Merge remote-tracking branch 'upstream/3.4' into merge-3.4

Author: alalek

modules/aruco/include/opencv2/aruco.hpp

@@ -281,6 +281,18 @@ class CV_EXPORTS_W Board {
     *
     */
     CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
+
+    /**
+    * @brief Set ids vector
+    *
+    * @param ids vector of the identifiers of the markers in the board (should be the same size
+    * as objPoints)
+    *
+    * Recommended way to set ids vector, which will fail if the size of ids does not match size
+     * of objPoints.
+    */
+    CV_WRAP void setIds(InputArray ids);
+
     /// array of object points of all the marker corners in the board
     /// each marker include its 4 corners in CCW order. For M markers, the size is Mx4.
     CV_PROP std::vector< std::vector< Point3f > > objPoints;
@@ -290,7 +302,7 @@ class CV_EXPORTS_W Board {
 
     /// vector of the identifiers of the markers in the board (same size than objPoints)
     /// The identifiers refers to the board dictionary
-    CV_PROP std::vector< int > ids;
+    CV_PROP_RW std::vector< int > ids;
 };
 
 

modules/aruco/misc/objc/gen_dict.json

@@ -3,5 +3,10 @@
         "*" : [ "\"aruco.hpp\"" ],
         "CharucoBoard" : [ "\"aruco/charuco.hpp\"" ],
         "Dictionary" : [ "\"aruco/dictionary.hpp\"" ]
+    },
+    "func_arg_fix" : {
+        "Board" : {
+            "(void)setIds:(Mat*)ids" : { "setIds" : {"name" : "setIdsMat"} }
+        }
     }
 }

modules/aruco/misc/python/test/test_aruco.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python
+
+# Python 2/3 compatibility
+from __future__ import print_function
+
+import os, numpy as np
+
+import cv2 as cv
+
+from tests_common import NewOpenCVTests
+
+class aruco_test(NewOpenCVTests):
+
+    def test_idsAccessibility(self):
+
+        ids = np.array([[elem] for elem in range(17)])
+        rev_ids = np.array(list(reversed(ids)))
+
+        aruco_dict  = cv.aruco.Dictionary_get(cv.aruco.DICT_5X5_250)
+        board = cv.aruco.CharucoBoard_create(7, 5, 1, 0.5, aruco_dict)
+
+        self.assertTrue(np.equal(board.ids, ids).all())
+
+        board.ids = rev_ids
+        self.assertTrue(np.equal(board.ids, rev_ids).all())
+
+        board.setIds(ids)
+        self.assertTrue(np.equal(board.ids, ids).all())
+
+        with self.assertRaises(cv.error):
+            board.setIds(np.array([0]))
+
+if __name__ == '__main__':
+    NewOpenCVTests.bootstrap()

modules/aruco/src/aruco.cpp

@@ -1495,6 +1495,13 @@ Ptr<Board> Board::create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &di
     return res;
 }
 
+/**
+ */
+void Board::setIds(InputArray ids_) {
+    CV_Assert(objPoints.size() == ids_.total());
+    ids_.copyTo(this->ids);
+}
+
 /**
  */
 Ptr<GridBoard> GridBoard::create(int markersX, int markersY, float markerLength, float markerSeparation,

modules/fuzzy/src/fuzzy_F0_math.cpp

@@ -122,9 +122,13 @@ void ft::FT02D_FL_process(InputArray matrix, const int radius, OutputArray outpu
     int output_height = matrix.rows();
     int output_width = matrix.cols();
 
-    uchar *img_r = new uchar[output_height * output_width];
-    uchar *img_g = new uchar[output_height * output_width];
-    uchar *img_b = new uchar[output_height * output_width];
+    Mat compR(output_height, output_width, CV_8UC1);
+    Mat compG(output_height, output_width, CV_8UC1);
+    Mat compB(output_height, output_width, CV_8UC1);
+
+    uchar *img_r = compR.ptr();
+    uchar *img_g = compG.ptr();
+    uchar *img_b = compB.ptr();
 
     for (int y = 0; y < output_height; y++)
     {
@@ -158,10 +162,6 @@ void ft::FT02D_FL_process(InputArray matrix, const int radius, OutputArray outpu
         }
     }
 
-    Mat compR(output_height, output_width, CV_8UC1, img_r);
-    Mat compG(output_height, output_width, CV_8UC1, img_g);
-    Mat compB(output_height, output_width, CV_8UC1, img_b);
-
     std::vector<Mat> oComp;
 
     oComp.push_back(compB);
@@ -250,9 +250,13 @@ void ft::FT02D_FL_process_float(InputArray matrix, const int radius, OutputArray
     int output_height = matrix.rows();
     int output_width = matrix.cols();
 
-    float *img_r = new float[output_height * output_width];
-    float *img_g = new float[output_height * output_width];
-    float *img_b = new float[output_height * output_width];
+    Mat compR(output_height, output_width, CV_32FC1);
+    Mat compG(output_height, output_width, CV_32FC1);
+    Mat compB(output_height, output_width, CV_32FC1);
+
+    float *img_r = compR.ptr<float>();
+    float *img_g = compG.ptr<float>();
+    float *img_b = compB.ptr<float>();
 
     for (int y = 0; y < output_height; y++)
     {
@@ -286,10 +290,6 @@ void ft::FT02D_FL_process_float(InputArray matrix, const int radius, OutputArray
         }
     }
 
-    Mat compR(output_height, output_width, CV_32FC1, img_r);
-    Mat compG(output_height, output_width, CV_32FC1, img_g);
-    Mat compB(output_height, output_width, CV_32FC1, img_b);
-
     std::vector<Mat> oComp;
 
     oComp.push_back(compB);