Board refactoring.

modules/aruco/samples/calibrate_camera.cpp

@@ -154,8 +154,7 @@ int main(int argc, char *argv[]) {
     }
 
     // create board object
-    Ptr<aruco::GridBoard> gridboard =
+    Ptr<aruco::GridBoard> gridboard = new aruco::GridBoard(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
-            aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
     Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
 
     // collected frames for calibration
@@ -176,7 +175,7 @@ int main(int argc, char *argv[]) {
         detector.detectMarkers(image, corners, ids, rejected);
 
         // refind strategy to detect more markers
-        if(refindStrategy) detector.refineDetectedMarkers(image, board, corners, ids, rejected);
+        if(refindStrategy) detector.refineDetectedMarkers(image, *board, corners, ids, rejected);
 
         // draw results
         image.copyTo(imageCopy);

modules/aruco/samples/calibrate_camera_charuco.cpp

@@ -154,8 +154,7 @@ int main(int argc, char *argv[]) {
     }
 
     // create charuco board object
-    Ptr<aruco::CharucoBoard> charucoboard =
+    Ptr<aruco::CharucoBoard> charucoboard = new aruco::CharucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
-            aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
     Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>();
 
     // collect data from each frame

modules/aruco/samples/create_board.cpp

@@ -115,12 +115,11 @@ int main(int argc, char *argv[]) {
         return 0;
     }
 
-    Ptr<aruco::GridBoard> board = aruco::GridBoard::create(markersX, markersY, float(markerLength),
+    aruco::GridBoard board(Size(markersX, markersY), float(markerLength), float(markerSeparation), dictionary);
-                                                           float(markerSeparation), dictionary);
 
     // show created board
     Mat boardImage;
-    board->generateImage(imageSize, boardImage, margins, borderBits);
+    board.generateImage(imageSize, boardImage, margins, borderBits);
 
     if(showImage) {
         imshow("board", boardImage);

modules/aruco/samples/create_board_charuco.cpp

@@ -115,12 +115,11 @@ int main(int argc, char *argv[]) {
     imageSize.width = squaresX * squareLength + 2 * margins;
     imageSize.height = squaresY * squareLength + 2 * margins;
 
-    Ptr<aruco::CharucoBoard> board = aruco::CharucoBoard::create(squaresX, squaresY, (float)squareLength,
+    aruco::CharucoBoard board(Size(squaresX, squaresY), (float)squareLength, (float)markerLength, dictionary);
-                                                            (float)markerLength, dictionary);
 
     // show created board
     Mat boardImage;
-    board->generateImage(imageSize, boardImage, margins, borderBits);
+    board.generateImage(imageSize, boardImage, margins, borderBits);
 
     if(showImage) {
         imshow("board", boardImage);

modules/aruco/samples/detect_board.cpp

@@ -150,8 +150,7 @@ int main(int argc, char *argv[]) {
                                markerSeparation);
 
     // create board object
-    Ptr<aruco::GridBoard> gridboard =
+    Ptr<aruco::GridBoard> gridboard = new aruco::GridBoard(Size(markersX, markersY), markerLength, markerSeparation, dictionary);
-        aruco::GridBoard::create(markersX, markersY, markerLength, markerSeparation, dictionary);
     Ptr<aruco::Board> board = gridboard.staticCast<aruco::Board>();
 
     double totalTime = 0;
@@ -172,7 +171,7 @@ int main(int argc, char *argv[]) {
 
         // refind strategy to detect more markers
         if(refindStrategy)
-            detector.refineDetectedMarkers(image, board, corners, ids, rejected, camMatrix,
+            detector.refineDetectedMarkers(image, *board, corners, ids, rejected, camMatrix,
                                            distCoeffs);
 
         // estimate board pose

modules/aruco/samples/detect_board_charuco.cpp

@@ -145,8 +145,7 @@ int main(int argc, char *argv[]) {
     float axisLength = 0.5f * ((float)min(squaresX, squaresY) * (squareLength));
 
