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Memory: fixed cov->inf conversion error

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matlabbe
2017-07-13 11:07:00 -04:00
parent 19abbe0dbd
commit 1ed01b8d3d
1 changed files with 2 additions and 2 deletions
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4
corelib/src/Memory.cpp
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@@ -720,8 +720,8 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
{
UASSERT(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1);
cv::Mat infMatrix = covariance.inv();
if((uIsFinite(covariance.at<double>(0,0) && covariance.at<double>(0,0)>0)) &&
!(uIsFinite(infMatrix.at<double>(0,0) && infMatrix.at<double>(0,0)>0)))
if((uIsFinite(covariance.at<double>(0,0)) && covariance.at<double>(0,0)>0.0) &&
!(uIsFinite(infMatrix.at<double>(0,0)) && infMatrix.at<double>(0,0)>0.0))
{
UERROR("Failed to invert the covariance matrix! Covariance matrix should be invertible!");
std::cout << "Covariance: " << covariance << std::endl;