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bug #774: fix a numerical issue producing unwanted reflections.

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This commit is contained in:
Gael Guennebaud 2016-02-11 15:32:56 +01:00
parent 2d35c0cb5f
commit 8cc9232b9a
1 changed files with 4 additions and 15 deletions
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19
Eigen/src/Geometry/Umeyama.h
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@ -135,22 +135,11 @@ 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()<Scalar(0)) S(m-1) = Scalar(-1);
// Eq. (40) and (43) if ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
const VectorType& d = svd.singularValues(); S(m-1) = -1;
Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
if (rank == m-1) { Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
if ( svd.matrixU().determinant() * svd.matrixV().determinant() > Scalar(0) ) {
Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
} else {
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();
S(m-1) = s;
}
} else {
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
}
if (with_scaling) if (with_scaling)
{ {