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| author |  Hauke Heibel <hauke.heibel@gmail.com> | 2016-02-11 19:38:37 +0100 |
|---|---|---|
| committer | Hauke Heibel <hauke.heibel@gmail.com> | 2016-02-11 19:38:37 +0100 |
| commit | eeac46f98012ba4a69060f8d3bc365e04f1edaa7 (patch) | |
| tree | 628854edc3996928f617b8e6e9b5b014e55e2e4a /Eigen/src/Geometry | |
| parent | c569cfe12ae6b6bf246e915f0b03ca983c9f225c (diff) | |
bug #774: re-added comment referencing equations in the original paper
Diffstat (limited to 'Eigen/src/Geometry')
| -rw-r--r-- | Eigen/src/Geometry/Umeyama.h | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h index 6943f719e..7e933fca1 100644 --- a/Eigen/src/Geometry/Umeyama.h +++ b/Eigen/src/Geometry/Umeyama.h @@ -139,6 +139,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo if ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 ) S(m-1) = -1; + // Eq. (40) and (43) Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose(); if (with_scaling) |