimizes them (default false).
+ * @param solvePnPMethod Method for solving a PnP problem: see @ref calib3d_solvePnP_flags (default SOLVEPNP_ITERATIVE).
  * @sa PatternPos, solvePnP(), @ref tutorial_aruco_detection
  */
 struct CV_EXPORTS_W EstimateParameters {
@@ -291,20 +290,22 @@ struct CV_EXPORTS_W EstimateParameters {
  * Each element in tvecs corresponds to the specific marker in imgPoints.
  * @param _objPoints array of object points of all the marker corners
  * @param estimateParameters set the origin of coordinate system and the coordinates of the four corners of the marker
- * (default EstimateParameters::CW_top_left_corner)
+ * (default estimateParameters.pattern = PatternPos::CCW_center, estimateParameters.useExtrinsicGuess = false,
+ * estimateParameters.solvePnPMethod = SOLVEPNP_ITERATIVE).
  *
  * This function receives the detected markers and returns their pose estimation respect to
  * the camera individually. So for each marker, one rotation and translation vector is returned.
  * The returned transformation is the one that transforms points from each marker coordinate system
  * to the camera coordinate system.
- * The marker coordinate system is centered on the middle of the marker (by default), with the Z axis
- * perpendicular to the marker plane.
- * The coordinates of the four corners of the marker in its own coordinate system are:
+ * The marker coordinate system is centered on the middle (by default) or on the top-left corner of the marker,
+ * with the Z axis perpendicular to the marker plane.
+ * estimateParameters defines the coordinates of the four corners of the marker in its own coordinate system (by default) are:
  * (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
  * (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)
  * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
- * @sa PatternPos
  * @sa @ref tutorial_aruco_detection
+ * @sa EstimateParameters
+ * @sa PatternPos
  */
 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                             InputArray cameraMatrix, InputArray distCoeffs,

modules/aruco/tutorials/aruco_detection/aruco_detection.markdown

@@ -286,8 +286,9 @@ translation vectors of the estimated poses will be in the same unit
 - The output parameters `rvecs` and `tvecs` are the rotation and translation vectors respectively, for each of the markers
 in `markerCorners`.
 
-The marker coordinate system that is assumed by this function is placed in the top left corner of the marker
-with the Z axis pointing out, as in the following image. Axis-color correspondences are X: red, Y: green, Z: blue. Note the axis directions of the rotated markers in this image.
+The marker coordinate system that is assumed by this function is placed in the center (by default) or
+in the top left corner of the marker with the Z axis pointing out, as in the following image.
+Axis-color correspondences are X: red, Y: green, Z: blue. Note the axis directions of the rotated markers in this image.
 
 ![Image with axes drawn](images/singlemarkersaxes.jpg)