Fix python bindings for setCharucoParameters

[siilats]

setcharucoparameters fails in python

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This hack works meanwhile:

[dkurt]

opencv/modules/objdetect/src/aruco/charuco_detector.cpp

Line 273 in 12db19c

void CharucoDetector::setCharucoParameters(CharucoParameters &charucoParameters) {

should be changed too

[mostafarohani]

@dkurt thank you for the reference, and thank you @siilats for the workaround, however I think there is still a bug.

When I do a charuco find markers without using the intrinsics and distortions (i.e. a factory CharucoParamaters) the calibration/poses derived are reasonable but not great.

However when i feed in the ground truth intrinsics/distortions using CharucoParameters, the result is terrible/very wrong.

I have only noticed this because we have upgraded our repo from opencv 4.1 to 4.7; in the old code everything worked completely fine.

[dkurt]

@mostafarohani, I've added a test in Python, can you please take a look and if your example is different, please provide a reproducer.

Update: I were able to reproduce your issue, sorry. This is only when either cameraMatrix or distCoeffs is not initialized.

[AleksandrPanov]

It is possible to add more clear names instead of test_charuco_no_segfault_1, test_charuco_no_segfault_2. The tests are small and there are comments, so it's ok for me.

[dkurt]

@AleksandrPanov, sure, done!