[pdal-commits] [PDAL/PDAL] f21929: Add test to recover rotation using ICP

[chambbj]

  Branch: refs/heads/issue-2939/icp-compose-full-xform
  Home:   https://github.com/PDAL/PDAL
  Commit: f2192940090fd3640d48b138d784b41c826a2f46
      https://github.com/PDAL/PDAL/commit/f2192940090fd3640d48b138d784b41c826a2f46
  Author: Bradley J Chambers <brad.chambers at gmail.com>
  Date:   2020-05-15 (Fri, 15 May 2020)

  Changed paths:
    M test/unit/filters/IcpFilterTest.cpp

  Log Message:
  -----------
  Add test to recover rotation using ICP


  Commit: c858d71c52624ecd5570c6d897e2cdf8939e94e3
      https://github.com/PDAL/PDAL/commit/c858d71c52624ecd5570c6d897e2cdf8939e94e3
  Author: Bradley J Chambers <brad.chambers at gmail.com>
  Date:   2020-05-15 (Fri, 15 May 2020)

  Changed paths:
    M filters/IterativeClosestPoint.cpp

  Log Message:
  -----------
  Report final ICP transformation as a composition individual steps

1. Center all data using centroid of fixed cloud
2. Compute transformation matrix to bring moving cloud into alignment
   with fixed
3. Undo centering step to place all data in proper global location


Compare: https://github.com/PDAL/PDAL/compare/f2192940090f%5E...c858d71c5262