diff --git a/src/OpenCvSharpExtern/calib3d.h b/src/OpenCvSharpExtern/calib3d.h
index 8186074829..a1d7767ec8 100644
--- a/src/OpenCvSharpExtern/calib3d.h
+++ b/src/OpenCvSharpExtern/calib3d.h
@@ -204,7 +204,7 @@ CVAPI(ExceptionStatus) calib3d_solvePnP_vector(cv::Point3f *objectPoints, int ob
         distCoeffsMat = cv::Mat(distCoeffsLength, 1, CV_64FC1, distCoeffs);
 
     const cv::Matx<double, 3, 3> cameraMatrixMat(cameraMatrix);
-    cv::Matx<double, 3, 1> rvecMat, tvecMat;
+    cv::Matx<double, 3, 1> rvecMat(rvec), tvecMat(tvec);
     cv::solvePnP(objectPointsMat, imagePointsMat, cameraMatrixMat, distCoeffsMat, rvecMat, tvecMat, useExtrinsicGuess != 0, flags);
     memcpy(rvec, rvecMat.val, sizeof(double) * 3);
     memcpy(tvec, tvecMat.val, sizeof(double) * 3);
diff --git a/test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs b/test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs
index bdbb64b982..f7c8beb36f 100644
--- a/test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs
+++ b/test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs
@@ -280,11 +280,13 @@ public void FishEyeProjectPoints()
         Cv2.FishEye.ProjectPoints(objectPoints, imagePoints, rVec, tVec, intrisicMat, distCoeffs, 0, jacobian);
     }
 
-    [Fact]
-    public void SolvePnPTestByArray()
+    [Theory]
+    [InlineData(false)]
+    [InlineData(true)]
+    public void SolvePnPTestByArray(bool useExtrinsicGuess)
     {
-        var rvec = new double[] { 0, 0, 0 };
-        var tvec = new double[] { 0, 0, 0 };
+        var rvec = new double[] { 3, 0, 0 };
+        var tvec = new double[] { 0, 0, -10 };
         var cameraMatrix = new double[,]
         {
             { 1, 0, 0 },
@@ -305,7 +307,7 @@ public void SolvePnPTestByArray()
 
         Cv2.ProjectPoints(objPts, rvec, tvec, cameraMatrix, dist, out var imgPts, out var jacobian);
 
-        Cv2.SolvePnP(objPts, imgPts, cameraMatrix, dist, ref rvec, ref tvec);
+        Cv2.SolvePnP(objPts, imgPts, cameraMatrix, dist, ref rvec, ref tvec, useExtrinsicGuess: useExtrinsicGuess);
     }
 
     [Fact]