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Commit 44b97fdb authored by Joshua Steer's avatar Joshua Steer
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Fixed alignment bug from SVD

parent 5990cc00
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......@@ -131,7 +131,7 @@ class align(object):
R = Rs[:, :, -1]
#Simpl
[U, s, V] = np.linalg.svd(R)
R = np.dot(U, V.T)
R = np.dot(U, V)
self.tForm = np.r_[np.c_[R, np.zeros(3)], np.append(Ts[:, -1], 1)[:, None].T]
self.R = R
self.T = Ts[:, -1]
......
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