Merge pull request #1987 from catree:improve_solvePnP

Update code after solvePnP and solvePnPRansac InputOutputArray changes

modules/aruco/include/opencv2/aruco.hpp

@@ -387,8 +387,8 @@ class CV_EXPORTS_W GridBoard : public Board {
  * Note that returning a 0 means the pose has not been estimated.
  */
 CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
-                                   InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec,
-                                   OutputArray tvec, bool useExtrinsicGuess = false);
+                                   InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
+                                   InputOutputArray tvec, bool useExtrinsicGuess = false);
 
 
 

modules/aruco/include/opencv2/aruco/charuco.hpp

@@ -184,8 +184,8 @@ CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, Inp
  */
 CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
                                            const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
-                                           InputArray distCoeffs, OutputArray rvec, OutputArray tvec,
-                                           bool useExtrinsicGuess = false);
+                                           InputArray distCoeffs, InputOutputArray rvec,
+                                           InputOutputArray tvec, bool useExtrinsicGuess = false);
 
 
 

modules/aruco/src/aruco.cpp

@@ -1579,8 +1579,8 @@ void refineDetectedMarkers(InputArray _image, const Ptr<Board> &_board,
 /**
   */
 int estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr<Board> &board,
-                      InputArray _cameraMatrix, InputArray _distCoeffs, OutputArray _rvec,
-                      OutputArray _tvec, bool useExtrinsicGuess) {
+                      InputArray _cameraMatrix, InputArray _distCoeffs, InputOutputArray _rvec,
+                      InputOutputArray _tvec, bool useExtrinsicGuess) {
 
     CV_Assert(_corners.total() == _ids.total());
 

modules/aruco/src/charuco.cpp

@@ -656,7 +656,7 @@ static bool _arePointsEnoughForPoseEstimation(const vector< Point3f > &points) {
   */
 bool estimatePoseCharucoBoard(InputArray _charucoCorners, InputArray _charucoIds,
                               const Ptr<CharucoBoard> &_board, InputArray _cameraMatrix, InputArray _distCoeffs,
-                              OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess) {
+                              InputOutputArray _rvec, InputOutputArray _tvec, bool useExtrinsicGuess) {
 
     CV_Assert((_charucoCorners.getMat().total() == _charucoIds.getMat().total()));
 

modules/ccalib/include/opencv2/ccalib.hpp

@@ -96,21 +96,21 @@ public:
 		Calls the calirateCamera function with the same inputs.
 	*/
 
-	bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
-                OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
-	bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-                OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
+    bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
+                InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
+    bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
+                InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
     /**<
 		Uses solvePnP to find the rotation and translation of the pattern
 		with respect to the camera frame.
 	*/
 
-	bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
-				OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
-				float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
-	bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-				OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
-				float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
+    bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
+                      InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
+                      float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
+    bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
+                      InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
+                      float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
         /**<
 		Uses solvePnPRansac()
 	*/

modules/ccalib/src/ccalib.cpp

@@ -425,13 +425,13 @@ double CustomPattern::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArr
 }
 
 bool CustomPattern::findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix,
-                InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess, int flags)
+                           InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess, int flags)
 {
     return solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess, flags);
 }
 
 bool CustomPattern::findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-                OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess, int flags)
+                           InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess, int flags)
 {
     vector<Point2f> imagePoints;
     vector<Point3f> objectPoints;
@@ -442,17 +442,17 @@ bool CustomPattern::findRt(InputArray image, InputArray cameraMatrix, InputArray
 }
 
 bool CustomPattern::findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
-            OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess, int iterationsCount,
-            float reprojectionError, int minInliersCount, OutputArray inliers, int flags)
+                                 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess, int iterationsCount,
+                                 float reprojectionError, int minInliersCount, OutputArray inliers, int flags)
 {
     solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess,
-                    iterationsCount, reprojectionError, minInliersCount, inliers, flags);
+                   iterationsCount, reprojectionError, minInliersCount, inliers, flags);
     return true; // for consistency with the other methods
 }
 
 bool CustomPattern::findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
-            OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess, int iterationsCount,
-            float reprojectionError, int minInliersCount, OutputArray inliers, int flags)
+                                 InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess, int iterationsCount,
+                                 float reprojectionError, int minInliersCount, OutputArray inliers, int flags)
 {
     vector<Point2f> imagePoints;
     vector<Point3f> objectPoints;
@@ -460,7 +460,7 @@ bool CustomPattern::findRtRANSAC(InputArray image, InputArray cameraMatrix, Inpu
     if (!findPattern(image, imagePoints, objectPoints))
         return false;
     solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec, useExtrinsicGuess,
-                    iterationsCount, reprojectionError, minInliersCount, inliers, flags);
+                   iterationsCount, reprojectionError, minInliersCount, inliers, flags);
     return true;
 }