From a49e838f270405e980ef1aa2b7d9e475f5781355 Mon Sep 17 00:00:00 2001
From: Carlos Costa <carloscosta.cmcc@gmail.com>
Date: Fri, 16 Sep 2016 17:59:36 +0100
Subject: [PATCH] Fixed missing reset of number of iterations in ndt2d.

---
 registration/include/pcl/registration/impl/ndt_2d.hpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/registration/include/pcl/registration/impl/ndt_2d.hpp b/registration/include/pcl/registration/impl/ndt_2d.hpp
index 880520969be..49b3bb29d5f 100644
--- a/registration/include/pcl/registration/impl/ndt_2d.hpp
+++ b/registration/include/pcl/registration/impl/ndt_2d.hpp
@@ -377,6 +377,9 @@ pcl::NormalDistributionsTransform2D<PointSource, PointTarget>::computeTransforma
 {
   PointCloudSource intm_cloud = output;
 
+  nr_iterations_ = 0;
+  converged_ = false;
+
   if (guess != Eigen::Matrix4f::Identity ())
   {
     transformation_ = guess;