Merge pull request #1731 from carlosmccosta/fix_ndt2d_initialization

Fixed missing reset of number of iterations in ndt2d.
PointCloudLibrary · May 30, 2017 · 2c1572c · 2c1572c
2 parents 79823c9 + a49e838
commit 2c1572c
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/registration/include/pcl/registration/impl/ndt_2d.hpp b/registration/include/pcl/registration/impl/ndt_2d.hpp
@@ -378,6 +378,9 @@ pcl::NormalDistributionsTransform2D<PointSource, PointTarget>::computeTransforma
 {
   PointCloudSource intm_cloud = output;
 
+  nr_iterations_ = 0;
+  converged_ = false;
+
   if (guess != Eigen::Matrix4f::Identity ())
   {
     transformation_ = guess;