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Add missing braces in Umeyama.h

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(cherry picked from commit 1321821e86)
This commit is contained in:
Rasmus Munk Larsen
2023-05-09 19:10:50 +00:00
committed by Antonio Sanchez
parent af3ca50f0b
commit 9b3d104c02
1 changed files with 2 additions and 1 deletions
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3
Eigen/src/Geometry/Umeyama.h
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@@ -136,9 +136,10 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Eq. (39)
VectorType S = VectorType::Ones(m);
if ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
if ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 ) {
Index tmp = m - 1;
S(tmp) = -1;
}
// Eq. (40) and (43)
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();