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Force nonnegative scale for Sim(3) #997

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Dec 30, 2021
+585 −1
Merged

Force nonnegative scale for Sim(3) #997

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4 changes: 3 additions & 1 deletion gtsam/geometry/Similarity3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,8 @@ static Point3Pairs subtractCentroids(const Point3Pairs &abPointPairs,
}

/// Form inner products x and y and calculate scale.
// We force the scale to be a non-negative quantity
// (see Section 10.1 of https://ethaneade.com/lie_groups.pdf)
static double calculateScale(const Point3Pairs &d_abPointPairs,
const Rot3 &aRb) {
double x = 0, y = 0;
Expand All @@ -50,7 +52,7 @@ static double calculateScale(const Point3Pairs &d_abPointPairs,
y += da.transpose() * da_prime;
x += da_prime.transpose() * da_prime;
}
const double s = y / x;
const double s = std::fabs(y / x);
return s;
}

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