diff options
| -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) |