Transform point cloud in GICP align function

jspricke · Sep 5, 2014 · 8554190 · 8554190
1 parent 923ecdd
commit 8554190
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/registration/include/pcl/registration/gicp.h b/registration/include/pcl/registration/gicp.h
@@ -48,7 +48,7 @@ namespace pcl
 {
   /** \brief GeneralizedIterativeClosestPoint is an ICP variant that implements the 
     * generalized iterative closest point algorithm as described by Alex Segal et al. in 
-    * http://www.stanford.edu/~avsegal/resources/papers/Generalized_ICP.pdf
+    * http://www.robots.ox.ac.uk/~avsegal/resources/papers/Generalized_ICP.pdf
     * The approach is based on using anistropic cost functions to optimize the alignment 
     * after closest point assignments have been made.
     * The original code uses GSL and ANN while in ours we use an eigen mapped BFGS and 

diff --git a/registration/include/pcl/registration/impl/gicp.hpp b/registration/include/pcl/registration/impl/gicp.hpp
@@ -466,6 +466,9 @@ pcl::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::computeTransfor
   final_transformation_(0,3) = previous_transformation_(0,3) + guess(0,3);
   final_transformation_(1,3) = previous_transformation_(1,3) + guess(1,3);
   final_transformation_(2,3) = previous_transformation_(2,3) + guess(2,3);
+
+  // Transform the point cloud
+  pcl::transformPointCloud (*input_, output, final_transformation_);
 }
 
 template <typename PointSource, typename PointTarget> void