Merge pull request #339 from hdiethelm/hasconverged_fix

Fix hasConverged() for pcl::SampleConsensusInitialAlignment
PointCloudLibrary · Oct 28, 2013 · 8e5cab2 · 8e5cab2
2 parents 121498d + ea84a6d
commit 8e5cab2
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diff --git a/registration/include/pcl/registration/ia_ransac.h b/registration/include/pcl/registration/ia_ransac.h
@@ -65,6 +65,7 @@ namespace pcl
       using Registration<PointSource, PointTarget>::max_iterations_;
       using Registration<PointSource, PointTarget>::tree_;
       using Registration<PointSource, PointTarget>::transformation_estimation_;
+      using Registration<PointSource, PointTarget>::converged_;
       using Registration<PointSource, PointTarget>::getClassName;
 
       typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;

diff --git a/registration/include/pcl/registration/impl/ia_ransac.hpp b/registration/include/pcl/registration/impl/ia_ransac.hpp
@@ -215,6 +215,7 @@ pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::comput
 
   final_transformation_ = guess;
   int i_iter = 0;
+  converged_ = false;
   if (!guess.isApprox (Eigen::Matrix4f::Identity (), 0.01f)) 
   {
     // If guess is not the Identity matrix we check it.
@@ -243,6 +244,7 @@ pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::comput
     {
       lowest_error = error;
       final_transformation_ = transformation_;
+      converged_=true;
     }
   }