In the ICP chain it is required to absolutely have a PM::Transformation created, if not we get an iteration error but in some case we do not necessarily need the ICP to apply a transformation but only have the output T. So I think it could be good to have a NullTransformation and it would save the computing time of applying the transformation to the pointcloud.
In the ICP chain it is required to absolutely have a PM::Transformation created, if not we get an iteration error but in some case we do not necessarily need the ICP to apply a transformation but only have the output T. So I think it could be good to have a NullTransformation and it would save the computing time of applying the transformation to the pointcloud.
TransformationsImpl.cpp TransformationsImpl.h