fixed problem in solvePnPRansac with TBB

modules/calib3d/src/epnp.cpp

@@ -29,10 +29,18 @@ epnp::epnp(const cv::Mat& cameraMatrix, const cv::Mat& opoints, const cv::Mat& i
 
   alphas.resize(4 * number_of_correspondences); 
   pcs.resize(3 * number_of_correspondences);
+
+  max_nr = 0;
+  A1 = NULL;
+  A2 = NULL;
 }
 
 epnp::~epnp()
 {
+    if (A1)
+        delete[] A1;
+    if (A2)
+        delete[] A2;
 }
 
 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)
 {
-  static int max_nr = 0;
-  static double * A1, * A2;
-
   const int nr = A->rows;
   const int nc = A->cols;
 

modules/calib3d/src/epnp.h

@@ -14,24 +14,24 @@ class epnp {
   void compute_pose(cv::Mat& R, cv::Mat& t);
  private:
   template <typename T>
-  void init_camera_parameters(const cv::Mat& cameraMatrix)
-  {	
-	uc = cameraMatrix.at<T> (0, 2);
-	vc = cameraMatrix.at<T> (1, 2);
-	fu = cameraMatrix.at<T> (0, 0);
-	fv = cameraMatrix.at<T> (1, 1);
+  void init_camera_parameters(const cv::Mat& cameraMatrix)
+  {	
+	uc = cameraMatrix.at<T> (0, 2);
+	vc = cameraMatrix.at<T> (1, 2);
+	fu = cameraMatrix.at<T> (0, 0);
+	fv = cameraMatrix.at<T> (1, 1);
   }
   template <typename OpointType, typename IpointType>
   void init_points(const cv::Mat& opoints, const cv::Mat& ipoints)
   {
-	  for(int i = 0; i < number_of_correspondences; i++)
-	  {
+	  for(int i = 0; i < number_of_correspondences; i++)
+	  {
 		  pws[3 * i    ] = opoints.at<OpointType>(0,i).x;
 		  pws[3 * i + 1] = opoints.at<OpointType>(0,i).y;
 		  pws[3 * i + 2] = opoints.at<OpointType>(0,i).z;
 
 		  us[2 * i    ] = ipoints.at<IpointType>(0,i).x*fu + uc;
-		  us[2 * i + 1] = ipoints.at<IpointType>(0,i).y*fv + vc;
+		  us[2 * i + 1] = ipoints.at<IpointType>(0,i).y*fv + vc;
 	  }
   }
   double reprojection_error(const double R[3][3], const double t[3]);
@@ -74,6 +74,8 @@ class epnp {
 
   double cws[4][3], ccs[4][3];
   double cws_determinant;
+  int max_nr;
+  double * A1, * A2;
 };
 
 #endif