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make Umeyama, and its unit-test, work for me on gcc 4.3

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This commit is contained in:
Benoit Jacob
2009-05-27 23:10:24 +02:00
parent 86be59124d
commit ee92009fd8
3 changed files with 39 additions and 62 deletions
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22
Eigen/src/Geometry/Umeyama.h
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@@ -110,7 +110,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
typedef typename ei_traits<TransformationMatrixType>::Scalar Scalar;
typedef typename NumTraits<Scalar>::Real RealScalar;
EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_FLOATING_POINT)
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),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
@@ -141,7 +141,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Eq. (36)-(37)
const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
const Scalar dst_var = dst_demean.rowwise().squaredNorm().sum() * one_over_n;
// const Scalar dst_var = dst_demean.rowwise().squaredNorm().sum() * one_over_n;
// Eq. (38)
const MatrixType sigma = (dst_demean*src_demean.transpose()).lazy() * one_over_n;
@@ -182,22 +182,4 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
return Rt;
}
#ifndef EIGEN_PARSED_BY_DOXYGEN
/**
* This is simply here to prevent the creation of dozens compile time errors for
* std::complex types...
*/
template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols,
typename _OtherScalar, int _OtherRows, int _OtherCols, int _OtherOptions, int _OtherMaxRows, int _OtherMaxCols>
typename ei_umeyama_transform_matrix_type<Matrix<std::complex<_Scalar>,_Rows,_Cols,_Options,_MaxRows,_MaxCols>,
Matrix<std::complex<_OtherScalar>,_OtherRows,_OtherCols,_OtherOptions,_OtherMaxRows,_OtherMaxCols> >::type
umeyama(const MatrixBase<Matrix<std::complex<_Scalar>,_Rows,_Cols,_Options,_MaxRows,_MaxCols> >& src,
const MatrixBase<Matrix<std::complex<_OtherScalar>,_OtherRows,_OtherCols,_OtherOptions,_OtherMaxRows,_OtherMaxCols> >& dst, bool with_scaling = true)
{
EIGEN_STATIC_ASSERT(false, NUMERIC_TYPE_MUST_BE_FLOATING_POINT)
}
#endif
#endif // EIGEN_UMEYAMA_H