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calibrateCamera: do not require rvec and tvec to be vector<Mat>

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if they are not we also do not need to allocate a local copy of the rvec
and tvec
This commit is contained in:
Pavel Rojtberg 2015-09-16 18:36:42 +02:00 committed by Pavel Rojtberg
parent 205775ed52
commit 60c06e551a
1 changed files with 16 additions and 4 deletions
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20
modules/calib3d/src/calibration.cpp
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@ -3221,14 +3221,25 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed(); bool rvecs_needed = _rvecs.needed(), tvecs_needed = _tvecs.needed();
bool rvecs_mat_vec = _rvecs.isMatVector();
bool tvecs_mat_vec = _tvecs.isMatVector();
if( rvecs_needed ) { if( rvecs_needed ) {
_rvecs.create(nimages, 1, CV_64FC3); _rvecs.create(nimages, 1, CV_64FC3);
rvecM.create(nimages, 3, CV_64F);
if(rvecs_mat_vec)
rvecM.create(nimages, 3, CV_64F);
else
rvecM = _rvecs.getMat();
} }
if( tvecs_needed ) { if( tvecs_needed ) {
_tvecs.create(nimages, 1, CV_64FC3); _tvecs.create(nimages, 1, CV_64FC3);
tvecM.create(nimages, 3, CV_64F);
if(tvecs_mat_vec)
tvecM.create(nimages, 3, CV_64F);
else
tvecM = _tvecs.getMat();
} }
collectCalibrationData( _objectPoints, _imagePoints, noArray(), collectCalibrationData( _objectPoints, _imagePoints, noArray(),
@ -3242,15 +3253,16 @@ double cv::calibrateCamera( InputArrayOfArrays _objectPoints,
rvecs_needed ? &c_rvecM : NULL, rvecs_needed ? &c_rvecM : NULL,
tvecs_needed ? &c_tvecM : NULL, flags, criteria ); tvecs_needed ? &c_tvecM : NULL, flags, criteria );
// overly complicated and inefficient rvec/ tvec handling to support vector<Mat>
for(int i = 0; i < nimages; i++ ) for(int i = 0; i < nimages; i++ )
{ {
if( rvecs_needed ) if( rvecs_needed && rvecs_mat_vec)
{ {
_rvecs.create(3, 1, CV_64F, i, true); _rvecs.create(3, 1, CV_64F, i, true);
Mat rv = _rvecs.getMat(i); Mat rv = _rvecs.getMat(i);
memcpy(rv.ptr(), rvecM.ptr(i), 3*sizeof(double)); memcpy(rv.ptr(), rvecM.ptr(i), 3*sizeof(double));
} }
if( tvecs_needed ) if( tvecs_needed && tvecs_mat_vec)
{ {
_tvecs.create(3, 1, CV_64F, i, true); _tvecs.create(3, 1, CV_64F, i, true);
Mat tv = _tvecs.getMat(i); Mat tv = _tvecs.getMat(i);