diff options
| -rw-r--r-- | Eigen/src/Geometry/Transform.h | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/Eigen/src/Geometry/Transform.h b/Eigen/src/Geometry/Transform.h index 547b3661f..7497b31ac 100644 --- a/Eigen/src/Geometry/Transform.h +++ b/Eigen/src/Geometry/Transform.h @@ -1097,16 +1097,17 @@ template<typename Scalar, int Dim, int Mode, int Options> template<typename RotationMatrixType, typename ScalingMatrixType> EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const { + // TODO: investigate BDCSVD implementation. JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV); - Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1 + Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant() < Scalar(0) ? Scalar(-1) : Scalar(1); // so x has absolute value 1 VectorType sv(svd.singularValues()); sv.coeffRef(Dim-1) *= x; if(scaling) *scaling = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint(); if(rotation) { LinearMatrixType m(svd.matrixU()); - m.col(Dim-1) /= x; + m.col(Dim-1) *= x; *rotation = m * svd.matrixV().adjoint(); } } @@ -1126,16 +1127,17 @@ template<typename Scalar, int Dim, int Mode, int Options> template<typename ScalingMatrixType, typename RotationMatrixType> EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const { + // TODO: investigate BDCSVD implementation. JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV); - Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1 + Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant() < Scalar(0) ? Scalar(-1) : Scalar(1); // so x has absolute value 1 VectorType sv(svd.singularValues()); sv.coeffRef(Dim-1) *= x; if(scaling) *scaling = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint(); if(rotation) { LinearMatrixType m(svd.matrixU()); - m.col(Dim-1) /= x; + m.col(Dim-1) *= x; *rotation = m * svd.matrixV().adjoint(); } } |