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The written vertex normals of a point cloud has illegal value. #24

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cetusk opened this issue Nov 26, 2022 · 0 comments

cetusk commented Nov 26, 2022

Hi,
I think this line may should be fixed to the below.

Core/CoFusion.cpp#L696

[-] Eigen::Matrix4f Tn = Tn.inverse().transpose();
[+] Eigen::Matrix4f Tn = Tp.inverse().transpose();

When I saved the point cloud at the final step and read it an another situation, I found the normal values are nan.
Thanks!

cetusk changed the title ~~A written point cloud has illegal value.~~ The written vertex normals of a point cloud has illegal value.

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