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icp: set epsilon^2 as in pcl::DefaultConvergenceCriteria

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matlabbe
2017-08-18 15:59:49 -04:00
parent 84af88ee40
commit d0d387a42f
1 changed files with 2 additions and 2 deletions
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4
corelib/src/util3d_registration.cpp
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@@ -326,7 +326,7 @@ Transform icp(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
// Set the maximum number of iterations (criterion 1)
icp.setMaximumIterations (maximumIterations);
// Set the transformation epsilon (criterion 2)
icp.setTransformationEpsilon (epsilon);
icp.setTransformationEpsilon (epsilon*epsilon);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);
@@ -362,7 +362,7 @@ Transform icpPointToPlane(
// Set the maximum number of iterations (criterion 1)
icp.setMaximumIterations (maximumIterations);
// Set the transformation epsilon (criterion 2)
icp.setTransformationEpsilon (epsilon);
icp.setTransformationEpsilon (epsilon*epsilon);
// Set the euclidean distance difference epsilon (criterion 3)
//icp.setEuclideanFitnessEpsilon (1);
//icp.setRANSACOutlierRejectionThreshold(maxCorrespondenceDistance);