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Update Umeyama.h: src_var is only used when with_scaling == true. Therefore, the actual computation can be avoided when with_scaling == false.

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Pablo Speciale 2021-11-15 23:19:56 +00:00 committed by Rasmus Munk Larsen
parent ffb78e23a1
commit d04edff570
1 changed files with 3 additions and 3 deletions
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6
Eigen/src/Geometry/Umeyama.h
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@ -124,9 +124,6 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
const RowMajorMatrixType src_demean = src.colwise() - src_mean; const RowMajorMatrixType src_demean = src.colwise() - src_mean;
const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean; const RowMajorMatrixType dst_demean = dst.colwise() - dst_mean;
// Eq. (36)-(37)
const Scalar src_var = src_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();
@ -146,6 +143,9 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
if (with_scaling) if (with_scaling)
{ {
// Eq. (36)-(37)
const Scalar src_var = src_demean.rowwise().squaredNorm().sum() * one_over_n;
// Eq. (42) // Eq. (42)
const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S); const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);