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demeaning with colwise expression

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This commit is contained in:
Hauke Heibel 2009-10-22 10:11:26 +02:00
parent e3d08443dc
commit 99bb29abcf
1 changed files with 2 additions and 8 deletions
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10
Eigen/src/Geometry/Umeyama.h
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@ -131,17 +131,11 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
const VectorType dst_mean = dst.rowwise().sum() * one_over_n; const VectorType dst_mean = dst.rowwise().sum() * one_over_n;
// demeaning of src and dst points // demeaning of src and dst points
RowMajorMatrixType src_demean(m,n); const RowMajorMatrixType src_demean = src.colwise() - src_mean;
RowMajorMatrixType dst_demean(m,n); const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
for (int i=0; i<n; ++i)
{
src_demean.col(i) = src.col(i) - src_mean;
dst_demean.col(i) = dst.col(i) - dst_mean;
}
// Eq. (36)-(37) // Eq. (36)-(37)
const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n; const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
// const Scalar dst_var = dst_demean.rowwise().squaredNorm().sum() * one_over_n;
// Eq. (38) // Eq. (38)
const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose(); const MatrixType sigma = one_over_n * dst_demean * src_demean.transpose();