     // create charuco board object
-    Ptr<aruco::CharucoBoard> charucoboard =
+    Ptr<aruco::CharucoBoard> charucoboard = new aruco::CharucoBoard(Size(squaresX, squaresY), squareLength, markerLength, dictionary);
-        aruco::CharucoBoard::create(squaresX, squaresY, squareLength, markerLength, dictionary);
     Ptr<aruco::Board> board = charucoboard.staticCast<aruco::Board>();
 
     double totalTime = 0;

modules/aruco/samples/tutorial_charuco_create_detect.cpp

@@ -15,9 +15,9 @@ static inline void createBoard()
 {
     cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
     //! [createBoard]
-    cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04f, 0.02f, dictionary);
+    cv::aruco::CharucoBoard board(cv::Size(5, 7), 0.04f, 0.02f, dictionary);
     cv::Mat boardImage;
-    board->generateImage(cv::Size(600, 500), boardImage, 10, 1);
+    board.generateImage(cv::Size(600, 500), boardImage, 10, 1);
     //! [createBoard]
     cv::imwrite("BoardImage.jpg", boardImage);
 }
@@ -37,7 +37,7 @@ static inline void detectCharucoBoardWithCalibrationPose()
     } else {
         //! [dictboard]
         cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
-        cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04f, 0.02f, dictionary);
+        cv::Ptr<cv::aruco::CharucoBoard> board = new cv::aruco::CharucoBoard(cv::Size(5, 7), 0.04f, 0.02f, dictionary);
         cv::Ptr<cv::aruco::DetectorParameters> params = cv::makePtr<cv::aruco::DetectorParameters>();
         //! [dictboard]
         while (inputVideo.grab()) {
@@ -90,7 +90,7 @@ static inline void detectCharucoBoardWithoutCalibration()
     cv::VideoCapture inputVideo;
     inputVideo.open(0);
     cv::aruco::Dictionary dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::DICT_6X6_250);
-    cv::Ptr<cv::aruco::CharucoBoard> board = cv::aruco::CharucoBoard::create(5, 7, 0.04f, 0.02f, dictionary);
+    cv::Ptr<cv::aruco::CharucoBoard> board = new cv::aruco::CharucoBoard(cv::Size(5, 7), 0.04f, 0.02f, dictionary);
 
     cv::Ptr<cv::aruco::DetectorParameters> params = cv::makePtr<cv::aruco::DetectorParameters>();
     params->cornerRefinementMethod = cv::aruco::CORNER_REFINE_NONE;

modules/aruco/src/aruco.cpp

@@ -26,7 +26,7 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
                            const Ptr<DetectorParameters> &_params) {
     RefineParameters refineParams(minRepDistance, errorCorrectionRate, checkAllOrders);
     ArucoDetector detector(_board->getDictionary(), *_params, refineParams);
-    detector.refineDetectedMarkers(_image, _board, _detectedCorners, _detectedIds, _rejectedCorners, _cameraMatrix,
+    detector.refineDetectedMarkers(_image, *_board, _detectedCorners, _detectedIds, _rejectedCorners, _cameraMatrix,
                                    _distCoeffs, _recoveredIdxs);
 }
 

modules/aruco/src/charuco.cpp

@@ -383,14 +383,13 @@ void detectCharucoDiamond(InputArray _image, InputArrayOfArrays _markerCorners,
         // current id is assigned to [0], so it is the marker on the top
         tmpIds[0] = currentId;
         // create Charuco board layout for diamond (3x3 layout)
-        Ptr<CharucoBoard> _charucoDiamondLayout = CharucoBoard::create(3, 3, squareMarkerLengthRate, 1., *dictionary,
+        Ptr<CharucoBoard> _charucoDiamondLayout = new CharucoBoard(Size(3, 3), squareMarkerLengthRate, 1., *dictionary, tmpIds);
-                                                                       tmpIds);
 
         // try to find the rest of markers in the diamond
         vector< int > acceptedIdxs;
         RefineParameters refineParameters(minRepDistance, -1.f, false);
         ArucoDetector detector(*dictionary, DetectorParameters(), refineParameters);
-        detector.refineDetectedMarkers(grey, _charucoDiamondLayout, currentMarker, currentMarkerId, candidates,
+        detector.refineDetectedMarkers(grey, *_charucoDiamondLayout, currentMarker, currentMarkerId, candidates,
                                        noArray(), noArray(), acceptedIdxs);
 
         // if found, we have a diamond
@@ -456,9 +455,9 @@ void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int square
     for(int i = 0; i < 4; i++)
        tmpIds[i] = ids[i];
     // create a charuco board similar to a charuco marker and print it
-    Ptr<CharucoBoard> board = CharucoBoard::create(3, 3, (float)squareLength, (float)markerLength, *dictionary, tmpIds);
+    CharucoBoard board(Size(3, 3), (float)squareLength, (float)markerLength, *dictionary, tmpIds);
     Size outSize(3 * squareLength + 2 * marginSize, 3 * squareLength + 2 * marginSize);
-    board->generateImage(outSize, _img, marginSize, borderBits);
+    board.generateImage(outSize, _img, marginSize, borderBits);
 }
 
 }