PCL Interactive ICP on monkey.ply. Only change is XYZ translation from (0,0,0.4) to (1,1,0)

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 9 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 = <  1.000,  1.000,  0.000 >

Applied 1 ICP iteration(s) in 11 ms

ICP has converged, score is 0.157621
ICP has converged, score is +2e-01
ICP has converged, score is +1e-01> cloud_in
ICP has converged, score is +9e-02> cloud_in
ICP has converged, score is +6e-02> cloud_in
ICP has converged, score is +5e-02> cloud_in
ICP has converged, score is +4e-02> cloud_in
ICP has converged, score is +3e-02> cloud_in
ICP has converged, score is +3e-02> cloud_in
ICP has converged, score is +2e-02> cloud_in
ICP has converged, score is +2e-02> cloud_in
ICP has converged, score is +2e-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 +1e-02-> cloud_in
ICP has converged, score is +8e-03-> cloud_in
ICP has converged, score is +6e-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 +1e-03-> cloud_in
ICP has converged, score is +2e-04-> cloud_in
ICP has converged, score is +2e-04-> cloud_in
ICP has converged, score is +1e-04-> cloud_in
ICP has converged, score is +8e-09-> cloud_in
ICP has converged, score is +5e-12-> cloud_in
ICP transformation 24 : cloud_icp -> cloud_in
ICP transformation 25 : cloud_icp -> cloud_in
Rotation matrix :75 -0.025 | >s
    |  0.927  0.375 -0.025 | >s
R = | -0.375  0.927  0.029 | >s
    |  0.034 -0.017  0.999 | >s
Translation vector :,  0.265 >s
t = < -1.391, -0.471,  0.265 >s