Code vs doc

[ajtudela]

Hi!

Your package is just what I needed for my robot but reading the PDF and the code, I notice some discrepancies between both of them. For example:

• You only use RANSAC to eliminate cluster with parallel lines. That's what you mean in section "parameter matching", right?
• In section "Pose estimation" you said that in ICP, you initially align the target centroid with reference centroid but I didn't find that in your code.

Could you clarify those points for me?

Thanks!