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Fix CharuCo slowdown #25507

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Fix CharuCo slowdown #25507

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6 changes: 3 additions & 3 deletions modules/objdetect/include/opencv2/objdetect/aruco_board.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,15 +164,15 @@ class CV_EXPORTS_W_SIMPLE CharucoBoard : public Board {

/** @brief get CharucoBoard::chessboardCorners
*/
CV_WRAP std::vector<Point3f> getChessboardCorners() const;
CV_WRAP std::vector<Point3f>& getChessboardCorners() const;

/** @brief get CharucoBoard::nearestMarkerIdx, for each charuco corner, nearest marker index in ids array
*/
CV_PROP std::vector<std::vector<int> > getNearestMarkerIdx() const;
CV_PROP std::vector<std::vector<int> >& getNearestMarkerIdx() const;

/** @brief get CharucoBoard::nearestMarkerCorners, for each charuco corner, nearest marker corner id of each marker
*/
CV_PROP std::vector<std::vector<int> > getNearestMarkerCorners() const;
CV_PROP std::vector<std::vector<int> >& getNearestMarkerCorners() const;

/** @brief check whether the ChArUco markers are collinear
*
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6 changes: 3 additions & 3 deletions modules/objdetect/src/aruco/aruco_board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -634,17 +634,17 @@ bool CharucoBoard::checkCharucoCornersCollinear(InputArray charucoIds) const {
return true;
}

std::vector<Point3f> CharucoBoard::getChessboardCorners() const {
std::vector<Point3f>& CharucoBoard::getChessboardCorners() const {
CV_Assert(impl);
return static_pointer_cast<CharucoBoardImpl>(impl)->chessboardCorners;
}

std::vector<std::vector<int> > CharucoBoard::getNearestMarkerIdx() const {
std::vector<std::vector<int> >& CharucoBoard::getNearestMarkerIdx() const {
CV_Assert(impl);
return static_pointer_cast<CharucoBoardImpl>(impl)->nearestMarkerIdx;
}

std::vector<std::vector<int> > CharucoBoard::getNearestMarkerCorners() const {
std::vector<std::vector<int> >& CharucoBoard::getNearestMarkerCorners() const {
CV_Assert(impl);
return static_pointer_cast<CharucoBoardImpl>(impl)->nearestMarkerCorners;
}
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