From 911ab34eaa3faafa6f4421ae928aeb810d54d0f3 Mon Sep 17 00:00:00 2001
From: Alexander Alekhin <alexander.a.alekhin@gmail.com>
Date: Thu, 16 Jun 2022 12:11:40 +0000
Subject: [PATCH] aruco: fix solvePnP parameters

---
 modules/aruco/src/aruco.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/modules/aruco/src/aruco.cpp b/modules/aruco/src/aruco.cpp
index 87c953215..fccb3d965 100644
--- a/modules/aruco/src/aruco.cpp
+++ b/modules/aruco/src/aruco.cpp
@@ -1227,6 +1227,7 @@ void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
                                Ptr<EstimateParameters> estimateParameters) {
 
     CV_Assert(markerLength > 0);
+    CV_Assert(estimateParameters);
 
     Mat markerObjPoints;
     _getSingleMarkerObjectPoints(markerLength, markerObjPoints, *estimateParameters);
@@ -1243,7 +1244,7 @@ void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
 
         for (int i = begin; i < end; i++) {
             solvePnP(markerObjPoints, _corners.getMat(i), _cameraMatrix, _distCoeffs, rvecs.at<Vec3d>(i),
-                     tvecs.at<Vec3d>(i), estimateParameters->solvePnPMethod);
+                     tvecs.at<Vec3d>(i), estimateParameters->useExtrinsicGuess, estimateParameters->solvePnPMethod);
         }
     });