From d0d387a42fb933f0e173b0539f878e778b111616 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 18 Aug 2017 15:59:49 -0400 Subject: [PATCH] icp: set epsilon^2 as in pcl::DefaultConvergenceCriteria --- corelib/src/util3d_registration.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/corelib/src/util3d_registration.cpp b/corelib/src/util3d_registration.cpp index bc465fb5..73cf184f 100644 --- a/corelib/src/util3d_registration.cpp +++ b/corelib/src/util3d_registration.cpp @@ -326,7 +326,7 @@ Transform icp(const pcl::PointCloud::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);