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Fixed a cast warning in scaleAndAddTo.

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Fixed lazyness in umeyama.
Added a few missing casts.
This commit is contained in:
Hauke Heibel
2009-08-31 15:34:57 +02:00
parent 32a9aee286
commit 0a0a805569
4 changed files with 11 additions and 11 deletions
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10
Eigen/src/Geometry/Umeyama.h
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@@ -144,7 +144,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// const Scalar dst_var = dst_demean.rowwise().squaredNorm().sum() * one_over_n;
// Eq. (38)
const MatrixType sigma = (one_over_n * dst_demean * src_demean.transpose()).lazy();
const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
SVD<MatrixType> svd(sigma);
@@ -160,14 +160,14 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
int rank = 0; for (int i=0; i<m; ++i) if (!ei_isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
if (rank == m-1) {
if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) {
Rt.block(0,0,m,m) = (svd.matrixU()*svd.matrixV().transpose()).lazy();
Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
} else {
const Scalar s = S(m-1); S(m-1) = -1;
Rt.block(0,0,m,m) = (svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose()).lazy();
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
S(m-1) = s;
}
} else {
Rt.block(0,0,m,m) = (svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose()).lazy();
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
}
// Eq. (42)
@@ -177,7 +177,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Note that we first assign dst_mean to the destination so that there no need
// for a temporary.
Rt.col(m).start(m) = dst_mean;
Rt.col(m).start(m) -= (c*Rt.corner(TopLeft,m,m)*src_mean).lazy();
Rt.col(m).start(m).noalias() -= c*Rt.corner(TopLeft,m,m)*src_mean;
if (with_scaling) Rt.block(0,0,m,m) *= c;