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As suggested in https://github.com/ethz-asl/minkindr/pull/17/files#r22783093.
The text was updated successfully, but these errors were encountered:
Here's my Eigen implementation of a function finding the closest proper rotation matrix for a given input matrix:
Matrix3d rotationHealing(const Matrix3d& rotMat) { JacobiSVD<Matrix3d> svd(rotMat, ComputeFullV); Matrix3d correction = svd.matrixV().col(0) * svd.matrixV().col(0).transpose() / svd.singularValues()(0) + svd.matrixV().col(1) * svd.matrixV().col(1).transpose() / svd.singularValues()(1) + svd.matrixV().col(2) * svd.matrixV().col(2).transpose() / svd.singularValues()(2); return rotMat * correction; }
The theory behind it is here: http://people.csail.mit.edu/bkph/articles/Nearest_Orthonormal_Matrix.pdf
Plus you need the following (copied from Wikipedia: http://en.wikipedia.org/wiki/Singular_value_decomposition):
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Ah, perfect. Thanks for providing that already :).
HannesSommer
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As suggested in https://github.com/ethz-asl/minkindr/pull/17/files#r22783093.
The text was updated successfully, but these errors were encountered: