diff --git a/examples/data/icp_data/force4DOFForPointToPlaneMinimizer.ref_trans b/examples/data/icp_data/force4DOFForPointToPlaneMinimizer.ref_trans
index 22620f1be..57d6f73c8 100644
--- a/examples/data/icp_data/force4DOFForPointToPlaneMinimizer.ref_trans
+++ b/examples/data/icp_data/force4DOFForPointToPlaneMinimizer.ref_trans
@@ -1,4 +1,4 @@
- 0.9836155772209167 -0.1802777200937271                   0  0.2438895702362061
- 0.1802777200937271  0.9836155772209167                   0  -0.709206759929657
-                  0                   0                   1 -0.1967320442199707
-                  0                   0                   0                   1
\ No newline at end of file
+  0.9983626008033752 -0.05720203369855881                    0   0.2742069959640503
+ 0.05720203369855881   0.9983626008033752                    0  -0.7140782475471497
+                   0                    0                    1  -0.2944283485412598
+                   0                    0                    0                    1
\ No newline at end of file
diff --git a/pointmatcher/OutlierFiltersImpl.cpp b/pointmatcher/OutlierFiltersImpl.cpp
index c49ad1517..5dc0b24f9 100644
--- a/pointmatcher/OutlierFiltersImpl.cpp
+++ b/pointmatcher/OutlierFiltersImpl.cpp
@@ -261,7 +261,7 @@ typename PointMatcher<T>::OutlierWeights OutlierFiltersImpl<T>::SurfaceNormalOut
 
 				const Vector normalRef = normalsReference.col(idRef).normalized();
 
-				const T value = anyabs(normalRead.dot(normalRef));
+				const T value = normalRead.dot(normalRef);
 
 				if(value < eps) // test to keep the points
 					w(y, x) = 0;
diff --git a/pointmatcher/OutlierFiltersImpl.h b/pointmatcher/OutlierFiltersImpl.h
index 38a914729..e237e4660 100644
--- a/pointmatcher/OutlierFiltersImpl.h
+++ b/pointmatcher/OutlierFiltersImpl.h
@@ -177,7 +177,7 @@ struct OutlierFiltersImpl
 	{
 		inline static const std::string description()
 		{
-			return "Hard rejection threshold using the angle between the surface normal vector of the reading and the reference. If normal vectors or not in the descriptor for both of the point clouds, does nothing.";
+			return "Hard rejection threshold using the angle between the surface normal vector of the reading and the reference. Usually used in combination with `OrientNormalDataPointsFilter`. If normal vectors are not in the descriptor for both of the point clouds, does nothing.";
 		}
 		inline static const ParametersDoc availableParameters()
 		{