Re: [eigen] Re: scaling in Umeyama |

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*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] Re: scaling in Umeyama*From*: David Breen <dbreen01@xxxxxxxxx>*Date*: Tue, 25 Sep 2012 11:00:49 -0600*Dkim-signature*: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=20120113; h=mime-version:in-reply-to:references:date:message-id:subject:from:to :content-type; bh=Fdg28PykJ7RdLF7+Isp1QvseAELxcLwdmONkpCfN7k4=; b=bWcvLC1HH1EidCGXBPkgUQAsRFmF8ErBDNDfOWWmy/yN5rP0pGudhVDPwiSx+njquF uUAloE9Se3o6ZZbWS4P4vSn+ruDDccJQemUcXyQncvAxIvFLqaOvOc1J63VT+hnUEpHB O/gdhx7LSIGy82cpPDyImphOm9R5SKPneFncfgI64X8wnySosExpC+XncihR01oPWnep WaNSJ2eGyvsqSDL457TCQk8GuifUdl45Np8bWtbWZLc9LtTmw6SUxA+bHO3WfS9GYxkw TKwYubI5ffONL2eRO/DlGtxuq52A1NZzSdelj6RZN33LdzQz53+5drqjnPvyjcf8Mf4p y5SQ==

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On Tue, Sep 25, 2012 at 3:44 AM, Hauke Heibel <hauke.heibel@xxxxxxxxx> wrote:

Hi Radu,

it seems as if I never properly tested the case c=1. The unit tests

test for random c>=0.

I looked at the code and what you say makes sense. I pushed a fix

though I did not find the time to test it and hope that I did not

brake anything.

Regards,

Hauke

On Mon, Sep 24, 2012 at 9:34 PM, Radu B. Rusu <radu.b.rusu@xxxxxxxxx> wrote:

> Maybe to make a correction: the math does look good (i.e., properly

> implemented as in the original paper), however the values that we obtain for

> the translation are all off. Looking at our own implementation (and a few

> other implementations around the web), we calculate the translation simply

> by: t = u_y - R * u_x, so without multiplying with the c Scalar.

>

> Did anyone perform any regression tests on ground truth data to see how it

> performs (with and without (42) as in the Umeyama paper)?

>

> Thanks.

>

> Cheers,

> Radu.

> --

> http://openperception.org

>

>

> On 09/24/2012 12:23 PM, Radu B. Rusu wrote:

>>

>> I noticed a small discrepancy between the documentation for Umeyama and

>> the actual implementation, and I was wondering

>> if this is a bug.

>>

>>

>> http://eigen.tuxfamily.org/dox/group__Geometry__Module.html#gab3f5a82a24490b936f8694cf8fef8e60

>> states "with_scaling

>> Sets c=1 when false is passed." However, looking at

>> http://eigen.tuxfamily.org/dox/Umeyama_8h_source.html, I see:

>>

>> 00157 const Scalar c = 1/src_var * svd.singularValues().dot(S);

>>

>> which is then applied to the translation component. In our tests, this led

>> to a bad translation while the rotation was

>> correct when with_scaling was set to false.

>>

>> Thanks,

>> Radu.

>> --

>> http://openperception.org

>

>

>

**References**:**[eigen] scaling in Umeyama***From:*Radu B. Rusu

**[eigen] Re: scaling in Umeyama***From:*Radu B. Rusu

**Re: [eigen] Re: scaling in Umeyama***From:*Hauke Heibel

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