Fix ICP viewpoint adaptation issue by aligning sensor coordinates#6280
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carlsberg03 wants to merge 1 commit intoPointCloudLibrary:masterfrom
Open
Fix ICP viewpoint adaptation issue by aligning sensor coordinates#6280carlsberg03 wants to merge 1 commit intoPointCloudLibrary:masterfrom
carlsberg03 wants to merge 1 commit intoPointCloudLibrary:masterfrom
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This is a quick fix for issue #6279.
When performing ICP registration, if the
input_point cloud and the reference (i.e.,target_) point cloud come from different viewpoints (i.e., differentsensor_origin_andsensor_orientation_), the output point cloud may retain inconsistent coordinate frame information, potentially leading to downstream processing errors.Since
input_is being registered to the reference cloud, it is reasonable to directly assign the output cloud’ssensor_origin_andsensor_orientation_to those of the reference (target) cloud, ensuring consistent frame alignment.This change updates the
align()method to apply this correction, and issues a warning if such a transformation occurs.