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ICP with normals bug fix #123

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Merged
dgirardeau merged 1 commit into from
Nov 4, 2025
Merged

ICP with normals bug fix #123

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8 changes: 7 additions & 1 deletion src/RegistrationTools.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -659,13 +659,19 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register( GenericIndexed
CCVector3 Nm;
if (inputModelMesh)
{
assert(data.CPSetPlain);
unsigned triIndex = static_cast<unsigned>(data.CPSetPlain->getPointScalarValue(i));
assert(triIndex < inputModelMesh->size());
inputModelMesh->interpolateNormals(triIndex, *data.CPSetPlain->getPoint(i), Nm);
}
else if (inputModelCloud)
{
assert(data.CPSetRef);
Nm = *inputModelCloud->getNormal(data.CPSetRef->getPointGlobalIndex(i));
}
else
{
Nm = *inputModelCloud->getNormal(i);
assert(false);
}

//we assume the vectors are unitary!
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