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improved accuracy of determinant(), invert() and solve() on 3x3 matrices (ticket #749)

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This commit is contained in:
Vadim Pisarevsky 2010-12-09 20:54:04 +00:00
parent c09a3dc54a
commit e5564b4388
1 changed files with 27 additions and 27 deletions
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54
modules/core/src/lapack.cpp
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@ -217,10 +217,10 @@ bool Cholesky(double* A, int m, double* b, int n)
* Determinant of the matrix *
\****************************************************************************************/
#define det2(m) (m(0,0)*m(1,1) - m(0,1)*m(1,0))
#define det3(m) (m(0,0)*(m(1,1)*m(2,2) - m(1,2)*m(2,1)) - \
m(0,1)*(m(1,0)*m(2,2) - m(1,2)*m(2,0)) + \
m(0,2)*(m(1,0)*m(2,1) - m(1,1)*m(2,0)))
#define det2(m) ((double)m(0,0)*m(1,1) - (double)m(0,1)*m(1,0))
#define det3(m) (m(0,0)*((double)m(1,1)*m(2,2) - (double)m(1,2)*m(2,1)) - \
m(0,1)*((double)m(1,0)*m(2,2) - (double)m(1,2)*m(2,0)) + \
m(0,2)*((double)m(1,0)*m(2,1) - (double)m(1,1)*m(2,0)))
double determinant( const Mat& mat )
{
@ -405,17 +405,17 @@ double invert( const Mat& src, Mat& dst, int method )
result = d;
d = 1./d;
t[0] = (float)((Sf(1,1) * Sf(2,2) - Sf(1,2) * Sf(2,1)) * d);
t[1] = (float)((Sf(0,2) * Sf(2,1) - Sf(0,1) * Sf(2,2)) * d);
t[2] = (float)((Sf(0,1) * Sf(1,2) - Sf(0,2) * Sf(1,1)) * d);
t[3] = (float)((Sf(1,2) * Sf(2,0) - Sf(1,0) * Sf(2,2)) * d);
t[4] = (float)((Sf(0,0) * Sf(2,2) - Sf(0,2) * Sf(2,0)) * d);
t[5] = (float)((Sf(0,2) * Sf(1,0) - Sf(0,0) * Sf(1,2)) * d);
t[6] = (float)((Sf(1,0) * Sf(2,1) - Sf(1,1) * Sf(2,0)) * d);
t[7] = (float)((Sf(0,1) * Sf(2,0) - Sf(0,0) * Sf(2,1)) * d);
t[8] = (float)((Sf(0,0) * Sf(1,1) - Sf(0,1) * Sf(1,0)) * d);
t[0] = (float)(((double)Sf(1,1) * Sf(2,2) - (double)Sf(1,2) * Sf(2,1)) * d);
t[1] = (float)(((double)Sf(0,2) * Sf(2,1) - (double)Sf(0,1) * Sf(2,2)) * d);
t[2] = (float)(((double)Sf(0,1) * Sf(1,2) - (double)Sf(0,2) * Sf(1,1)) * d);
t[3] = (float)(((double)Sf(1,2) * Sf(2,0) - (double)Sf(1,0) * Sf(2,2)) * d);
t[4] = (float)(((double)Sf(0,0) * Sf(2,2) - (double)Sf(0,2) * Sf(2,0)) * d);
t[5] = (float)(((double)Sf(0,2) * Sf(1,0) - (double)Sf(0,0) * Sf(1,2)) * d);
t[6] = (float)(((double)Sf(1,0) * Sf(2,1) - (double)Sf(1,1) * Sf(2,0)) * d);
t[7] = (float)(((double)Sf(0,1) * Sf(2,0) - (double)Sf(0,0) * Sf(2,1)) * d);
t[8] = (float)(((double)Sf(0,0) * Sf(1,1) - (double)Sf(0,1) * Sf(1,0)) * d);
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];
@ -607,10 +607,10 @@ bool solve( const Mat& src, const Mat& _src2, Mat& dst, int method )
double d = det2(Sf);
if( d != 0. )
{
float t;
double t;
d = 1./d;
t = (float)((bf(0)*Sf(1,1) - bf(1)*Sf(0,1))*d);
Df(1,0) = (float)((bf(1)*Sf(0,0) - bf(0)*Sf(1,0))*d);
t = (float)(((double)bf(0)*Sf(1,1) - (double)bf(1)*Sf(0,1))*d);
Df(1,0) = (float)(((double)bf(1)*Sf(0,0) - (double)bf(0)*Sf(1,0))*d);
Df(0,0) = t;
}
else
@ -642,19 +642,19 @@ bool solve( const Mat& src, const Mat& _src2, Mat& dst, int method )
d = 1./d;
t[0] = (float)(d*
(bf(0)*(Sf(1,1)*Sf(2,2) - Sf(1,2)*Sf(2,1)) -
Sf(0,1)*(bf(1)*Sf(2,2) - Sf(1,2)*bf(2)) +
Sf(0,2)*(bf(1)*Sf(2,1) - Sf(1,1)*bf(2))));
(bf(0)*((double)Sf(1,1)*Sf(2,2) - (double)Sf(1,2)*Sf(2,1)) -
Sf(0,1)*((double)bf(1)*Sf(2,2) - (double)Sf(1,2)*bf(2)) +
Sf(0,2)*((double)bf(1)*Sf(2,1) - (double)Sf(1,1)*bf(2))));
t[1] = (float)(d*
(Sf(0,0)*(bf(1)*Sf(2,2) - Sf(1,2)*bf(2)) -
bf(0)*(Sf(1,0)*Sf(2,2) - Sf(1,2)*Sf(2,0)) +
Sf(0,2)*(Sf(1,0)*bf(2) - bf(1)*Sf(2,0))));
(Sf(0,0)*(double)(bf(1)*Sf(2,2) - (double)Sf(1,2)*bf(2)) -
bf(0)*((double)Sf(1,0)*Sf(2,2) - (double)Sf(1,2)*Sf(2,0)) +
Sf(0,2)*((double)Sf(1,0)*bf(2) - (double)bf(1)*Sf(2,0))));
t[2] = (float)(d*
(Sf(0,0)*(Sf(1,1)*bf(2) - bf(1)*Sf(2,1)) -
Sf(0,1)*(Sf(1,0)*bf(2) - bf(1)*Sf(2,0)) +
bf(0)*(Sf(1,0)*Sf(2,1) - Sf(1,1)*Sf(2,0))));
(Sf(0,0)*((double)Sf(1,1)*bf(2) - (double)bf(1)*Sf(2,1)) -
Sf(0,1)*((double)Sf(1,0)*bf(2) - (double)bf(1)*Sf(2,0)) +
bf(0)*((double)Sf(1,0)*Sf(2,1) - (double)Sf(1,1)*Sf(2,0))));
Df(0,0) = t[0];
Df(1,0) = t[1];