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GeoRegression is a free Java based geometry library for scientific computing in fields such as robotics and computer vision with a focus on 2D/3D space.
/*
* Copyright (C) 2011-2018, Peter Abeles. All Rights Reserved.
*
* This file is part of Geometric Regression Library (GeoRegression).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package georegression.struct.so;
import javax.annotation.Generated;
import org.ejml.data.FMatrixRMaj;
import org.ejml.dense.row.CommonOps_FDRM;
import org.ejml.dense.row.factory.DecompositionFactory_FDRM;
import org.ejml.interfaces.decomposition.SingularValueDecomposition_F32;
/**
* @author Peter Abeles
*/
@Generated("georegression.struct.so.SpecialOrthogonalOps_F64")
public class SpecialOrthogonalOps_F32 {
/**
* Finds the best fit matrix in SO(3) for the input matrix.
*
* @param A 3x3 matrix. Modified.
*/
public static void bestFit( FMatrixRMaj A ) {
SingularValueDecomposition_F32 svd = DecompositionFactory_FDRM.svd(true,true,true);
if( !svd.decompose(A))
throw new RuntimeException("SVD Failed");
CommonOps_FDRM.multTransB(svd.getU(null,false),svd.getV(null,false),A);
// determinant should be +1
float det = CommonOps_FDRM.det(A);
if( det < 0 )
CommonOps_FDRM.scale(-1,A);
}
}