void initializeICP() {
gicp.setMaximumIterations(50);
gicp.setTransformationEpsilon(1e-5);
gicp.setRotationEpsilon(1e-5);
gicp.setMaxCorrespondenceDistance(0.1 /* 0.1 */);
gicp.setEuclideanFitnessEpsilon(0.1);
}
void setup_gicp() {
// Set the max correspondence distance
gicp.setMaxCorrespondenceDistance (10);
// Set the maximum number of iterations (criterion 1)
gicp.setMaximumIterations (10);
// Set the transformation epsilon (criterion 2)
gicp.setTransformationEpsilon (1e-6);
// Set the euclidean distance difference epsilon (criterion 3)
gicp.setEuclideanFitnessEpsilon (1e-6);
gicp.setRANSACIterations(0);
}