Scaling is applied to the normals descriptor in SimilarityTransformation class

norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

BSD 3-Clause "New" or "Revised" License

1.58k stars 542 forks source link

Scaling is applied to the normals descriptor in SimilarityTransformation class #554

Open simonpierredeschenes opened 5 months ago

simonpierredeschenes commented 5 months ago

In the inPlaceCompute function of SimilarityTransformation, in TransformationsImpl.cpp, the whole top left submatrix of the TransformationParameters is applied to the normals descriptor. However, if this transformation contains non-uniform scaling for the different axes, this will cause issues in a lot of different places in libpointmatcher.