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Removed scaling from the umeyama when it is not requested.

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This commit is contained in:
Hauke Heibel 2012-09-25 11:39:40 +02:00
parent 088379ac2f
commit 5a3f49036b
1 changed files with 14 additions and 9 deletions
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13
Eigen/src/Geometry/Umeyama.h
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@ -153,16 +153,21 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
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();
} }
if (with_scaling)
{
// Eq. (42) // Eq. (42)
const Scalar c = 1/src_var * svd.singularValues().dot(S); const Scalar c = 1/src_var * svd.singularValues().dot(S);
// Eq. (41) // Eq. (41)
// Note that we first assign dst_mean to the destination so that there no need
// for a temporary.
Rt.col(m).head(m) = dst_mean; Rt.col(m).head(m) = dst_mean;
Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean; Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
Rt.block(0,0,m,m) *= c;
if (with_scaling) Rt.block(0,0,m,m) *= c; }
else
{
Rt.col(m).head(m) = dst_mean;
Rt.col(m).head(m).noalias() -= Rt.topLeftCorner(m,m)*src_mean;
}
return Rt; return Rt;
} }