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Merge pull request #552 from taka-no-me:fix_invert

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Andrey Kamaev 2013-02-26 18:31:30 +04:00 committed by OpenCV Buildbot
commit f6dd3651ea
1 changed files with 20 additions and 18 deletions
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38
modules/core/src/lapack.cpp
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@ -42,6 +42,10 @@
#include "precomp.hpp"
#if defined _M_IX86 && defined _MSC_VER && _MSC_VER < 1700
#pragma float_control(precise, on)
#endif
namespace cv
{
@ -1096,29 +1100,27 @@ double cv::invert( InputArray _src, OutputArray _dst, int method )
{
double d = det3(Sf);
if( fabs(d) < 1e-4 || fabs(d) > 1e4 )
result = invert(src, dst, DECOMP_SVD) > 0;
else
if( d != 0. )
{
float t[12];
float df = (float)(1./d);
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[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] = (((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[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] = (((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);
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];
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];
}
}
else