i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

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