[pdal-commits] [PDAL/PDAL] f95ffc: Output fully composed transformation from ICP (#3074)

[chambbj]

  Branch: refs/heads/master
  Home:   https://github.com/PDAL/PDAL
  Commit: f95ffce3125fd7bcad0be32aca82311b62dd3f7d
      https://github.com/PDAL/PDAL/commit/f95ffce3125fd7bcad0be32aca82311b62dd3f7d
  Author: chambbj <brad.chambers at gmail.com>
  Date:   2020-05-26 (Tue, 26 May 2020)

  Changed paths:
    M doc/stages/filters.icp.rst
    M filters/IterativeClosestPoint.cpp
    M test/unit/filters/IcpFilterTest.cpp

  Log Message:
  -----------
  Output fully composed transformation from ICP (#3074)

* Add test to recover rotation using ICP

* 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

* Add a note in the ICP docs about the composed transformation matrix