Adapt skewSet.m to handle to handle registration of 2D point clouds

[neon29]

As the cross-product is not defined in 2D, what should-I do in order to modify skewSet.m to handle 2D points? The only solution I see is to keep the 3D model while setting all z stuff to 0?

Is-this what you think when writing "Simplifying this solution for registrations 2D is trivial" in your paper?

In case of a real 2D model (i.e. 3 parameters, 2*2 covariance matrices, ...), what is the jacobian?

Thanks