From 7cc9fb5d0adc1a4a2d515d6c42c92c93f80a8966 Mon Sep 17 00:00:00 2001
From: Hauke Heibel <hauke.heibel@gmail.com>
Date: Tue, 27 Oct 2009 15:29:12 +0100
Subject: [PATCH] Umeyama is now working with fixed size src and dst points.

---
 Eigen/src/Geometry/Umeyama.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index d0f36d2c9..551a69e5b 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -117,7 +117,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   enum { Dimension = EIGEN_ENUM_MIN(Derived::RowsAtCompileTime, OtherDerived::RowsAtCompileTime) };
 
   typedef Matrix<Scalar, Dimension, 1> VectorType;
-  typedef typename ei_plain_matrix_type<Derived>::type MatrixType;
+  typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
   typedef typename ei_plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
 
   const int m = src.rows(); // dimension