Transform point cloud in GICP6D align function

Adapted from 8554190
PointCloudLibrary · Aug 25, 2015 · 84e985c · 84e985c
1 parent 765c1be
commit 84e985c
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/registration/src/gicp6d.cpp b/registration/src/gicp6d.cpp
@@ -320,6 +320,9 @@ namespace pcl
     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_);
   }
 
 }