use OpenCV for SVD instead of eigen #9
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brucejk
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Mar 3, 2023
* Changes to fix the remappings. Also deleted unused or redundant code/parameters * deleted unused members in structures and unused code * The lidartag was using pandar as the lidar_frame in a hardcoded fashion. Since we plan to use several pandar instances with different names, we must parameterize this frame from the calibration tools * Fixed several errors and implemented several improvements to increase the detection rate and precision of the detections. - Fixes clusters that could not be formed correctly in one pass - Adds an optional rectangle estimation rather tha 4x line estimation to get the corners, it is much more stable and increases both the accuracy and detection rate - Refines the initial center of the tag based on the corner fitting which seems to improve the pose estimation. In many cases the nlopt optimizator is not even needed * - Calibration tools compliance - Fix edge groups provided by PCA using the partial rectangle models produced by the RANSAC iterations. Provides great results. - Some debug drawings to help understand the previous fix - Parameterized min decoding score * Truned off the verbosity that is lidartag targetting its release * Updated linkage * Added empty file because git does not support empty folders * Removed comments and unused files
hello，could you tell me some details about the code here,(https://github.com/UMich-BipedLab/LiDARTag/blob/release/src/lidartag_decode.cc#L1778) i am very confused the value 12,could you tell me somethingabout the value 12 ,thank you very much |
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Use OpenCV SVD function instead of eigen SVD function because eigen SVD function is not robust.
Refer to this issue. #8