PCL Interactive ICP on Default Settings, monkey.ply (Code pasted from tutorial)

gistfile1.txt

rwbot@carowe:~/test/build$ ./interactive_icp ../monkey.ply 
[pcl::PLYReader] ../monkey.ply:14: property 'list uint8 uint32 vertex_indices' of element 'face' is not handled

Loaded file ../monkey.ply (1966 points) in 11 ms

Applying this rigid transformation to: cloud_in -> cloud_icp
Rotation matrix :
    |  0.924 -0.383  0.000 | 
R = |  0.383  0.924  0.000 | 
    |  0.000  0.000  1.000 | 
Translation vector :
t = <  0.000,  0.000,  0.400 >

Applied 1 ICP iteration(s) in 11 ms

ICP has converged, score is 0.0256485
ICP has converged, score is +2e-02
ICP has converged, score is +1e-02> cloud_in
ICP has converged, score is +1e-02> cloud_in
ICP has converged, score is +1e-02> cloud_in
ICP has converged, score is +8e-03> cloud_in
ICP has converged, score is +7e-03> cloud_in
ICP has converged, score is +5e-03> cloud_in
ICP has converged, score is +4e-03> cloud_in
ICP has converged, score is +2e-03> cloud_in
ICP has converged, score is +7e-04> cloud_in
ICP has converged, score is +3e-05-> cloud_in
ICP has converged, score is +4e-04-> cloud_in
ICP has converged, score is +8e-06-> cloud_in
ICP has converged, score is +3e-12-> cloud_in
ICP transformation 14 : cloud_icp -> cloud_in
ICP transformation 15 : cloud_icp -> cloud_in
Rotation matrix :81 -0.036 | >s
    |  0.924  0.381 -0.036 | >s
R = | -0.381  0.924  0.012 | >s
    |  0.037  0.003  0.999 | >s
Translation vector :, -0.402 >s
t = <  0.016, -0.006, -0.402 >s