From 35f7829af10c61e33dd2e2a7a015058e11a11ea0 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 25 Mar 2017 14:17:07 +0100
Subject: update

---
 eigen/Eigen/src/Geometry/Umeyama.h | 19 ++++---------------
 1 file changed, 4 insertions(+), 15 deletions(-)

(limited to 'eigen/Eigen/src/Geometry/Umeyama.h')

diff --git a/eigen/Eigen/src/Geometry/Umeyama.h b/eigen/Eigen/src/Geometry/Umeyama.h
index 5e20662..7e933fc 100644
--- a/eigen/Eigen/src/Geometry/Umeyama.h
+++ b/eigen/Eigen/src/Geometry/Umeyama.h
@@ -97,7 +97,6 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   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 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
 
   // 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)
   {
-- 
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