Add more references. Update missing references with webarchive. Use mathbf for matrices. Check that the determinant of the rotation matrix is not negative (reflection), and correct it if it is the case.

samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp

@@ -109,9 +109,18 @@ void poseEstimationFromCoplanarPoints(const string &imgPath, const string &intri
 
     //! [polar-decomposition-of-the-rotation-matrix]
     cout << "R (before polar decomposition):\n" << R << "\ndet(R): " << determinant(R) << endl;
-    Mat W, U, Vt;
+    Mat_<double> W, U, Vt;
     SVDecomp(R, W, U, Vt);
     R = U*Vt;
+    double det = determinant(R);
+    if (det < 0)
+    {
+        Vt.at<double>(2,0) *= -1;
+        Vt.at<double>(2,1) *= -1;
+        Vt.at<double>(2,2) *= -1;
+
+        R = U*Vt;
+    }
     cout << "R (after polar decomposition):\n" << R << "\ndet(R): " << determinant(R) << endl;
     //! [polar-decomposition-of-the-rotation-matrix]