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Reuse p and R memory from params in apriltag_pose #197

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Reuse p and R memory from params in apriltag_pose #197

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12 changes: 8 additions & 4 deletions apriltag_pose.c
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Original file line number Diff line number Diff line change
Expand Up @@ -78,8 +78,10 @@ double orthogonal_iteration(matd_t** v, matd_t** p, matd_t** t, matd_t** R, int
matd_destroy(M2_update);
}
matd_scale_inplace(M2, 1.0/n_points);
matd_destroy(*t);
*t = matd_multiply(M1_inv, M2);
matd_t *tmp1 = matd_multiply(M1_inv, M2);
matd_set_data(*t, tmp1->data);
matd_destroy(tmp1);

matd_destroy(M2);

// Calculate rotation.
Expand All @@ -99,8 +101,10 @@ double orthogonal_iteration(matd_t** v, matd_t** p, matd_t** t, matd_t** R, int
}
matd_svd_t M3_svd = matd_svd(M3);
matd_destroy(M3);
matd_destroy(*R);
*R = matd_op("M*M'", M3_svd.U, M3_svd.V);
matd_t *tmp2 = matd_op("M*M'", M3_svd.U, M3_svd.V);
matd_set_data(*R, tmp2->data);
matd_destroy(tmp2);

double R_det = matd_det(*R);
if (R_det < 0) {
matd_put(*R, 0, 2, - matd_get(*R, 0, 2));
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