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aruco: fix solvePnP parameters

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This commit is contained in:
Alexander Alekhin
2022-06-16 12:11:40 +00:00
parent 2e3f918ff7
commit 911ab34eaa
1 changed files with 2 additions and 1 deletions
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3
modules/aruco/src/aruco.cpp
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@@ -1227,6 +1227,7 @@ void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
Ptr<EstimateParameters> estimateParameters) { Ptr<EstimateParameters> estimateParameters) {
CV_Assert(markerLength > 0); CV_Assert(markerLength > 0);
CV_Assert(estimateParameters);
Mat markerObjPoints; Mat markerObjPoints;
_getSingleMarkerObjectPoints(markerLength, markerObjPoints, *estimateParameters); _getSingleMarkerObjectPoints(markerLength, markerObjPoints, *estimateParameters);
@@ -1243,7 +1244,7 @@ void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
for (int i = begin; i < end; i++) { for (int i = begin; i < end; i++) {
solvePnP(markerObjPoints, _corners.getMat(i), _cameraMatrix, _distCoeffs, rvecs.at<Vec3d>(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);
} }
}); });