PointCloudLibrary/pcl — pull request #972 by saarnold (2014-10-21 13:32:15+00:00)
Title: Added improved test for guess matrix in GICP 

This test case reveals that using a guess transformation in the GICP opimization process leads to wrong results. The error is not huge but significant. In the test case the MSE of both alignments should be equally, but the MSE of the alignment with the transformation guess is higher.

My guess is that there is an error in the calculation of the rotation part of the gradient in the optimization.