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the Index types change.

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As discussed on the list (too long to explain here).
This commit is contained in:
Benoit Jacob
2010-05-30 16:00:58 -04:00
parent faa3ff3be6
commit aaaade4b3d
158 changed files with 3137 additions and 2878 deletions
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7
Eigen/src/Geometry/Umeyama.h
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@@ -109,6 +109,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
typedef typename ei_umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
typedef typename ei_traits<TransformationMatrixType>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef typename Derived::Index Index;
EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename ei_traits<OtherDerived>::Scalar>::ret),
@@ -120,8 +121,8 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
typedef Matrix<Scalar, Dimension, Dimension> MatrixType;
typedef typename ei_plain_matrix_type_row_major<Derived>::type RowMajorMatrixType;
const int m = src.rows(); // dimension
const int n = src.cols(); // number of measurements
const Index m = src.rows(); // dimension
const Index n = src.cols(); // number of measurements
// required for demeaning ...
const RealScalar one_over_n = 1 / static_cast<RealScalar>(n);
@@ -151,7 +152,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Eq. (40) and (43)
const VectorType& d = svd.singularValues();
int rank = 0; for (int i=0; i<m; ++i) if (!ei_isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
Index rank = 0; for (Index 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).noalias() = svd.matrixU()*svd.matrixV().transpose();