HOW TO USE

[mahdipo]

Hi Thanks a lot for this grate wrapper. i tried to use icp to register pointcloud but its diffrent to use with original pcl library c++. for example in original pcl :

Eigen::Matrix4f Ti = Eigen::Matrix4f::Identity (), prev, targetToSource; PointCloudWithNormals::Ptr reg_result = points_with_normals_src; reg.setMaximumIterations (2); for (int i = 0; i < 30; ++i) { PCL_INFO ("Iteration Nr. %d.\n", i);

// save cloud for visualization purpose
points_with_normals_src = reg_result;

// Estimate
reg.setInputSource (points_with_normals_src);
reg.align (*reg_result);

	//accumulate transformation between each Iteration
Ti = reg.getFinalTransformation () * Ti;

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1-how to get from reg.FinalTransformation, position rotation and scale ? 2-in c# i cant multiply matrix4f*matrix4f (line "Ti = reg.getFinalTransformation () * Ti") 3-i cant find reg.hasConverged() !!! 4-where can i find a complete example use of registerationof point clouds and reconstruction mesh from that in pclsharp?

please help me. thanks in advance.