Improve symmetric ICP #126
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I found some bugs after the initial implementation was merged.
This PR addresses a mistake in the initial implementation of the Symmetric ICP algorithm.
I did too much simplification in previous implementations.
Key Changes
ComputeErrorUsingNormals Function
Updated to calculate errors using the sum of normals from both the source and target, improving the balance and accuracy in line with Symmetric ICP.
ComputeTransformation Method:
Extracts and squares the rotation matrix from the transformation matrix, following the Symmetric ICP approach.
Ensures higher accuracy by converting the rotation matrix to double precision for Rodrigues' formula-based calculations.
Constructs the final transformation matrix using the squared rotation matrix and original translation.
and additionally
Renaming and Normal check condition added