consolidating simpleICP with PCL types#885
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@@ Coverage Diff @@
## master #885 +/- ##
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+ Coverage 16.40% 21.43% +5.02%
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Files 48 49 +1
Lines 2828 3009 +181
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+ Hits 464 645 +181
Misses 2364 2364
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Hi @Affie , just fyi that a baseline ICP is now available using the PCL types. Some untangling required in the estimated rigid transform |
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weird thing here is homogeneous transform is non-uniform, e.g. rotation matrix portion does not have determinant = 1. Some more investigation of standardization needed, but looks initial features and tests are passing.