Attachment 266 Details for Bug 458 – patch

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[patch] patch

quaternion_to_rotation.patch (text/plain), 1.14 KB, created by Hauke Strasdat on 2012-05-05 23:51:16 UTC

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Creator: Hauke Strasdat

Created: 2012-05-05 23:51:16 UTC

Size: 1.14 KB

patch

obsolete

>--- /tmp/tmplrsu9G-meld/Eigen/src/Geometry/Quaternion.h
>+++ /home/strasdat/src/ScaViSLAM/EXTERNAL/eigen3.1/Eigen/src/Geometry/Quaternion.h
>@@ -545,8 +545,8 @@
>   return derived();
> }
> 
>-/** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
>-  * be normalized, otherwise the result is undefined.
>+/** Convert the quaternion to a 3x3 rotation matrix.
>+  * The quaternion is not required to be normalized.
>   */
> template<class Derived>
> inline typename QuaternionBase<Derived>::Matrix3
>@@ -558,9 +558,17 @@
>   // it has to be inlined, and so the return by value is not an issue
>   Matrix3 res;
> 
>-  const Scalar tx  = Scalar(2)*this->x();
>-  const Scalar ty  = Scalar(2)*this->y();
>-  const Scalar tz  = Scalar(2)*this->z();
>+  Scalar n2 = this->squaredNorm();
>+  if (n2 == 0)
>+  {
>+    res.setIdentity();
>+    return res;
>+  }
>+
>+  const Scalar two_by_squarednorm = 2./n2;
>+  const Scalar tx  = two_by_squarednorm*this->x();
>+  const Scalar ty  = two_by_squarednorm*this->y();
>+  const Scalar tz  = two_by_squarednorm*this->z();
>   const Scalar twx = tx*this->w();
>   const Scalar twy = ty*this->w();
>   const Scalar twz = tz*this->w();

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strasdat: review? (gael.guennebaud)

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Attachments on bug 458: 266