From 087537463d5c5915241acb71202b23ddba8ea785 Mon Sep 17 00:00:00 2001 From: Vadim Pisarevsky Date: Mon, 25 Feb 2013 22:46:30 +0400 Subject: [PATCH] attempt to make the ultimate fix for the failure in Core_Invert.small --- modules/core/src/lapack.cpp | 45 ++++++++++++++++++++----------------- 1 file changed, 24 insertions(+), 21 deletions(-) diff --git a/modules/core/src/lapack.cpp b/modules/core/src/lapack.cpp index 019d3616cd..8bb40e0fcb 100644 --- a/modules/core/src/lapack.cpp +++ b/modules/core/src/lapack.cpp @@ -1095,28 +1095,31 @@ double cv::invert( InputArray _src, OutputArray _dst, int method ) if( type == CV_32FC1 ) { double d = det3(Sf); - if( d != 0. ) - { - double t[12]; - - result = true; - d = 1./d; - t[0] = (((double)Sf(1,1) * Sf(2,2) - (double)Sf(1,2) * Sf(2,1)) * d); - t[1] = (((double)Sf(0,2) * Sf(2,1) - (double)Sf(0,1) * Sf(2,2)) * d); - t[2] = (((double)Sf(0,1) * Sf(1,2) - (double)Sf(0,2) * Sf(1,1)) * d); - - t[3] = (((double)Sf(1,2) * Sf(2,0) - (double)Sf(1,0) * Sf(2,2)) * d); - t[4] = (((double)Sf(0,0) * Sf(2,2) - (double)Sf(0,2) * Sf(2,0)) * d); - t[5] = (((double)Sf(0,2) * Sf(1,0) - (double)Sf(0,0) * Sf(1,2)) * d); - t[6] = (((double)Sf(1,0) * Sf(2,1) - (double)Sf(1,1) * Sf(2,0)) * d); - t[7] = (((double)Sf(0,1) * Sf(2,0) - (double)Sf(0,0) * Sf(2,1)) * d); - t[8] = (((double)Sf(0,0) * Sf(1,1) - (double)Sf(0,1) * Sf(1,0)) * d); - - Df(0,0) = (float)t[0]; Df(0,1) = (float)t[1]; Df(0,2) = (float)t[2]; - Df(1,0) = (float)t[3]; Df(1,1) = (float)t[4]; Df(1,2) = (float)t[5]; - Df(2,0) = (float)t[6]; Df(2,1) = (float)t[7]; Df(2,2) = (float)t[8]; - } + if( fabs(d) < 1e-4 || fabs(d) > 1e4 ) + result = invert(src, dst, DECOMP_SVD) > 0; + else + { + float t[12]; + float df = (float)(1./d); + result = true; + + t[0] = (Sf(1,1) * Sf(2,2) - Sf(1,2) * Sf(2,1)) * df; + t[1] = (Sf(0,2) * Sf(2,1) - Sf(0,1) * Sf(2,2)) * df; + t[2] = (Sf(0,1) * Sf(1,2) - Sf(0,2) * Sf(1,1)) * df; + + t[3] = (Sf(1,2) * Sf(2,0) - Sf(1,0) * Sf(2,2)) * df; + t[4] = (Sf(0,0) * Sf(2,2) - Sf(0,2) * Sf(2,0)) * df; + t[5] = (Sf(0,2) * Sf(1,0) - Sf(0,0) * Sf(1,2)) * df; + + t[6] = (Sf(1,0) * Sf(2,1) - Sf(1,1) * Sf(2,0)) * df; + t[7] = (Sf(0,1) * Sf(2,0) - Sf(0,0) * Sf(2,1)) * df; + t[8] = (Sf(0,0) * Sf(1,1) - Sf(0,1) * Sf(1,0)) * df; + + Df(0,0) = t[0]; Df(0,1) = t[1]; Df(0,2) = t[2]; + Df(1,0) = t[3]; Df(1,1) = t[4]; Df(1,2) = t[5]; + Df(2,0) = t[6]; Df(2,1) = t[7]; Df(2,2) = t[8]; + } } else { -- GitLab