Mehran Maghoumi

Author's details

Name: Mehran Maghoumi
Date registered: October 24, 2014
URL: https://www.maghoumi.com

Latest posts

  1. Orthonormalize a Rotation Matrix — July 17, 2017
  2. Visual Studio Setup Blocked or Can’t Uninstall — June 26, 2017
  3. Practical Kinect Stereo Calibration for the Highest Accuracy — April 8, 2017
  4. Computing the Distance Between a 3D Point and a Plücker Line — April 8, 2017
  5. Tracking down BadImageFormatException in C# — November 4, 2016

Most commented posts

  1. Installing SciPy, NumPy and matplotlib Under Cygwin — 14 comments
  2. 3D Line Fitting in 5 Easy Steps with SVD — 12 comments
  3. Fix MATLAB Error: “dlopen: cannot load any more object with static TLS” — 7 comments
  4. Intersection of a Ray and a Line Segment in 3D — 4 comments
  5. Align Depth and Color Frames – Depth and RGB Registration — 4 comments

Author's posts listings

Orthonormalize a Rotation Matrix

If you use a 3×3 R matrix to store the result of the multiplication of a series of rotation transformations, it could be the case that sometimes you end up with a matrix that is not orthonormal (i.e. det(R) != 1 and R.inv(R) != eye). In such cases, you need to re-orthonormalize the rotation matrix, …

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Visual Studio Setup Blocked or Can’t Uninstall

For some reason a Visual Studio 2015 Community Edition installation I had on one of my machines was experiencing problems: solution files were not loading properly, and what’s worse is that installation instance had gone totally missing from “Uninstall a Program” in Windows Control Panel. Also, every time I tried running the setup file vs_community.exe …

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Practical Kinect Stereo Calibration for the Highest Accuracy

I’ve been meaning to write up this post for a while, but I’ve been putting it off 🙂 The release of the Kinect sensor by Microsoft spawned a plethora of research in robotics, computer vision and many other fields. Many of these attempts involved using Kinect for purposes other that what it was originally meant for! That pretty …

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Computing the Distance Between a 3D Point and a Plücker Line

In order to solve an optimization problem with the goal of reducing the distance between a bunch of 3D points and lines, I was looking for the correct way of finding the distance between 3D points and a Plucker line representation. The Plucker line  passing through two lines  and  is defined as (for more details refer …

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Tracking down BadImageFormatException in C#

I know It’s been quite some time since my last post, but what can I say? I’ve been quite busy 🙂 Here is the latest issue that I got stuck on for a few hours, and I thought I’d share what worked in the end. I was working on a large C# project that had a …

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librealsense with ARM support

Recently, I was able to successfully use RealSense R200 on my NVIDIA Jetson TX1 with librealsense. I had to replace some SSSE3 instructions in the code to get it to compile under ARM. I created a fork of librealsense on Github with all the changes I made. Check it out here: ttps://github.com/Maghoumi/librealsense R200 works at 60 FPS …

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Create Bootable USB Flash Drive from ISO Image (with UEFI Support)

Update: If you’re looking for Windows 10 UEFI installation, take a look at the addendum at the end of the post! Although there are a lot of applications for creating a bootable flash drive using an ISO image (such as UNetBootin), not many of them support the creation of a bootable flash drive that can be used …

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Align Depth and Color Frames – Depth and RGB Registration

Sometimes it is necessary to create a point cloud from a given depth and color (RGB) frame. This is especially the case when a scene is captured using depth cameras such as Kinect. The process of aligning the depth and the RGB frame is called “registration” and it is very easy to do (and the …

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C++ Function in Header throws Linker “already defined” Errors

If you define a function in the global namespace in a C++ header file and encounter linker errors (complaining about the function already defined elsewhere), there’s a simple fix! Simply mark the function as inline. This will prevent the duplication of the function in other source files. Note that using inclusion guards does not solve …

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CGAL Point in Polyhedron Algorithm

The “point in polygon” or “point in polyhedron” is a classic computer graphics problem. The goal is to determine whether a given point is inside a polygon (in 2D) or a polyhedron (in 3D). One solution to the problem is shooting a ray originating from the said point to an arbitrary direction and determine the number …

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