add gridImpl

Author: AleksandrPanov

modules/aruco/include/opencv2/aruco/aruco_calib_pose.hpp

@@ -193,9 +193,8 @@ double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArr
                             OutputArray stdDeviationsExtrinsics, OutputArray perViewErrors, int flags = 0,
                             const TermCriteria& criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
 
-/**
+/** @overload
  * @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
- * @overload
  */
 CV_EXPORTS_W double calibrateCameraAruco(InputArrayOfArrays corners, InputArray ids, InputArray counter,
                                          const Ptr<Board> &board, Size imageSize, InputOutputArray cameraMatrix,

modules/aruco/include/opencv2/aruco/board.hpp

@@ -90,7 +90,8 @@ CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputA
  */
 
 class CV_EXPORTS_W GridBoard : public Board {
-    public:
+public:
+    CV_EXPORTS_W GridBoard();
     /**
      * @brief Draw a GridBoard
      *
@@ -121,21 +122,13 @@ class CV_EXPORTS_W GridBoard : public Board {
     CV_WRAP static Ptr<GridBoard> create(int markersX, int markersY, float markerLength, float markerSeparation,
                                          const Ptr<Dictionary> &dictionary, int firstMarker = 0);
 
-    CV_WRAP Size getGridSize() const { return Size(_markersX, _markersY); }
-
-    CV_WRAP float getMarkerLength() const { return _markerLength; }
-
-    CV_WRAP float getMarkerSeparation() const { return _markerSeparation; }
-
-    private:
-    // number of markers in X and Y directions
-    int _markersX, _markersY;
+    CV_WRAP Size getGridSize() const;
+    CV_WRAP float getMarkerLength();
+    CV_WRAP float getMarkerSeparation();
 
-    // marker side length (normally in meters)
-    float _markerLength;
-
-    // separation between markers in the grid
-    float _markerSeparation;
+protected:
+    struct GridImpl;
+    Ptr<GridImpl> gridImpl;
 };
 
 /**
@@ -147,7 +140,7 @@ class CV_EXPORTS_W GridBoard : public Board {
  * This class also allows the easy creation and drawing of ChArUco boards.
  */
 class CV_EXPORTS_W CharucoBoard : public Board {
-    public:
+public:
     // vector of chessboard 3D corners precalculated
     CV_PROP std::vector<Point3f> chessboardCorners;
 
@@ -185,9 +178,7 @@ class CV_EXPORTS_W CharucoBoard : public Board {
                                             float markerLength, const Ptr<Dictionary> &dictionary);
 
     CV_WRAP Size getChessboardSize() const { return Size(_squaresX, _squaresY); }
-
     CV_WRAP float getSquareLength() const { return _squareLength; }
-
     CV_WRAP float getMarkerLength() const { return _markerLength; }
 
     private:

modules/aruco/src/board.cpp

@@ -10,8 +10,7 @@ namespace cv {
 namespace aruco {
 using namespace std;
 
-/**
- * @brief Implementation of drawPlanarBoard that accepts a raw Board pointer.
+/** @brief Implementation of drawPlanarBoard that accepts a raw Board pointer.
  */
 static void _drawPlanarBoardImpl(Board *_board, Size outSize, OutputArray _img, int marginSize, int borderBits) {
     CV_Assert(!outSize.empty());
@@ -99,6 +98,20 @@ void drawPlanarBoard(const Ptr<Board> &_board, Size outSize, OutputArray _img, i
     _drawPlanarBoardImpl(_board, outSize, _img, marginSize, borderBits);
 }
 
+struct GridBoard::GridImpl {
+    GridImpl(){};
+    // number of markers in X and Y directions
+    int sizeX = 3, sizeY = 3;
+
+    // marker side length (normally in meters)
+    float markerLength = 1.f;
+
+    // separation between markers in the grid
+    float markerSeparation = .5f;
+};
+
+GridBoard::GridBoard(): gridImpl(makePtr<GridImpl>()) {}
+
 Ptr<Board> Board::create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids) {
     CV_Assert(objPoints.total() == ids.total());
     CV_Assert(objPoints.type() == CV_32FC3 || objPoints.type() == CV_32FC1);
@@ -139,10 +152,10 @@ Ptr<GridBoard> GridBoard::create(int markersX, int markersY, float markerLength,
                                  const Ptr<Dictionary> &dictionary, int firstMarker) {
     CV_Assert(markersX > 0 && markersY > 0 && markerLength > 0 && markerSeparation > 0);
     Ptr<GridBoard> res = makePtr<GridBoard>();
-    res->_markersX = markersX;
-    res->_markersY = markersY;
-    res->_markerLength = markerLength;
-    res->_markerSeparation = markerSeparation;
+    res->gridImpl->sizeX = markersX;
+    res->gridImpl->sizeY = markersY;
+    res->gridImpl->markerLength = markerLength;
+    res->gridImpl->markerSeparation = markerSeparation;
     res->dictionary = dictionary;
 
     size_t totalMarkers = (size_t) markersX * markersY;
@@ -175,6 +188,19 @@ void GridBoard::draw(Size outSize, OutputArray _img, int marginSize, int borderB
     _drawPlanarBoardImpl((Board*)this, outSize, _img, marginSize, borderBits);
 }
 
+Size GridBoard::getGridSize() const {
+    return Size(gridImpl->sizeX, gridImpl->sizeY);
+}
+
+float GridBoard::getMarkerLength() {
+    return gridImpl->markerLength;
+}
+
+float GridBoard::getMarkerSeparation() {
+    return gridImpl->markerSeparation;
+}
+
+
 void CharucoBoard::draw(Size outSize, OutputArray _img, int marginSize, int borderBits) {
     CV_Assert(!outSize.empty());
     CV_Assert(marginSize >= 0);