Ensure DecomposeHomographyMatrix() always returns rotations #1040
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DecomposeHomographyMatrix() sometimes returns reflection matrices instead of rotations.
This results in invalid quaternions in two view geometry estimation:
colmap/src/estimators/two_view_geometry.cc
Line 209 in 91795d0
Adding a fix here which just involves making sure the homography matrix has positive determinant before applying the formulas from the paper.
Also added a unit test, and confirmed it fails about half the time without this change.