Clarification Needed for ICP Input Settings in doICPVirtualRelativeWithInitial

[Hyunho111]

In the "doICPVirtualRelativeWithInitial" function (lines 603 to 607),
it seems unclear to me why the source and target inputs for ICP are set like this:

pcl::transformPointCloud(*cureKeyframeCloud, *transformed_curr, rotation_matrix);

// Align pointclouds
icp.setInputSource(cureKeyframeCloud);
icp.setInputTarget(transformed_curr);

In this scenario, ICP will likely return the value of the previous 'rotation_matrix' again without additional refinement.

Is there a specific reason for setting the inputs this way? I’d appreciate it if you could clarify this.

Thank you for your time!