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Fix bug #807: Missing scalar type cast in umeyama()

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(transplanted from b4beba72a2d31934d3a2a49401c792f9a8cd49e0
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This commit is contained in:
Christoph Hertzberg 2014-05-05 14:23:52 +02:00
parent da81e863e2
commit 35c9f8779d
1 changed files with 5 additions and 5 deletions
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10
Eigen/src/Geometry/Umeyama.h
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@ -113,7 +113,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
const Index n = src.cols(); // number of measurements const Index n = src.cols(); // number of measurements
// required for demeaning ... // required for demeaning ...
const RealScalar one_over_n = 1 / static_cast<RealScalar>(n); const RealScalar one_over_n = RealScalar(1) / static_cast<RealScalar>(n);
// computation of mean // computation of mean
const VectorType src_mean = src.rowwise().sum() * one_over_n; const VectorType src_mean = src.rowwise().sum() * one_over_n;
@ -136,16 +136,16 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
// Eq. (39) // Eq. (39)
VectorType S = VectorType::Ones(m); VectorType S = VectorType::Ones(m);
if (sigma.determinant()<0) S(m-1) = -1; if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-1);
// Eq. (40) and (43) // Eq. (40) and (43)
const VectorType& d = svd.singularValues(); const VectorType& d = svd.singularValues();
Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank; Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::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() > Scalar(0) ) {
Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose(); 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) = Scalar(-1);
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose(); Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
S(m-1) = s; S(m-1) = s;
} }
@ -156,7 +156,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
if (with_scaling) if (with_scaling)
{ {
// Eq. (42) // Eq. (42)
const Scalar c = 1/src_var * svd.singularValues().dot(S); const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);
// Eq. (41) // Eq. (41)
Rt.col(m).head(m) = dst_mean; Rt.col(m).head(m) = dst_mean;