dumpIteration TransformationParameters incorrect frame

[ryancu7]

Usage scenario: C++ with custom Inspector subclass with dumpIteration override.

The final TransformationParameters returned by the ICP call can be different to the TransformationParameters provided in the last dumpIteration callback even when convergence was reached. It also looks like the transformation passed to dumpIteration does not match the transformation applied to the "Reading" DataPoints.

Looking at ICP.cpp, the issue seems to be that the Parameters argument of the dumpIteration callback is passed T_iter which is in refMean frame, which the documentation does not warn about, and refMean is not made available separately for applying in the callback anyway. I would expect the frame of the dumpIteration transformation to match that of the final ICP() call result.