The written vertex normals of a point cloud has illegal value.

[cetusk]

Hi,
I think this line may should be fixed to the below.

Core/CoFusion.cpp#L696

[-] Eigen::Matrix4f Tn = Tn.inverse().transpose();
[+] Eigen::Matrix4f Tn = Tp.inverse().transpose();

When I saved the point cloud at the final step and read it an another situation, I found the normal values are nan.
Thanks!