| [eigen] scaling in Umeyama |
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- To: eigen@xxxxxxxxxxxxxxxxxxx
- Subject: [eigen] scaling in Umeyama
- From: "Radu B. Rusu" <radu.b.rusu@xxxxxxxxx>
- Date: Mon, 24 Sep 2012 12:23:17 -0700
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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.
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