Attachment 445 Details for Bug 774 – Patch to umeyama to address reflection bug

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[patch] Patch to umeyama to address reflection bug

umeyama-reflection-bug.patch (text/plain), 1.07 KB, created by Charles Karney on 2014-03-27 20:34:40 UTC

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Creator: Charles Karney

Created: 2014-03-27 20:34:40 UTC

Size: 1.07 KB

patch

obsolete

>--- Umeyama.h.orig	2014-02-26 10:35:18.000000000 -0500
>+++ Umeyama.h	2014-03-27 15:12:25.767370970 -0400
>@@ -136,22 +136,13 @@
> 
>   // Eq. (39)
>   VectorType S = VectorType::Ones(m);
>-  if (sigma.determinant()<0) S(m-1) = -1;
> 
>   // Eq. (40) and (43)
>-  const VectorType& d = svd.singularValues();
>-  Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
>-  if (rank == m-1) {
>-    if ( svd.matrixU().determinant() * svd.matrixV().determinant() > 0 ) {
>-      Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
>-    } else {
>-      const Scalar s = S(m-1); S(m-1) = -1;
>-      Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
>-      S(m-1) = s;
>-    }
>-  } else {
>-    Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
>-  }
>+  if  ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
>+    S(m-1) = -1;
>+
>+  Rt.block(0,0,m,m).noalias() =
>+    svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
> 
>   if (with_scaling)
>   {

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