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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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Alexander Alekhin
2022-06-26 14:21:40 +00:00
parent 35f1a90df7 5e1c9099e8
commit 2a4926f417
12 changed files with 316 additions and 66 deletions
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samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp
+10 -1
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@@ -109,9 +109,18 @@ void poseEstimationFromCoplanarPoints(const string &imgPath, const string &intri
//! [polar-decomposition-of-the-rotation-matrix]
cout << "R (before polar decomposition):\n" << R << "\ndet(R): " << determinant(R) << endl;
Mat W, U, Vt;
Mat_<double> W, U, Vt;
SVDecomp(R, W, U, Vt);
R = U*Vt;
double det = determinant(R);
if (det < 0)
{
Vt.at<double>(2,0) *= -1;
Vt.at<double>(2,1) *= -1;
Vt.at<double>(2,2) *= -1;
R = U*Vt;
}
cout << "R (after polar decomposition):\n" << R << "\ndet(R): " << determinant(R) << endl;
//! [polar-decomposition-of-the-rotation-matrix]