Fixes that the iterations for symmetric estimation do not convergence due to centering.
Adds a 2d symmetric transformation estimation.
Refactors existing combined estimation implementation to a symmetric formulation which should have a smaller linearization error.
In order to also estimate reflections with ICP, the isometry condition is now applied to the incremental transform. This allows the initial transform to be a reflection. The caller is now responsible for passing a valid isometry.
kzampog
commented
4 years ago
Please test thoroughly before merging :)