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217708e812
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d51296bca5
1 changed files with 2 additions and 2 deletions
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@ -854,9 +854,9 @@ TransformationSVD::TransformationSVD(const Transform3d& trafo)
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scale = !s.isApprox(Matrix3d::Identity());
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anisotropic_scale = ! is_approx(s(0, 0), s(1, 1)) || ! is_approx(s(1, 1), s(2, 2));
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rotation = !v.isApprox(u.transpose());
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rotation = !v.isApprox(u);
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if (anisotropic_scale && rotation) {
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if (anisotropic_scale) {
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rotation_90_degrees = true;
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for (int i = 0; i < 3; ++i) {
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const Vec3d row = v.row(i).cwiseAbs();
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