From c8ac9ebfff1259f75517b2449b8bfd579ef3c927 Mon Sep 17 00:00:00 2001
From: Bradley J Chambers <brad.chambers@gmail.com>
Date: Mon, 26 Jun 2017 14:52:56 -0400
Subject: [PATCH] Should be computing sample covariance

---
 pdal/EigenUtils.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pdal/EigenUtils.cpp b/pdal/EigenUtils.cpp
index 5526107cfd..449435dc11 100644
--- 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)