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@tobycollins tobycollins released this 15 Apr 16:27
· 18 commits to master since this release

IPPE is now released in c++!

Matlab implementation: minor bug fixes

  • Handled the singularity when using Rodrigues' formula for aligning two vectors (Eq. 23 in the paper, variable t = 0).
  • Handled non-rotation matrices being returned. This was caused by the line [modelRotation,sigs,~] = svd(U_*U_');. A check is needed to deal with det(modelRotation)=-1.