Merge remote-tracking branch 'origin/master' into matlab-updates

PDAL · Jun 28, 2017 · 6099247 · 6099247
2 parents 0abebe8 + 982e413
commit 6099247
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/pdal/EigenUtils.cpp b/pdal/EigenUtils.cpp
@@ -92,7 +92,7 @@ Eigen::Matrix3f computeCovariance(PointView& view, std::vector<PointId> ids)
         k++;
     }
 
-    return A * A.transpose();
+    return A * A.transpose() / (ids.size()-1);
 }
 
 uint8_t computeRank(PointView& view, std::vector<PointId> ids, double threshold)