Fixed bug in correspondences of LS point to plane ICP and made norm(p… #6
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…-q) plots being generated identical and look consistent over all ICP variants
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Thanks @stachnis! I only now got to look at this and understand the change and you are totally right! The order of normals was, of course, totally messed up! I merged the first change from a different PR (#7) as that generated a better diff. This PR adds 47 thousand lines! The diff might be so huge either because you did not re-run the notebook with a kernel restart before submitting or because it was done from a mac 🤷♂️ Could you tell me in some way what was the second change you suggested in this MR? |
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Changes:
Fixed bug in correspondences of LS point to plane ICP (in function: prepare_system_normals)
Changes to:
for (i, j) in correspondences:
p_point = P[:, [i]]
q_point = Q[:, [j]]
nn = normals[j]
e = nn.dot(error(x, p_point, q_point))
J = nn.dot(jacobian(x, p_point))
Compute and plot norm(P-Q) error consistently for all ICP variants for better comparison