Added improved test for guess matrix in GICP #972
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Okay, so with this test case we got: |
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Thanks for the details/test unit. I won't have time to investigate this sorry. |
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Note: was incorporated into #989 |
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This test case reveals that using a guess transformation in the GICP opimization process leads to wrong results. The error is not huge but significant. In the test case the MSE of both alignments should be equally, but the MSE of the alignment with the transformation guess is higher.
My guess is that there is an error in the calculation of the rotation part of the gradient in the optimization.