From 85541909106d509619582d045572e25abb5a3032 Mon Sep 17 00:00:00 2001 From: Victor Lamoine Date: Fri, 5 Sep 2014 22:28:28 +0200 Subject: [PATCH] Transform point cloud in GICP align function --- registration/include/pcl/registration/gicp.h | 2 +- registration/include/pcl/registration/impl/gicp.hpp | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/registration/include/pcl/registration/gicp.h b/registration/include/pcl/registration/gicp.h index a7afb898409..4e565117264 100644 --- 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 index ab9ba8dea30..c430b0f13ba 100644 --- a/registration/include/pcl/registration/impl/gicp.hpp +++ b/registration/include/pcl/registration/impl/gicp.hpp @@ -466,6 +466,9 @@ pcl::GeneralizedIterativeClosestPoint::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 void