add setIds and make ids field RW in python

Author: rogday

modules/aruco/include/opencv2/aruco.hpp

@@ -281,6 +281,7 @@ class CV_EXPORTS_W Board {
     *
     */
     CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, 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 +291,7 @@ 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/include/opencv2/aruco/charuco.hpp

@@ -100,6 +100,17 @@ class CV_EXPORTS_W CharucoBoard : public Board {
     CV_WRAP static Ptr<CharucoBoard> create(int squaresX, int squaresY, float squareLength,
                                             float markerLength, const Ptr<Dictionary> &dictionary);
 
+    /**
+     * @brief Set ids vector
+     *
+     * @param ids vector of the identifiers of the markers in the board (should be the same size
+     * as objPoints)
+     *
+     * Safe way to set ids vector instead of backward-compatible legacy solution using direct assignment
+     * to ids field.
+     */
+    CV_WRAP void setIds(InputArray ids);
+
     /**
       *
       */

modules/aruco/src/charuco.cpp

@@ -170,7 +170,10 @@ Ptr<CharucoBoard> CharucoBoard::create(int squaresX, int squaresY, float squareL
     return res;
 }
 
-
+void CharucoBoard::setIds(InputArray ids_) {
+    CV_Assert(objPoints.size() == ids_.total());
+    ids_.copyTo(this->ids);
+}
 
 /**
   * Fill nearestMarkerIdx and nearestMarkerCorners arrays