Numerical stability hotfix, attempt to fix travis CI for osx.

.travis.yml

@@ -13,7 +13,8 @@ compiler:
 
 os:
   - linux  
-  
+  - osx
+
 before_install:
 
   # OpenCV dependencies and boost

CMakeLists.txt

@@ -9,9 +9,15 @@ set(CMAKE_CONFIG_DIR etc/OpenFace)
 set(CONFIG_DIR "${CMAKE_INSTALL_PREFIX}/${CMAKE_CONFIG_DIR}")
 add_definitions(-DCONFIG_DIR="${CONFIG_DIR}")
 
-find_package( BLAS REQUIRED )
-include_directories( ${BLAS_INCLUDE_DIRS} )
-LINK_DIRECTORIES(${BLAS_LIBRARY_DIRS})	
+if (APPLE)
+  find_package( OpenBLAS REQUIRED )
+  include_directories( ${OpenBLAS_INCLUDE_DIRS} )
+  LINK_DIRECTORIES(${OpenBLAS_LIBRARY_DIRS})
+else()
+  find_package( BLAS REQUIRED )
+  include_directories( ${BLAS_INCLUDE_DIRS} )
+  LINK_DIRECTORIES(${BLAS_LIBRARY_DIRS})
+endif()
 
 find_package( OpenCV 3.3 REQUIRED )
 

lib/local/LandmarkDetector/src/PDM.cpp

@@ -460,6 +460,7 @@ void PDM::UpdateModelParameters(const cv::Mat_<float>& delta_p, cv::Mat_<float>&
 
 	// get the original rotation matrix	
 	cv::Vec3f eulerGlobal(params_global[1], params_global[2], params_global[3]);
+	
 	cv::Matx33f R1 = Utilities::Euler2RotationMatrix(eulerGlobal);
 
 	// construct R' = [1, -wz, wy
@@ -479,8 +480,18 @@ void PDM::UpdateModelParameters(const cv::Mat_<float>& delta_p, cv::Mat_<float>&
 
 	// Extract euler angle (through axis angle first to make sure it's legal)
 	cv::Vec3f axis_angle = Utilities::RotationMatrix2AxisAngle(R3);
+
 	cv::Vec3f euler = Utilities::AxisAngle2Euler(axis_angle);
 
+	// Temporary fix to numerical instability
+	if (isnan(euler[0]) || isnan(euler[1]) || isnan(euler[2]))
+	{
+		euler[0] = 0;
+		euler[1] = 0;
+		euler[2] = 0;
+
+	}
+
 	params_global[1] = euler[0];
 	params_global[2] = euler[1];
 	params_global[3] = euler[2];