From ea84a6d2fe862e4dc0e83c546733e805cce6028b Mon Sep 17 00:00:00 2001
From: Hannes Diethelm <hdiethel@hsr.ch>
Date: Tue, 22 Oct 2013 13:20:54 +0200
Subject: [PATCH] Fix hasConverged() for pcl::SampleConsensusInitialAlignment

converged_ was not set, so hasConverged() returned allways false.
---
 registration/include/pcl/registration/ia_ransac.h        | 1 +
 registration/include/pcl/registration/impl/ia_ransac.hpp | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/registration/include/pcl/registration/ia_ransac.h b/registration/include/pcl/registration/ia_ransac.h
index 6ac45bb06b2..63d66fc3d58 100644
--- a/registration/include/pcl/registration/ia_ransac.h
+++ b/registration/include/pcl/registration/ia_ransac.h
@@ -65,6 +65,7 @@ namespace pcl
       using Registration<PointSource, PointTarget>::max_iterations_;
       using Registration<PointSource, PointTarget>::tree_;
       using Registration<PointSource, PointTarget>::transformation_estimation_;
+      using Registration<PointSource, PointTarget>::converged_;
       using Registration<PointSource, PointTarget>::getClassName;
 
       typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
diff --git a/registration/include/pcl/registration/impl/ia_ransac.hpp b/registration/include/pcl/registration/impl/ia_ransac.hpp
index 6a0c776342e..f7152a28d18 100644
--- a/registration/include/pcl/registration/impl/ia_ransac.hpp
+++ b/registration/include/pcl/registration/impl/ia_ransac.hpp
@@ -215,6 +215,7 @@ pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::comput
 
   final_transformation_ = guess;
   int i_iter = 0;
+  converged_ = false;
   if (!guess.isApprox (Eigen::Matrix4f::Identity (), 0.01f)) 
   {
     // If guess is not the Identity matrix we check it.
@@ -243,6 +244,7 @@ pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::comput
     {
       lowest_error = error;
       final_transformation_ = transformation_;
+      converged_=true;
     }
   }