commit 189376f1eb10ecaca8a0b1ea00eba0e6f995da27
author Austin Schuh <austin.linux@gmail.com> Thu Dec 20 22:11:15 2018 +1100
committer Austin Schuh <austin.linux@gmail.com> Thu Dec 20 22:11:15 2018 +1100
tree 045c51ab5f9a7afc6464708c28ad73a5f121b6c3
parent 72890c2da170577883e6431bd92d612716a31b85

Squashed 'third_party/eigen/' changes from 61d72f6..cf794d3


Change-Id: I9b814151b01f49af6337a8605d0c42a3a1ed4c72
git-subtree-dir: third_party/eigen
git-subtree-split: cf794d3b741a6278df169e58461f8529f43bce5d

Eigen/src/Geometry/Umeyama.h

diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index 5e20662..7e933fc 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -97,7 +97,6 @@
   typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
   typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename Derived::Index Index;
 
   EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
   EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
@@ -136,22 +135,12 @@
 
   // Eq. (39)
   VectorType S = VectorType::Ones(m);
-  if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-1);
+
+  if  ( svd.matrixU().determinant() * svd.matrixV().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() > Scalar(0) ) {
-      Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
-    } else {
-      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;
-    }
-  } else {
-    Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
-  }
+  Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
 
   if (with_scaling)
   {