Yesterday, someone who was trying to use Jackknife, our gesture recognition library, reported that he couldn’t reproduce our results with our C# code. Naturally, we started looking into the issue. Strangely enough, the code worked fine for me (both Debug and Release configurations). I then built the code under multiple versions of Visual Studio, tried …
July 2017 archive
Jul 17
Orthonormalize a Rotation Matrix
If you use a 3×3 R matrix to store the result of the multiplication of a series of rotation transformations, it could be the case that sometimes you end up with a matrix that is not orthonormal (i.e. det(R) != 1 and R.R’ != eye). In such cases, you need to re-orthonormalize the rotation matrix, …
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