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bug #774: re-added comment referencing equations in the original paper

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Hauke Heibel 2016-02-11 19:38:37 +01:00
parent c569cfe12a
commit eeac46f980
1 changed files with 1 additions and 0 deletions
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Eigen/src/Geometry/Umeyama.h
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@ -139,6 +139,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
if ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
S(m-1) = -1;
// Eq. (40) and (43)
Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
if (with_scaling)