PointCloudLibrary / PointCloudLibrary/pcl
2D IterativeClosestPointWithNormals
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Description
Hi,
I just figured that if you try to use the IterativeClosestPointWithNormals with 2D point cloud, it will fail.
In the Transformation Estimation PointToPlaneLLS, the a and b will be 0 (because nz = 0 and sz = 0) and ATA matrix will be :
// 0 0 0 0 0 0
// 0 0 0 0 0 0
// 0 0 X X X 0
// 0 0 X X X 0
// 0 0 X X X 0
// 0 0 0 0 0 0
and won't be inversible (you'll have full of NaN).
In my case, I replaced ATA.setZero() to ATA.setIdentity(), and it works well :)
Best,
Clément
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Research direction
Start by locating IterativeClosestPointWithNormals and the Transformation Estimation PointToPlaneLLS implementation, then reproduce the failure with a 2D point cloud. Inspect how the ATA matrix is initialized and verify the chosen handling prevents NaN results while preserving the existing 3D behavior. Done means 2D ICP with normals completes successfully without an invalid matrix result.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100