Re: [eigen] Re: scaling in Umeyama |

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*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] Re: scaling in Umeyama*From*: Hauke Heibel <hauke.heibel@xxxxxxxxx>*Date*: Tue, 25 Sep 2012 11:44:09 +0200*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=WnxoAikwF6rT4TwgzZkkAUg5m4+u6dFsFtUpcBOyxZc=; b=jpyICjyXMhYu8JL2uLBmI6xDjrD0TR1qQEW1c8ujsVSm/z2TcUeJ40yYWVbRLeMORk mXY+uHYoysYLmilDqotxAmiCYJBb1nxJzQIM568Olm2kgbpV5cHg8DOf53y4+KyzDyWk Bu+jslEoEiow2R0ZIsw3EoVSgcBuXwWLaSbjvlXkpsKqCrM2IL6RNIb/AdgGyQD1njzQ aGw7BwWwsWote/gm0TWfY0iOtTcs7x+pom0icudno8P48Gof0+O0/zEJI1KVR593LGxM JLHB2QvufDTiRvd2r6z2g8+eooDGqsNJRIkzlg+bRfGoXbe/R1IiwRL9vBX9woehO/Yv B7/w==

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 > > >

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

**Re: [eigen] Re: scaling in Umeyama***From:*David Breen

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

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

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