IGL_INLINE void igl::polar_svd3x3_avx(const Eigen::Matrix<T, 3*8, 3>& A, Eigen::Matrix<T, 3*8, 3> &R)
{
// should be caught at compile time, but just to be 150% sure:
assert(A.rows() == 3*8 && A.cols() == 3);
Eigen::Matrix<T, 3*8, 3> U, Vt;
Eigen::Matrix<T, 3*8, 1> S;
svd3x3_avx(A, U, S, Vt);
for (int k=0; k<8; k++)
{
R.block(3*k, 0, 3, 3) = U.block(3*k, 0, 3, 3) * Vt.block(3*k, 0, 3, 3).transpose();
}
// test:
for (int k=0; k<8; k++)
{
Eigen::Matrix3f Apart = A.block(3*k, 0, 3, 3);
Eigen::Matrix3f Rpart;
polar_svd3x3(Apart, Rpart);
Eigen::Matrix3f Rpart_SSE = R.block(3*k, 0, 3, 3);
Eigen::Matrix3f diff = Rpart - Rpart_SSE;
float diffNorm = diff.norm();
if (abs(diffNorm) > 0.001)
{
printf("Huh: diffNorm = %15f (k = %i)\n", diffNorm, k);
}
// Unused
//int hu = 1;
}
// eof test
}
