François Pomerleau

What you are looking for is a covariance for the outputted transformation. Unfortunately, there is no functional way to compute it (you can search for covariance in the issues of...

By looking at what is implemented [over here](https://github.com/ethz-asl/libpointmatcher/blob/master/pointmatcher/ErrorMinimizers/PointToPlane.cpp#L350), it seems that the function returns the sum of the residuals. I don't recall the motivation behind that choice. You would need...

@simonpierredeschenes can you have a look?

@fangcywangermu in English would be better...

That would be a great add-on! It would be nice to compare it with the other point-to-point and point-to-plane error minimizer. Libpointmatcher is modular in the sense that once would...

ahhh not fun when they are doing that... There are other papers on plane-to-plane [1], it might worth it to have a look if they have a close form solution....

It's on the long term plan, but up to now, nobody had time to implement it.

Thanks for your inputs @adrelino, it's very useful. Is there something in particular that make you don't trust the g2o solution? In general, we try to keep the dependency to...

add to white list

ok to test