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Bug 1626 - Implement fast re-orthogonalisation of 3D rotation matrices
Summary: Implement fast re-orthogonalisation of 3D rotation matrices
Alias: None
Product: Eigen
Classification: Unclassified
Component: Geometry (show other bugs)
Version: unspecified
Hardware: All All
: Normal Feature Request
Assignee: Nobody
Depends on:
Reported: 2018-11-19 09:48 UTC by Gael Guennebaud
Modified: 2019-12-04 18:08 UTC (History)
4 users (show)


Description Gael Guennebaud 2018-11-19 09:48:53 UTC
Say you have an orthogonal matrix, you perform a few operations on it that are supposed to preserve it orthogonal property, but because of numerical errors you need to re-orthogonalize it. In this case, we can do faster than Gramm-Schmidt or QR as detailed in this SO answer:

This is also related to bug 1625
Comment 1 Christoph Hertzberg 2018-11-20 15:43:10 UTC
We also had this discussion about re-normalizing unit Quaternions (or unit-vectors in general) at some point (I can't find the reference to that).

The linked answer does assume that the input still is "somewhat" orthogonal, which must be clear from the documentation (and the question is whether we should verify this at runtime (in DEBUG mode). See also: Bug 601)
Comment 2 Nobody 2019-12-04 18:08:30 UTC
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