Re: [eigen] inconsistency in fast eigen decomposition |

[ Thread Index | Date Index | More lists.tuxfamily.org/eigen Archives ]

*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] inconsistency in fast eigen decomposition*From*: Radu Bogdan Rusu <rusu@xxxxxxxxxxxxxxxx>*Date*: Thu, 03 Feb 2011 12:00:51 -0800*Cc*: Gael Guennebaud <gael.guennebaud@xxxxxxxxx>*Organization*: Willow Garage

Ok, I am comparing the output of: SelfAdjointEigenSolver, old eigen33, new eigen33 for:

-0.168841 0.161623 0.972302 -0.451632 -0.889498 0.0694328 -0.876083 0.4274 -0.223178 2.86806e-06 0.00037165 0.000556858 Normal: -0.168841, -0.451632, -0.876083 [SelfAdjointEigenSolver] 0.126838 seconds. 0.168841 -0.161623 -0.972302 0.451632 0.889499 -0.0694332 0.876083 -0.4274 0.223178 2.86801e-06 0.00037165 0.000556858 Normal: 0.168841, 0.451632, 0.876083 [old::eigen33] 0.053951 seconds. 0.222612 0.0712298 -0.972302 0.015897 -0.99746 -0.0694332 0.974778 0 0.223178 2.86801e-06 0.00037165 0.000556858 Normal: 0.222612, 0.015897, 0.974778 [new::eigen33] 0.0587709 seconds.

Cheers, Radu. -- http://pointclouds.org On 02/03/2011 09:02 AM, Radu Bogdan Rusu wrote:

Gael, Benoit, Many thanks for the prompt replies. On 02/03/2011 02:29 AM, Gael Guennebaud wrote:Hi, indeed, the code to extract the eigen vectors was quite naive. I've committed a more accurate version which should work fine for most use cases.Thanks, I'll pick it up from bench/eig33.cpp again. :) Cheers, Radu. -- http://pointclouds.orgI assume you are doing planar fit right? If so then the new version should really really be enough for you. It lacks some accuracy (but not too bad) only when all eigenvalues are relatively closed to each other. In this case there is no good planar approximation anyway. gael On Thu, Feb 3, 2011 at 7:41 AM, Radu Bogdan Rusu<rusu@xxxxxxxxxxxxxxxx> wrote:Hi all, Gael, we've been using the fast eigen decomposition suggested by you in an e-mail back in 09/02/10 (regarding SelfAdjointEigenSolver<Matrix3f> - http://listengine.tuxfamily.org/lists.tuxfamily.org/eigen/2010/08/msg00283.html) without any major issues for the past few months. We've recently hit a problem, and I was wondering whether there is a fix for it that doesn't involve switching to another SVD/eigendecomposition method in Eigen, as the implementation that we're using (see attached source) is still blazing fast. Here's the snippet of code that exhibits the problem (not that it's a c&p so please ignore the style/format): Eigen3::Matrix3f covariance_matrix_f; covariance_matrix_f<< 5.64909, 5.64909, 0.0860435, 5.64909, 5.64909, 0.0860435, 0.0860435, 0.0860435, 2.92133; Eigen3::SelfAdjointEigenSolver<Eigen3::Matrix3f> ei_symm (covariance_matrix_f); Eigen3::Vector3f eigen_values = ei_symm.eigenvalues (); Eigen3::Matrix3f eigen_vectors = ei_symm.eigenvectors (); cerr<< eigen_vectors<< endl; cerr<< eigen_values<< endl; cerr<< "Normal: "<< eigen_vectors (0, 0)<< ", "<< eigen_vectors (1, 0) << ", "<< eigen_vectors (2, 0)<< endl; Eigen3::Vector3f eigen_val; Eigen3::Matrix3f eigen_vec; eigen33 (covariance_matrix_f, eigen_vec, eigen_val); cerr<< eigen_vec<< endl; cerr<< eigen_val<< endl; cerr<< "Normal: "<< eigen_vec (0, 0)<< ", "<< eigen_vec (1, 0)<< "," << eigen_vec (2, 0)<< endl; ---- The output is: 0.707107 -0.0102705 0.707032 -0.707107 -0.0102656 0.707032 3.48268e-06 0.999894 0.0145212 3.41638e-08 2.91956 11.2999 Normal: 0.707107, -0.707107, 3.48268e-06 -0.00781202 0.0102683 0.707032 -0.00781202 0.0102683 0.707032 0.999939 -0.999895 0.0145207 -1.01014e-06 2.91956 11.2999 Normal: -0.00781202, -0.00781202, 0.999939 --- Thanks in advance. Cheers, Radu. -- http://pointclouds.org

**Follow-Ups**:**Re: [eigen] inconsistency in fast eigen decomposition***From:*Radu Bogdan Rusu

**References**:**[eigen] inconsistency in fast eigen decomposition***From:*Radu Bogdan Rusu

**Re: [eigen] inconsistency in fast eigen decomposition***From:*Gael Guennebaud

**Re: [eigen] inconsistency in fast eigen decomposition***From:*Radu Bogdan Rusu

**Messages sorted by:**[ date | thread ]- Prev by Date:
**Re: [eigen] Regarding bug #156** - Next by Date:
**Re: [eigen] inconsistency in fast eigen decomposition** - Previous by thread:
**Re: [eigen] inconsistency in fast eigen decomposition** - Next by thread:
**Re: [eigen] inconsistency in fast eigen decomposition**

Mail converted by MHonArc 2.6.19+ | http://listengine.tuxfamily.org/ |