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                                            iquizei

final rotation matrix

> Thanks I appreciate your quick reply and it works! > To get the translation, I inverted rotationCumulative (i.e. rotInv) and applied it to the static point cloud, compute the...

System.ArgumentException: 'Matrix must be positive definite.'

> Hello there, > > I finally found a way to bypass this error. It seems to happend because of rounding or smthg. in ICP.CS, more precisely in computeWithTransformedReference(...). >...

System.ArgumentException: 'Matrix must be positive definite.'

> You have to test the problematic value (which in my case is related to rotation as i'm matching 2D horizontal scans) > I've done this : > > `...

System.ArgumentException: 'Matrix must be positive definite.'

> TO bypass this error ("Matrix must be positive definite") i added the checking code after line 128 in ICP.Cs : > > ``` > T_iter = ErrorMinimizerHelper.Compute(stepReading, reference, outlierWeights,...