From aa51382dbc6526df2e3b0aa1c438d6c3cc8854cc Mon Sep 17 00:00:00 2001
From: arodrigu <alejandro.rodriguez@inait.ai>
Date: Fri, 16 Oct 2020 14:41:41 +0200
Subject: [PATCH] Fix: UsacParams Python bindings

---
 modules/calib3d/include/opencv2/calib3d.hpp | 23 +++++++++++----------
 modules/calib3d/src/solvepnp.cpp            | 15 ++++++++++++++
 2 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index cc5fdbfe1c..a1a4c57d8a 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -550,17 +550,18 @@ enum NeighborSearchMethod { NEIGH_FLANN_KNN, NEIGH_GRID, NEIGH_FLANN_RADIUS };
 
 struct CV_EXPORTS_W_SIMPLE UsacParams
 { // in alphabetical order
-    double confidence = 0.99;
-    bool isParallel = false;
-    int loIterations = 5;
-    LocalOptimMethod loMethod = LocalOptimMethod::LOCAL_OPTIM_INNER_LO;
-    int loSampleSize = 14;
-    int maxIterations = 5000;
-    NeighborSearchMethod neighborsSearch = NeighborSearchMethod::NEIGH_GRID;
-    int randomGeneratorState = 0;
-    SamplingMethod sampler = SamplingMethod::SAMPLING_UNIFORM;
-    ScoreMethod score = ScoreMethod::SCORE_METHOD_MSAC;
-    double threshold = 1.5;
+    CV_WRAP UsacParams();
+    CV_PROP_RW double confidence;
+    CV_PROP_RW bool isParallel;
+    CV_PROP_RW int loIterations;
+    CV_PROP_RW LocalOptimMethod loMethod;
+    CV_PROP_RW int loSampleSize;
+    CV_PROP_RW int maxIterations;
+    CV_PROP_RW NeighborSearchMethod neighborsSearch;
+    CV_PROP_RW int randomGeneratorState;
+    CV_PROP_RW SamplingMethod sampler;
+    CV_PROP_RW ScoreMethod score;
+    CV_PROP_RW double threshold;
 };
 
 /** @brief Converts a rotation matrix to a rotation vector or vice versa.
diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 5c04662489..bb595085fa 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -197,6 +197,21 @@ public:
     Mat tvec;
 };
 
+UsacParams::UsacParams()
+{
+    confidence = 0.99;
+    isParallel = false;
+    loIterations = 5;
+    loMethod = LocalOptimMethod::LOCAL_OPTIM_INNER_LO;
+    loSampleSize = 14;
+    maxIterations = 5000;
+    neighborsSearch = NeighborSearchMethod::NEIGH_GRID;
+    randomGeneratorState = 0;
+    sampler = SamplingMethod::SAMPLING_UNIFORM;
+    score = ScoreMethod::SCORE_METHOD_MSAC;
+    threshold = 1.5;
+}
+
 bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                     InputArray _cameraMatrix, InputArray _distCoeffs,
                     OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,