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Fixed a cast warning in scaleAndAddTo.

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Fixed lazyness in umeyama.
Added a few missing casts.
This commit is contained in:
Hauke Heibel 2009-08-31 15:34:57 +02:00
parent 32a9aee286
commit 0a0a805569
4 changed files with 11 additions and 11 deletions
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4
Eigen/src/Core/Product.h
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@ -259,8 +259,8 @@ class GeneralProduct<Lhs, Rhs, GemvProduct>
template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const template<typename Dest> void scaleAndAddTo(Dest& dst, Scalar alpha) const
{ {
ei_assert(m_lhs.rows() == dst.rows() && m_rhs.cols() == dst.cols()); ei_assert(m_lhs.rows() == dst.rows() && m_rhs.cols() == dst.cols());
ei_gemv_selector<Side,int(MatrixType::Flags)&RowMajorBit, ei_gemv_selector<Side,bool(int(MatrixType::Flags)&RowMajorBit),
ei_blas_traits<MatrixType>::ActualAccess>::run(*this, dst, alpha); bool(ei_blas_traits<MatrixType>::ActualAccess)>::run(*this, dst, alpha);
} }
}; };

10
Eigen/src/Geometry/Umeyama.h
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@ -144,7 +144,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// 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) // Eq. (38)
const MatrixType sigma = (one_over_n * dst_demean * src_demean.transpose()).lazy(); const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();
SVD<MatrixType> svd(sigma); SVD<MatrixType> svd(sigma);
@ -160,14 +160,14 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
int rank = 0; for (int i=0; i<m; ++i) if (!ei_isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank; int rank = 0; for (int i=0; i<m; ++i) if (!ei_isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
if (rank == m-1) { if (rank == m-1) {
if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) { if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) {
Rt.block(0,0,m,m) = (svd.matrixU()*svd.matrixV().transpose()).lazy(); Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
} else { } else {
const Scalar s = S(m-1); S(m-1) = -1; const Scalar s = S(m-1); S(m-1) = -1;
Rt.block(0,0,m,m) = (svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose()).lazy(); Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
S(m-1) = s; S(m-1) = s;
} }
} else { } else {
Rt.block(0,0,m,m) = (svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose()).lazy(); Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
} }
// Eq. (42) // Eq. (42)
@ -177,7 +177,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Note that we first assign dst_mean to the destination so that there no need // Note that we first assign dst_mean to the destination so that there no need
// for a temporary. // for a temporary.
Rt.col(m).start(m) = dst_mean; Rt.col(m).start(m) = dst_mean;
Rt.col(m).start(m) -= (c*Rt.corner(TopLeft,m,m)*src_mean).lazy(); Rt.col(m).start(m).noalias() -= c*Rt.corner(TopLeft,m,m)*src_mean;
if (with_scaling) Rt.block(0,0,m,m) *= c; if (with_scaling) Rt.block(0,0,m,m) *= c;

4
test/product_trsm.cpp
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@ -40,8 +40,8 @@ template<typename Scalar> void trsm(int size,int cols)
Matrix<Scalar,Dynamic,Dynamic,ColMajor> cmRhs(size,cols), ref(size,cols); Matrix<Scalar,Dynamic,Dynamic,ColMajor> cmRhs(size,cols), ref(size,cols);
Matrix<Scalar,Dynamic,Dynamic,RowMajor> rmRhs(size,cols); Matrix<Scalar,Dynamic,Dynamic,RowMajor> rmRhs(size,cols);
cmLhs.setRandom(); cmLhs *= 0.1; cmLhs.diagonal().cwise() += 1; cmLhs.setRandom(); cmLhs *= static_cast<RealScalar>(0.1); cmLhs.diagonal().cwise() += static_cast<RealScalar>(1);
rmLhs.setRandom(); rmLhs *= 0.1; rmLhs.diagonal().cwise() += 1; rmLhs.setRandom(); rmLhs *= static_cast<RealScalar>(0.1); rmLhs.diagonal().cwise() += static_cast<RealScalar>(1);
VERIFY_TRSM(cmLhs.conjugate().template triangularView<LowerTriangular>(), cmRhs); VERIFY_TRSM(cmLhs.conjugate().template triangularView<LowerTriangular>(), cmRhs);
VERIFY_TRSM(cmLhs .template triangularView<UpperTriangular>(), cmRhs); VERIFY_TRSM(cmLhs .template triangularView<UpperTriangular>(), cmRhs);

4
test/umeyama.cpp
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@ -127,7 +127,7 @@ void run_test(int dim, int num_elements)
MatrixX src = MatrixX::Random(dim+1, num_elements); MatrixX src = MatrixX::Random(dim+1, num_elements);
src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1)); src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1));
MatrixX dst = (cR_t*src).lazy(); MatrixX dst = cR_t*src;
MatrixX cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements)); MatrixX cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements));
@ -160,7 +160,7 @@ void run_fixed_size_test(int num_elements)
MatrixX src = MatrixX::Random(dim+1, num_elements); MatrixX src = MatrixX::Random(dim+1, num_elements);
src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1)); src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1));
MatrixX dst = (cR_t*src).lazy(); MatrixX dst = cR_t*src;
Block<MatrixX, Dimension, Dynamic> src_block(src,0,0,dim,num_elements); Block<MatrixX, Dimension, Dynamic> src_block(src,0,0,dim,num_elements);
Block<MatrixX, Dimension, Dynamic> dst_block(dst,0,0,dim,num_elements); Block<MatrixX, Dimension, Dynamic> dst_block(dst,0,0,dim,num_elements);