A question in C++/src/point_to_point/loading_inputs_point_to_point.cpp::217

[kungfrank]

pcl::copyPointCloud(cld1,data_idx,data_pi);

Should the cld1 here be replaced by the original source pointcloud: cloud_in? because cld1 here is the pointcloud after icp alignment using final_transformation.

The data_pi parameter in calculate_ICP_COV function should be the corresponding points in the "source pointcloud" right?