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Fix ICP viewpoint adaptation issue by aligning sensor coordinates #6280

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Fix ICP viewpoint adaptation issue by aligning sensor coordinates #6280

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15 changes: 15 additions & 0 deletions registration/include/pcl/registration/impl/registration.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,21 @@ Registration<PointSource, PointTarget, Scalar>::align(PointCloudSource& output,

computeTransformation(output, guess);

// The resulting point cloud 'output' is aligned with the input_ point cloud in terms of point values,
// but coordinate frames have not been taken into account.
// In other words, the 'output' is still expressed in the coordinate frame of the input_ sensor.
// to resolve this , we can simply reassign the sensor_origin_ and sensor_orientation_ of the output cloud to the target cloud.

if (input_->sensor_orientation_!= target_->sensor_orientation_ || input_->sensor_origin_ != target_->sensor_origin_) {
output.sensor_orientation_ = target_->sensor_orientation_;
output.sensor_origin_ = target_->sensor_origin_;

PCL_WARN("[pcl::%s::align] The sensor_origin_ and sensor_orientation_ of the source and target clouds differ.\n"
" The output cloud will remain in the source sensor's coordinate frame.\n"
" Original sensor-to-sensor relative pose information may be lost.\n",
getClassName().c_str());
}

deinitCompute();
}

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