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fixed problem in solvePnPRansac with TBB

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This commit is contained in:
Alexander Shishkov 2012-04-06 13:33:22 +00:00
parent 61c7c441b9
commit 6c308dac10
2 changed files with 19 additions and 12 deletions
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11
modules/calib3d/src/epnp.cpp
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@ -29,10 +29,18 @@ epnp::epnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& i
alphas.resize(4 * number_of_correspondences); alphas.resize(4 * number_of_correspondences);
pcs.resize(3 * number_of_correspondences); pcs.resize(3 * number_of_correspondences);
max_nr = 0;
A1 = NULL;
A2 = NULL;
} }
epnp::~epnp() epnp::~epnp()
{ {
if (A1)
delete[] A1;
if (A2)
delete[] A2;
} }
void epnp::choose_control_points(void) void epnp::choose_control_points(void)
@ -513,9 +521,6 @@ void epnp::gauss_newton(const CvMat * L_6x10, const CvMat * Rho,
void epnp::qr_solve(CvMat * A, CvMat * b, CvMat * X) void epnp::qr_solve(CvMat * A, CvMat * b, CvMat * X)
{ {
static int max_nr = 0;
static double * A1, * A2;
const int nr = A->rows; const int nr = A->rows;
const int nc = A->cols; const int nc = A->cols;

2
modules/calib3d/src/epnp.h
View File

@ -74,6 +74,8 @@ class epnp {
double cws[4][3], ccs[4][3]; double cws[4][3], ccs[4][3];
double cws_determinant; double cws_determinant;
int max_nr;
double * A1, * A2;
}; };
#endif #endif