`icp/src/icp/error_point_to_plane.cpp:28` There's a small bug in the cross product. It probably should be: `p.x *p.normal_y - p.y *p.normal_x;`
icp/src/icp/error_point_to_plane.cpp:28There's a small bug in the cross product. It probably should be:
p.x *p.normal_y - p.y *p.normal_x;