From 524c329ab23fb565eff8aa2bf36d134e97773a99 Mon Sep 17 00:00:00 2001
From: Rasmus Munk Larsen <rmlarsen@google.com>
Date: Tue, 9 May 2023 18:53:56 +0000
Subject: [PATCH] Work around compiler bug in Umeyama.h.

---
 Eigen/src/Geometry/Umeyama.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index 804978720..d65314e2b 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -136,7 +136,8 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   VectorType S = VectorType::Ones(m);
 
   if  ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
-    S(m-1) = -1;
+    Index tmp = m - 1;  
+    S(tmp) = -1;
 
   // Eq. (40) and (43)
   Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();