void initializeICP() {
	gicp.setMaximumIterations(50);
	gicp.setTransformationEpsilon(1e-5);
	gicp.setRotationEpsilon(1e-5);
	gicp.setMaxCorrespondenceDistance(0.1 /* 0.1 */);
	gicp.setEuclideanFitnessEpsilon(0.1);
}
示例#2
0
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);
}