[pdal-commits] [PDAL/PDAL] 08487f: Report final ICP transformation as a composition i...

[chambbj]

  Branch: refs/heads/issue-2939/icp-compose-full-xform
  Home:   https://github.com/PDAL/PDAL
  Commit: 08487f0c10038dd91e51f37cea44ae828a8b26ee
      https://github.com/PDAL/PDAL/commit/08487f0c10038dd91e51f37cea44ae828a8b26ee
  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