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GitOrigin-RevId: 8e1da4611d93ccb7d9674713157d43be0348d98f
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MediaPipe Team
2021-07-27 22:36:23 -04:00
committed by chuoling
parent 50c92c6623
commit b899d17f18
79 changed files with 1808 additions and 946 deletions
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mediapipe/modules/objectron/calculators/box.cc
-8
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@@ -245,14 +245,6 @@ void Box::Fit(const std::vector<T>& vertices) {
auto system_g = system_h.colPivHouseholderQr();
auto solution = system_g.solve(v).eval();
transformation_.topLeftCorner<3, 4>() = solution.transpose();
// Adjust rotation matrix to its nearest orthogonal matrix.
const auto rotation = transformation_.topLeftCorner<3, 3>();
Eigen::JacobiSVD<Eigen::Matrix3f> svd(
rotation, Eigen::ComputeFullV | Eigen::ComputeFullU);
const Eigen::Matrix3f matrix_u = svd.matrixU();
const Eigen::Matrix3f matrix_v = svd.matrixV();
transformation_.topLeftCorner<3, 3>() = matrix_u * matrix_v.transpose();
Update();
}