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arntanguy / icp

Icp Library featuring Point to Point, Point to Plane, ICP in Sim3 for scaling, and more to come :)
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Bug in point-to-plane error function #1

Open CattleProdigy opened 6 years ago

CattleProdigy commented 6 years ago

icp/src/icp/error_point_to_plane.cpp:28

There's a small bug in the cross product. It probably should be: p.x *p.normal_y - p.y *p.normal_x;

x1597275 commented 4 years ago

can you tell me how to use this program to registration two pointclouds?