Follow-up to 217708e812308f8dc7032a2b8ff7ab0f4efbf5c8

Fixing the transformation resets.
This commit is contained in:
Vojtech Bubnik 2023-02-07 16:46:57 +01:00
parent 217708e812
commit d51296bca5

View File

@ -854,9 +854,9 @@ TransformationSVD::TransformationSVD(const Transform3d& trafo)
scale = !s.isApprox(Matrix3d::Identity());
anisotropic_scale = ! is_approx(s(0, 0), s(1, 1)) || ! is_approx(s(1, 1), s(2, 2));
rotation = !v.isApprox(u.transpose());
rotation = !v.isApprox(u);
if (anisotropic_scale && rotation) {
if (anisotropic_scale) {
rotation_90_degrees = true;
for (int i = 0; i < 3; ++i) {
const Vec3d row = v.row(i).cwiseAbs();