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i've never used it, but from the docs it should be like:

Matx44d pose; // transformation from model to scene
double error;
icp.registerModelToScene(iFirst, iSecond, error, pose);

// now you can transform the model into the scene:
Mat output = ppf_match_3d::transformPCPose(iFirst, pose);

note, that it expects (at least) the scene model to have proper normals, the PLY header should look like:

ply
format ascii 1.0
comment VCGLIB generated
element vertex 113732
property float x
property float y
property float z
property float nx
property float ny
property float nz
element face 220700
property list uchar int vertex_indices
end_header

i've never used it, but from the docs it should be like:

Matx44d pose; // transformation from model to scene
double error;
icp.registerModelToScene(iFirst, iSecond, error, pose);

// now you can transform the model into the scene:
Mat output = ppf_match_3d::transformPCPose(iFirst, pose);

note, that it expects (at least) the scene model to have proper normals, the PLY header should look like:

ply
format ascii 1.0
comment VCGLIB generated
element vertex 113732
...
property float x
property float y
property float z
property float nx
property float ny
property float nz
element face 220700
property list uchar int vertex_indices
...
end_header

i've never used it, but from the docs it should be like:

Matx44d pose; // transformation from model to scene
double error;
icp.registerModelToScene(iFirst, iSecond, error, pose);

// now you can transform the model into the scene:
Mat output = ppf_match_3d::transformPCPose(iFirst, pose);

note, that it expects (at least) the scene model to have proper normals, the PLY header should look like:

ply
...
property float x
property float y
property float z
property float nx
property float ny
property float nz
...
end_header