Format ICP metadata using IOFormat in full precision

PDAL · May 26, 2020 · 993e8b8 · 993e8b8
1 parent 8379134
commit 993e8b8
Showing 1 changed file with 11 additions and 4 deletions.
diff --git a/filters/IterativeClosestPoint.cpp b/filters/IterativeClosestPoint.cpp
@@ -284,11 +284,18 @@ PointViewPtr IterativeClosestPoint::icp(PointViewPtr fixed,
 
     // Populate metadata nodes to capture the final transformation, convergence
     // status, and MSE.
+    Eigen::IOFormat MetadataFmt(Eigen::FullPrecision, Eigen::DontAlignCols,
+                                " ", " ", "", "", "", "");
     MetadataNode root = getMetadata();
-    root.add("transform", Eigen::MatrixXd(final_transformation.cast<double>()));
-    root.add("composed",
-             Eigen::MatrixXd(composed_transformation.cast<double>()));
-    root.add("centroid", Eigen::MatrixXd(centroid.cast<double>()));
+    std::stringstream ss;
+    ss << final_transformation.format(MetadataFmt);
+    root.add("transform", ss.str());
+    ss.str("");
+    ss << composed_transformation.format(MetadataFmt);
+    root.add("composed", ss.str());
+    ss.str("");
+    ss << centroid.format(MetadataFmt);
+    root.add("centroid", ss.str());
     root.add("converged", converged);
     root.add("fitness", mse);