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Fix 4DoF PointToPlane error minimizer crash #492

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merged 1 commit into from
Apr 8, 2022
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Fix 4DoF PointToPlane error minimizer crash #492

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4 changes: 2 additions & 2 deletions pointmatcher/ErrorMinimizers/PointToPlane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,7 +206,7 @@ typename PointMatcher<T>::TransformationParameters PointToPlaneErrorMinimizer<T>
matrixGamma << 0,-1, 0,
1, 0, 0,
0, 0, 0;
cross = ((matrixGamma*mPts.reading.features).transpose()*normalRef).diagonal().transpose();
cross = ((matrixGamma*mPts.reading.features.block(0, 0, 3, nbPts)).transpose()*normalRef).diagonal().transpose();
}


Expand Down Expand Up @@ -441,7 +441,7 @@ T PointToPlaneErrorMinimizer<T>::getOverlap() const
{
// NOTE: we tried with the projected distance over the normal vector before:
// projectionDist = delta dotProduct n.normalized()
// but this doesn't make sense
// but this doesn't make sense


if(PointMatcherSupport::anyabs(dists(i, 0)) < (uncertainties(0,i)))
Expand Down