[pdal-commits] [PDAL/PDAL] df6c50: Return correct ICP transformation

[chambbj]

  Branch: refs/heads/issue-2939/icp-without-centroid
  Home:   https://github.com/PDAL/PDAL
  Commit: df6c50be7f7ce38381a4964c75c3f3bba1b49c32
      https://github.com/PDAL/PDAL/commit/df6c50be7f7ce38381a4964c75c3f3bba1b49c32
  Author: Bradley J Chambers <brad.chambers at gmail.com>
  Date:   2020-03-06 (Fri, 06 Mar 2020)

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

  Log Message:
  -----------
  Return correct ICP transformation

* Remove the centering step, which is unnecessary and can cause problems
  when applying the same transformation after the fact

* Add test to recover rotation (5 degrees about Y axis)