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inversion checks

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Extra checks for corner cases in 3x3 matrix inversion
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Manolis Lourakis 2024-10-06 17:24:15 +03:00 committed by GitHub
parent 3901426d85
commit fa6d6520c7
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1 changed files with 2 additions and 1 deletions
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3
modules/calib3d/src/sqpnp.cpp
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@ -453,6 +453,7 @@ bool PoseSolver::invertSPD3x3(const cv::Matx<double, 3, 3>& A, cv::Matx<double,
v[0]=L[6]*D[0];
v[1]=L[7]*D[1];
D[2]=A(2, 2)-L[6]*v[0]-L[7]*v[1];
if(D[2]<=1E-10) return false;
//L[8]=1.0;
D[0]=1.0/D[0];
@ -510,7 +511,7 @@ bool PoseSolver::analyticalInverse3x3Symm(const cv::Matx<double, 3, 3>& Q,
t12 = c * c;
double det = -t4 * f + a * t2 + t7 * f - 2.0 * t9 * e + t12 * d;
if (fabs(det) < threshold) return false;
if (fabs(det) < threshold) { cv::invert(Q, Qinv, cv::DECOMP_SVD); return false; } // fall back to pseudoinverse
// 3. Inverse
double t15, t20, t24, t30;