From 94a2e747abbcbebb924f7543437d1dff4f2406c2 Mon Sep 17 00:00:00 2001
From: Pavel Rojtberg <rojtberg@gmail.com>
Date: Mon, 28 Mar 2016 00:09:27 +0200
Subject: [PATCH] aruco::estimatePoseSingleMarkers rvec/ tvec memory layout
 fixes

type should be OutputArray instead of OutputArrayOfArrays.
at<Vec3d> is one dimensional. (fixes debug assert)
fixes #574
---
 modules/aruco/include/opencv2/aruco.hpp | 6 +++---
 modules/aruco/src/aruco.cpp             | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/modules/aruco/include/opencv2/aruco.hpp b/modules/aruco/include/opencv2/aruco.hpp
index 3f45dc11f..d69e04e74 100644
--- a/modules/aruco/include/opencv2/aruco.hpp
+++ b/modules/aruco/include/opencv2/aruco.hpp
@@ -192,9 +192,9 @@ CV_EXPORTS_W void detectMarkers(InputArray image, Ptr<Dictionary> &dictionary, O
  * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
  * @param distCoeffs vector of distortion coefficients
  * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
- * @param rvecs array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>>).
+ * @param rvecs array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>).
  * Each element in rvecs corresponds to the specific marker in imgPoints.
- * @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>>).
+ * @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>).
  * Each element in tvecs corresponds to the specific marker in imgPoints.
  *
  * This function receives the detected markers and returns their pose estimation respect to
@@ -209,7 +209,7 @@ CV_EXPORTS_W void detectMarkers(InputArray image, Ptr<Dictionary> &dictionary, O
  */
 CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
                                             InputArray cameraMatrix, InputArray distCoeffs,
-                                            OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs);
+                                            OutputArray rvecs, OutputArray tvecs);
 
 
 
diff --git a/modules/aruco/src/aruco.cpp b/modules/aruco/src/aruco.cpp
index b06dd5f71..bb98778a4 100644
--- a/modules/aruco/src/aruco.cpp
+++ b/modules/aruco/src/aruco.cpp
@@ -876,7 +876,7 @@ class SinglePoseEstimationParallel : public ParallelLoopBody {
 
         for(int i = begin; i < end; i++) {
             solvePnP(markerObjPoints, corners.getMat(i), cameraMatrix, distCoeffs,
-                    rvecs.at<Vec3d>(0, i), tvecs.at<Vec3d>(0, i));
+                    rvecs.at<Vec3d>(i), tvecs.at<Vec3d>(i));
         }
     }
 
@@ -896,7 +896,7 @@ class SinglePoseEstimationParallel : public ParallelLoopBody {
   */
 void estimatePoseSingleMarkers(InputArrayOfArrays _corners, float markerLength,
                                InputArray _cameraMatrix, InputArray _distCoeffs,
-                               OutputArrayOfArrays _rvecs, OutputArrayOfArrays _tvecs) {
+                               OutputArray _rvecs, OutputArray _tvecs) {
 
     CV_Assert(markerLength > 0);