Hello Jakob,
very nice work. Thx a lot for it.
I have some special boundary conditions here which i am not sure how to implement and fit to your code.
I need to fix certain degrees of freedom during the ICP. As an example I would like to allow the result to be a translation only in X/Y direction and a rotation around Z-Axis.
Do you or anybody else know how to easily integrate such a feature into the code?
