diff options
Diffstat (limited to 'Eigen/src/Geometry/Umeyama.h')
| -rw-r--r-- | Eigen/src/Geometry/Umeyama.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h index 262d27aa3..5b9fd7725 100644 --- a/Eigen/src/Geometry/Umeyama.h +++ b/Eigen/src/Geometry/Umeyama.h @@ -109,6 +109,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo typedef typename ei_umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType; typedef typename ei_traits<TransformationMatrixType>::Scalar Scalar; typedef typename NumTraits<Scalar>::Real RealScalar; + typedef typename Derived::Index Index; EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL) EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename ei_traits<OtherDerived>::Scalar>::ret), @@ -120,8 +121,8 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo typedef Matrix<Scalar, Dimension, Dimension> MatrixType; typedef typename ei_plain_matrix_type_row_major<Derived>::type RowMajorMatrixType; - const int m = src.rows(); // dimension - const int n = src.cols(); // number of measurements + const Index m = src.rows(); // dimension + const Index n = src.cols(); // number of measurements // required for demeaning ... const RealScalar one_over_n = 1 / static_cast<RealScalar>(n); @@ -151,7 +152,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo // Eq. (40) and (43) const VectorType& d = svd.singularValues(); - int rank = 0; for (int i=0; i<m; ++i) if (!ei_isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank; + Index rank = 0; for (Index i=0; i<m; ++i) if (!ei_isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank; if (rank == m-1) { if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) { Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose(); |