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Jienan Yao HW2 Submission #50

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24d6637
Update README.md
alecjacobson Jul 7, 2018
ac44898
Update README.html
alecjacobson Jul 7, 2018
480fd1f
Update closest_rotation.cpp
jnyao Oct 9, 2018
24f4975
Update hausdorff_lower_bound.cpp
jnyao Oct 9, 2018
ef8cdd0
Update icp_single_iteration.cpp
jnyao Oct 9, 2018
8cca9c4
Update point_mesh_distance.cpp
jnyao Oct 9, 2018
1fe869a
Update point_to_plane_rigid_matching.cpp
jnyao Oct 9, 2018
cbe31d1
Update point_to_point_rigid_matching.cpp
jnyao Oct 9, 2018
e748d68
Update point_triangle_distance.cpp
jnyao Oct 9, 2018
976842d
Update random_points_on_mesh.cpp
jnyao Oct 9, 2018
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Update closest_rotation.cpp
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@jnyao
jnyao authored Oct 9, 2018
commit 480fd1f436b97bf4bfc696189324a00e78c01873
13 changes: 13 additions & 0 deletions src/closest_rotation.cpp
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Original file line number Diff line number Diff line change
@@ -1,9 +1,22 @@
#include "closest_rotation.h"
#include <Eigen/SVD>
#include <Eigen/Dense>
#include <iostream>

using namespace Eigen;

void closest_rotation(
const Eigen::Matrix3d & M,
Eigen::Matrix3d & R)
{
// Replace with your code
R = Eigen::Matrix3d::Identity();
JacobiSVD<MatrixXd> svd(M, ComputeThinU | ComputeThinV);
Matrix3d omega;
omega.setZero();
omega(0, 0) = 1;
omega(1, 1) = 1;
omega(2, 2) = (svd.matrixU() * svd.matrixV().transpose()).determinant();
//std::cout<<"det: "<<omega(2,2)<<std::endl;
R = svd.matrixU() * omega * svd.matrixV().transpose();
}