From 1bee0c4b5062622b5d73cdb6e35f1f228fdefe0d Mon Sep 17 00:00:00 2001
From: "Hannes F. Kuchelmeister" <hannes@kuchelmeister.org>
Date: Fri, 23 Jul 2021 13:04:33 +0200
Subject: [PATCH] add proper offset and fix missing use of self.max_distance

---
 situr/registration/registration.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/situr/registration/registration.py b/situr/registration/registration.py
index a2a27a4..b5278c4 100644
--- a/situr/registration/registration.py
+++ b/situr/registration/registration.py
@@ -66,10 +66,10 @@ class IcpRegistrationFunction(RegistrationFunction):
         target = o3.geometry.PointCloud()
         target.points = o3.utility.Vector3dVector(extend_dim(reference_peaks))
         reg_p2p = o3.pipelines.registration.registration_icp(
-            source, target, 200)
-        print('Transformation: ')
-        print(reg_p2p.transformation)
-        return ScaleRotateTranslateTransform(reg_p2p.transformation[0:2, 0:2])
+            source, target, self.max_distance)
+        return ScaleRotateTranslateTransform(
+            reg_p2p.transformation[0:2, 0:2],
+            offset=reg_p2p.transformation[[1, 0], 3])
 
 
 class Registration: