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Bug fixes - #119
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Bug fixes#119
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saurabh1002
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benemer,
mehermvr and
tizianoGuadagnino
as code owners
October 6, 2026 16:55
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This pull request includes improvements to the 2D alignment algorithm and minor code cleanup in the map closure candidate selection logic.
Updated the
KabschUmeyamaAlignment2Dfunction to correctly handle reflections and ensure the resulting rotation matrix has the proper orientation. This change improves the mathematical correctness of the alignment in certain edge cases. This was highlighted in Fix reflection correction in 2D RANSAC alignment #118.Removed unnecessary use of
std::movewhen returningclosures.front()in theGetBestClosuremethod