Wrong center for detecting circles

[Tong-ZHAO]

When we detect circles from point sets, the resulting circle is at a wrong place. Here an example (green - inliers):

After checking the code, I guess the bug comes from the line 93 in file "circle.py".
I changed it to "p_center = [p_center_x, p_center_y, P_rot[0, 2]]" then the result becomes:

Could you check the code? I'm open for further discussion.

[minefantast]

same problem