Skip to content

Fix misleading comment in ndt.hpp #6478

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mvieth merged 1 commit into from
Sep 8, 2026
+1 −1
Merged

Fix misleading comment in ndt.hpp #6478

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion registration/include/pcl/registration/impl/ndt.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ NormalDistributionsTransform<PointSource, PointTarget, Scalar>::computeTransform
return;
}
#endif
// Negative for maximization as opposed to minimization
// Newton step obtained by solving H * delta = -gradient
Eigen::Matrix<double, 6, 1> delta = sv.solve(-score_gradient);

// Calculate step length with guaranteed sufficient decrease [More, Thuente 1994]
Expand Down
Loading