Merge pull request #771 from sovrasov:aruco_board_create

modules/aruco/include/opencv2/aruco.hpp

@@ -226,6 +226,15 @@ CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float ma
 class CV_EXPORTS_W Board {
 
     public:
+    /**
+    * @brief Provide way to create Board by passing nessesary data. Specially needed in Python.
+    *
+    * @param objPoints array of object points of all the marker corners in the board
+    * @param dictionary the dictionary of markers employed for this board
+    * @param ids vector of the identifiers of the markers in the board
+    *
+    */
+    CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, Ptr<Dictionary> &dictionary, InputArray ids);
     // array of object points of all the marker corners in the board
     // each marker include its 4 corners, i.e. for M markers, the size is Mx4
     CV_PROP std::vector< std::vector< Point3f > > objPoints;

modules/aruco/src/aruco.cpp

@@ -41,7 +41,6 @@ the use of this software, even if advised of the possibility of such damage.
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
 
-
 namespace cv {
 namespace aruco {
 
@@ -1334,6 +1333,30 @@ void GridBoard::draw(Size outSize, OutputArray _img, int marginSize, int borderB
 }
 
 
+/**
+*/
+Ptr<Board> Board::create(InputArrayOfArrays objPoints, Ptr<Dictionary> &dictionary, InputArray ids) {
+
+    CV_Assert(objPoints.total() == ids.total());
+    CV_Assert(objPoints.type() == CV_32FC3);
+
+    std::vector< std::vector< Point3f > > obj_points_vector;
+    for (unsigned int i = 0; i < objPoints.total(); i++) {
+        std::vector<Point3f> corners;
+        Mat corners_mat = objPoints.getMat(i);
+        for (int j = 0; j < 4; j++) {
+            corners.push_back(corners_mat.at<Point3f>(j));
+        }
+        obj_points_vector.push_back(corners);
+    }
+
+    Ptr<Board> res = makePtr<Board>();
+    ids.copyTo(res->ids);
+    res->objPoints = obj_points_vector;
+    res->dictionary = dictionary;
+    return res;
+}
+
 /**
  */
 Ptr<GridBoard> GridBoard::create(int markersX, int markersY, float markerLength, float markerSeparation,