How to get the transformation matrix from these fast GICP registration? about fast_gicp HOT 2 OPEN

The readme says

All the implemented algorithms have the PCL registration interface so that they can be used as an inplace replacement for GICP in PCL.

PCL Registration class has this method

/** \brief Get the final transformation matrix estimated by the registration method. */ inline Matrix4 getFinalTransformation () { return (final_transformation_); }

Which is available through your icp instance like
Eigen::Matrix4f final_mat = icp.getFinalTransformation();

Currently I am not able to test this. Butt this is promising. Could you check that?

from fast_gicp.

Hi sir,
"Eigen::Matrix4f final_mat = icp.getFinalTransformation();"
After checked with sample PCD, this line could get the transformation matrix as below.
For your reference.

finalTransformation:
0.99992 0.0125376 -0.00147484 0.491601
-0.0125486 0.999892 -0.00768502 0.119129
0.00137832 0.00770291 0.999969 -0.025012
0 0 0 1

from fast_gicp.