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Relaxed umeyama test. Problem was ill-posed if linear part was scaled with very small number. This should fix bug #744.

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(transplanted from b14a4628aff4b92761229c862a331342a2bb518b
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This commit is contained in:
Christoph Hertzberg 2014-02-17 13:48:00 +01:00
parent 2ad3dac422
commit 53726663c7
1 changed files with 5 additions and 4 deletions
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9
test/umeyama.cpp
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@ -130,10 +130,11 @@ void run_fixed_size_test(int num_elements)
// MUST be positive because in any other case det(cR_t) may become negative for // MUST be positive because in any other case det(cR_t) may become negative for
// odd dimensions! // odd dimensions!
const Scalar c = abs(internal::random<Scalar>()); // Also if c is to small compared to t.norm(), problem is ill-posed (cf. Bug 744)
const Scalar c = internal::random<Scalar>(0.5, 2.0);
FixedMatrix R = randMatrixSpecialUnitary<Scalar>(dim); FixedMatrix R = randMatrixSpecialUnitary<Scalar>(dim);
FixedVector t = Scalar(50)*FixedVector::Random(dim,1); FixedVector t = Scalar(32)*FixedVector::Random(dim,1);
HomMatrix cR_t = HomMatrix::Identity(dim+1,dim+1); HomMatrix cR_t = HomMatrix::Identity(dim+1,dim+1);
cR_t.block(0,0,dim,dim) = c*R; cR_t.block(0,0,dim,dim) = c*R;
@ -149,9 +150,9 @@ void run_fixed_size_test(int num_elements)
HomMatrix cR_t_umeyama = umeyama(src_block, dst_block); HomMatrix cR_t_umeyama = umeyama(src_block, dst_block);
const Scalar error = ( cR_t_umeyama*src - dst ).array().square().sum(); const Scalar error = ( cR_t_umeyama*src - dst ).squaredNorm();
VERIFY(error < Scalar(10)*std::numeric_limits<Scalar>::epsilon()); VERIFY(error < Scalar(16)*std::numeric_limits<Scalar>::epsilon());
} }
void test_umeyama() void test_umeyama()