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remove SVD class (was bad code taked from elsewhere)

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Use JacobiSVD for now.
We do plan to reintroduce a bidiagonalizing SVD asap.
This commit is contained in:
Benoit Jacob
2010-10-12 10:19:59 -04:00
parent dbedc70012
commit 8eb0fc1e72
9 changed files with 26 additions and 737 deletions
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26
Eigen/src/Geometry/Transform.h
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@@ -928,7 +928,18 @@ template<typename Scalar, int Dim, int Mode>
template<typename RotationMatrixType, typename ScalingMatrixType>
void Transform<Scalar,Dim,Mode>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
{
linear().svd().computeRotationScaling(rotation, scaling);
JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
VectorType sv(svd.singularValues());
sv.coeffRef(0) *= x;
if(scaling) scaling->lazyAssign(svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint());
if(rotation)
{
LinearMatrixType m(svd.matrixU());
m.col(0) /= x;
rotation->lazyAssign(m * svd.matrixV().adjoint());
}
}
/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
@@ -946,7 +957,18 @@ template<typename Scalar, int Dim, int Mode>
template<typename ScalingMatrixType, typename RotationMatrixType>
void Transform<Scalar,Dim,Mode>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
{
linear().svd().computeScalingRotation(scaling, rotation);
JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
VectorType sv(svd.singularValues());
sv.coeffRef(0) *= x;
if(scaling) scaling->lazyAssign(svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint());
if(rotation)
{
LinearMatrixType m(svd.matrixU());
m.col(0) /= x;
rotation->lazyAssign(m * svd.matrixV().adjoint());
}
}
/** Convenient method to set \c *this from a position, orientation and scale

2
Eigen/src/Geometry/Umeyama.h
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@@ -141,7 +141,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Eq. (38)
const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
SVD<MatrixType> svd(sigma);
JacobiSVD<MatrixType> svd(sigma, ComputeFullU | ComputeFullV);
// Initialize the resulting transformation with an identity matrix...
TransformationMatrixType Rt = TransformationMatrixType::Identity(m+1,m+1);