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fisheye: create rvecs, tvecs before writing

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This commit is contained in:
Pavel Rojtberg 2016-04-22 11:56:58 +02:00
parent ec63343f34
commit 8d4cebe077
1 changed files with 14 additions and 5 deletions
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19
modules/calib3d/src/fisheye.cpp
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@ -794,13 +794,22 @@ double cv::fisheye::calibrate(InputArrayOfArrays objectPoints, InputArrayOfArray
if (K.needed()) cv::Mat(_K).convertTo(K, K.empty() ? CV_64FC1 : K.type());
if (D.needed()) cv::Mat(finalParam.k).convertTo(D, D.empty() ? CV_64FC1 : D.type());
if (rvecs.kind()==_InputArray::STD_VECTOR_MAT)
if (rvecs.isMatVector())
{
int i;
for( i = 0; i < (int)objectPoints.total(); i++ )
int N = (int)objectPoints.total();
if(rvecs.empty())
rvecs.create(N, 1, CV_64FC3);
if(tvecs.empty())
tvecs.create(N, 1, CV_64FC3);
for(int i = 0; i < N; i++ )
{
rvecs.getMat(i)=omc[i];
tvecs.getMat(i)=Tc[i];
rvecs.create(3, 1, CV_64F, i, true);
tvecs.create(3, 1, CV_64F, i, true);
memcpy(rvecs.getMat(i).ptr(), omc[i].val, sizeof(Vec3d));
memcpy(tvecs.getMat(i).ptr(), Tc[i].val, sizeof(Vec3d));
}
}
else