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| author |  Benoit Steiner <benoit.steiner.goog@gmail.com> | 2016-02-11 15:05:38 -0800 |
|---|---|---|
| committer | Benoit Steiner <benoit.steiner.goog@gmail.com> | 2016-02-11 15:05:38 -0800 |
| commit | 17e93ba1488a03daf16ca22dd3a3f7ccae86bedf (patch) | |
| tree | 4183d5906d058ff188c7fe38e8f030df5ad0979c /Eigen | |
| parent | 3628f7655d5063c4a7e67c6efc9e4ba10c31892c (diff) | |
| parent | eeac46f98012ba4a69060f8d3bc365e04f1edaa7 (diff) | |
Pulled latest updates from trunk
Diffstat (limited to 'Eigen')
| -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) |