From 5cb1b924d0133000d9389959e9807b7c5df2f8bf Mon Sep 17 00:00:00 2001
From: Toru Tamaki <tamaki@hiroshima-u.ac.jp>
Date: Fri, 5 Sep 2014 11:23:13 +0900
Subject: [PATCH] fixing bug of estimating translation vector

---
 .../registration/impl/transformation_estimation_svd_scale.hpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp b/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp
index 9cb35469a07..553342efbf0 100644
--- a/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp
+++ b/registration/include/pcl/registration/impl/transformation_estimation_svd_scale.hpp
@@ -98,7 +98,7 @@ pcl::registration::TransformationEstimationSVDScale<PointSource, PointTarget, Sc
   scale2 = sum_tt_ / sum_ss;
   float scale = scale2;
   transformation_matrix.topLeftCorner (3, 3) = scale * R;
-  const Eigen::Matrix<Scalar, 3, 1> Rc (R * centroid_src.head (3));
+  const Eigen::Matrix<Scalar, 3, 1> Rc (scale * R * centroid_src.head (3));
   transformation_matrix.block (0, 3, 3, 1) = centroid_tgt. head (3) - Rc;
 }