ethz-asl/libpointmatcher — pull request #37 by mikebosse (2014-06-27 21:30:30+00:00)
Title: Fixed bug with soft outlier weights in error minimization

There was a bug in how soft outlier weight were being used in the ErrorMinimization code. The weights need to be applied to all rows of the wF matrix.

Also it is not technically correct to use Euler angles to build the rotation matrix for the transformation update. The axis angle should be used directly. (Though when the correction is small, these two versions are essentially the same.)