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); }