From 35c9f8779d24e8a7d75ce6ee459240f99e1a4306 Mon Sep 17 00:00:00 2001
From: Christoph Hertzberg <chtz@informatik.uni-bremen.de>
Date: Mon, 5 May 2014 14:23:52 +0200
Subject: [PATCH] Fix bug #807: Missing scalar type cast in umeyama()
 (transplanted from b4beba72a2d31934d3a2a49401c792f9a8cd49e0 )

---
 Eigen/src/Geometry/Umeyama.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index 345b47e0c..5e20662f8 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -113,7 +113,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   const Index n = src.cols(); // number of measurements
 
   // required for demeaning ...
-  const RealScalar one_over_n = 1 / static_cast<RealScalar>(n);
+  const RealScalar one_over_n = RealScalar(1) / static_cast<RealScalar>(n);
 
   // computation of mean
   const VectorType src_mean = src.rowwise().sum() * one_over_n;
@@ -136,16 +136,16 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
 
   // Eq. (39)
   VectorType S = VectorType::Ones(m);
-  if (sigma.determinant()<0) S(m-1) = -1;
+  if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-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 ) {
+    if ( svd.matrixU().determinant() * svd.matrixV().determinant() > Scalar(0) ) {
       Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
     } else {
-      const Scalar s = S(m-1); S(m-1) = -1;
+      const Scalar s = S(m-1); S(m-1) = Scalar(-1);
       Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
       S(m-1) = s;
     }
@@ -156,7 +156,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   if (with_scaling)
   {
     // Eq. (42)
-    const Scalar c = 1/src_var * svd.singularValues().dot(S);
+    const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);
 
     // Eq. (41)
     Rt.col(m).head(m) = dst_mean;