[eigen] scaling in Umeyama

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

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.


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