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Add more references. Update missing references with webarchive. Use mathbf for matrices. Check that the determinant of the rotation matrix is not negative (reflection), and correct it if it is the case.

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catree
2022-06-19 01:27:32 +02:00
parent db5b22e895
commit a04f9e7a59
4 changed files with 70 additions and 49 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]