| Re: [eigen] Transform.rotation() hang |
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- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: Re: [eigen] Transform.rotation() hang
- From: Benoit Jacob <jacob.benoit.1@xxxxxxxxx>
- Date: Tue, 10 Feb 2009 22:01:34 +0100
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Meanwhile, here are some thoughts if you absolutely have to live with
the current SVD.
What I can see on your matrices, is that while their norm is (of the
order of magnitude of) 1, they have some coefficients of the order of
magnitude of 1e-300. That could easily be what triggers a bug in the
current SVD.
So one thing you can do, before calling the SVD (i.e. before calling
rotation()) is to:
1) compute N = matrix.norm()
2) for each entry matrix(i,j),
if(ei_isMuchSmallerThan(matrix(i,j), N))
matrix(i,j) = 0;
Cheers,
Benoit
2009/2/10 Ben Axelrod <baxelrod@xxxxxxxxxxxx>:
> Sometimes calling Eigen::Transform.rotation() hangs and does not return.
>
>
>
> This transform matrix runs fine:
>
> 1 0 -1.931e-312 1
>
> 0 1 0 0
>
> 1.931e-312 0 1 1.5
>
> 0 0 0 1
>
>
>
> This transform matrix hangs:
>
> 1 0 -2.357e-312 1
>
> 0 1 0 0
>
> 1.179e-311 0 5 7.5
>
> 0 0 0 1
>
>
>
>
>
> Any help?
>
>
>
> Detailed info: the transforms were computed by:
>
>
>
> Tf * Tr * Qt * Sc
>
>
>
> Where, for the good transform:
>
>
>
> Tf = Transform:
>
> 1 0 0 1
>
> 0 1 0 0
>
> 0 0 1 0
>
> 0 0 0 1
>
>
>
> Tr = Translation:
>
> 0
>
> 0
>
> 1.5
>
>
>
> Qt = Quaternion:
>
> 0
>
> -9.653e-313
>
> 0
>
> 1
>
>
>
> Sc = Scaling:
>
> 1
>
> 1
>
> 1
>
>
>
>
>
> And for the bad transform:
>
>
>
> Tf = Transform:
>
> 1 0 0 1
>
> 0 1 0 0
>
> 0 0 5 0
>
> 0 0 0 1
>
>
>
> Tr = Translation:
>
> 0
>
> 0
>
> 1.5
>
>
>
> Qt = Quaternion:
>
> 0
>
> -1.179e-312
>
> 0
>
> 1
>
>
>
> Sc = Scaling:
>
> 1
>
> 1
>
> 1
>
>
>
>
>
> Thanks,
>
> -Ben