Cache unionfind structure across detect calls and lazy-initialize size array#434
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bouk wants to merge 1 commit into
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Cache unionfind structure across detect calls and lazy-initialize size array#434bouk wants to merge 1 commit into
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apriltag_demo segfaults if I pass in two images on the second image, with the first one having a smaller resolution (640x400, followed by 1280x951). Switching the order such that the first image has the larger resolution does not trigger a segfault. |
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@Gold856 you're right, I inverted a condition. Fixed now and I added a regression test |
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Can you rebase this and provide some details in the commit message what this change does and how it works? |
…e array This saves a potentially big allocation if multiple detections are performed after each other. For 6MP images this gives me a 1.33x increase in detection throughput.
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@christian-rauch I've rebased and added a little bit more detail in the commit |
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For large images (3088x2064) this gives me an 1.33x(!) speedup.
Surprisingly only on Linux, on my macbook there's no difference