1 files changed, 18 insertions, 13 deletions

diff --git a/Eigen/src/Geometry/Umeyama.h b/Eigen/src/Geometry/Umeyama.h
index ac0939cde..5e20662f8 100644
--- a/Eigen/src/Geometry/Umeyama.h
+++ b/Eigen/src/Geometry/Umeyama.h
@@ -113,7 +113,7 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   const Index n = src.cols(); // number of measurements
 
   // required for demeaning ...
-  const RealScalar one_over_n = 1 / static_cast<RealScalar>(n);
+  const RealScalar one_over_n = RealScalar(1) / static_cast<RealScalar>(n);
 
   // computation of mean
   const VectorType src_mean = src.rowwise().sum() * one_over_n;
@@ -136,16 +136,16 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
 
   // Eq. (39)
   VectorType S = VectorType::Ones(m);
-  if (sigma.determinant()<0) S(m-1) = -1;
+  if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-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() > 0 ) {
+    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) = -1;
+      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;
     }
@@ -153,16 +153,21 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
     Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
   }
 
-  // Eq. (42)
-  const Scalar c = 1/src_var * svd.singularValues().dot(S);
+  if (with_scaling)
+  {
+    // Eq. (42)
+    const Scalar c = Scalar(1)/src_var * svd.singularValues().dot(S);
 
-  // Eq. (41)
-  // Note that we first assign dst_mean to the destination so that there no need
-  // for a temporary.
-  Rt.col(m).head(m) = dst_mean;
-  Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
-
-  if (with_scaling) Rt.block(0,0,m,m) *= c;
+    // Eq. (41)
+    Rt.col(m).head(m) = dst_mean;
+    Rt.col(m).head(m).noalias() -= c*Rt.topLeftCorner(m,m)*src_mean;
+    Rt.block(0,0,m,m) *= c;
+  }
+  else
+  {
+    Rt.col(m).head(m) = dst_mean;
+    Rt.col(m).head(m).noalias() -= Rt.topLeftCorner(m,m)*src_mean;
+  }
 
   return Rt;
 }