Merge pull request #969 from paroj:boardguess

aruco: let solvePnP allocate rvec and tvec

Author: alalek

modules/aruco/src/aruco.cpp

@@ -1250,13 +1250,6 @@ int estimatePoseBoard(InputArrayOfArrays _corners, InputArray _ids, const Ptr<Bo
     if(objPoints.total() == 0) // 0 of the detected markers in board
         return 0;
 
-    if (_rvec.empty() || _tvec.empty())
-    {
-        _rvec.create(3, 1, CV_64FC1);
-        _tvec.create(3, 1, CV_64FC1);
-        useExtrinsicGuess = false;
-    }
-
     solvePnP(objPoints, imgPoints, _cameraMatrix, _distCoeffs, _rvec, _tvec, useExtrinsicGuess);
 
     // divide by four since all the four corners are concatenated in the array for each marker

modules/aruco/src/charuco.cpp

@@ -674,13 +674,6 @@ bool estimatePoseCharucoBoard(InputArray _charucoCorners, InputArray _charucoIds
     // points need to be in different lines, check if detected points are enough
     if(!_arePointsEnoughForPoseEstimation(objPoints)) return false;
 
-    if (_rvec.empty() || _tvec.empty())
-    {
-        _rvec.create(3, 1, CV_64FC1);
-        _tvec.create(3, 1, CV_64FC1);
-        useExtrinsicGuess = false;
-    }
-
     solvePnP(objPoints, _charucoCorners, _cameraMatrix, _distCoeffs, _rvec, _tvec, useExtrinsicGuess);
 
     return true;