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Update Umeyama.h: src_var is only used when with_scaling == true. Therefore, the actual computation can be avoided when with_scaling == false.

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This commit is contained in:
Pablo Speciale
2021-11-15 23:19:56 +00:00
committed by Rasmus Munk Larsen
parent ffb78e23a1
commit d04edff570
1 changed files with 3 additions and 3 deletions
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6
Eigen/src/Geometry/Umeyama.h
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@@ -124,9 +124,6 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
const RowMajorMatrixType src_demean = src.colwise() - src_mean;
const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
// Eq. (36)-(37)
const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
// Eq. (38)
const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
@@ -146,6 +143,9 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
if (with_scaling)
{
// Eq. (36)-(37)
const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
// Eq. (42)
const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);