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The parameter types for cv::solvePnP() is misleading #12334

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The parameter types for cv::solvePnP() is misleading#12334
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asmorkalov
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bugcategory: calib3d
Milestone
4.13.0
@csukuangfj

Description

@csukuangfj
csukuangfj
opened on Aug 29, 2018
System information (version)
  • OpenCV => master
Detailed description

See the code

opencv/modules/calib3d/include/opencv2/calib3d.hpp

Lines 692 to 695 in ee1e1ce

CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvec, OutputArray tvec,
bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE );

rvec and tvec are of type OutputArray indicating that they are used only for ouput.

But the code

opencv/modules/calib3d/src/solvepnp.cpp

Line 58 in ee1e1ce

OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess, int flags )

opencv/modules/calib3d/src/solvepnp.cpp

Lines 71 to 79 in ee1e1ce

if( useExtrinsicGuess )
{
int rtype = _rvec.type(), ttype = _tvec.type();
Size rsize = _rvec.size(), tsize = _tvec.size();
CV_Assert( (rtype == CV_32F || rtype == CV_64F) &&
(ttype == CV_32F || ttype == CV_64F) );
CV_Assert( (rsize == Size(1, 3) || rsize == Size(3, 1)) &&
(tsize == Size(1, 3) || tsize == Size(3, 1)) );
}

treats them as input when useExtrinsicGuess==true.

Suggestions

The prototype should be decalared as InputOutputArray.

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