hasConverged() always return 1

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hasConverged() always return 1

Marcus
I am running the tutorial for iterative closest point. I modified the code so that it reads 2 clouds from pcd files and align them.
As per my understanding, hasConverged() should return 1 only if the two clouds are a transformation of one another. But it always return 1 in my case even if i use 2 random clouds with no relation, for example, say the bun000.pcd and the roomscan.pcd.
I really need some help with the above issue.
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Re: hasConverged() always return 1

Romain Brégier
hasConverge probably returns true if ICP has converged, i.e. if the
iterations do not alter the estimated transformation anymore.
However, there is no garanty that the estimated transformation makes
sense at the end, especially when you use two clouds with no relations.

Le 06/06/2013 18:55, Marcus a écrit :

> I am running the tutorial for iterative closest point. I modified the code so
> that it reads 2 clouds from pcd files and align them.
> As per my understanding, hasConverged() should return 1 only if the two
> clouds are a transformation of one another. But it always return 1 in my
> case even if i use 2 random clouds with no relation, for example, say the
> bun000.pcd and the roomscan.pcd.
> I really need some help with the above issue.
>
>
>
> --
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Re: hasConverged() always return 1

Marcus
In reply to this post by Marcus
thanks for the reply; i am still unable to clearly understand what you said. Can you elaborate?
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Re: hasConverged() always return 1

Romain Brégier
Have a look to the convergence criteria you use (check the the doc).

-----Message d'origine-----
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Objet : Re: [PCL-users] hasConverged() always return 1

thanks for the reply; i am still unable to clearly understand what you said.
Can you elaborate?



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Re: hasConverged() always return 1

Marcus
I have used the exact code as given in the ICP tutorial. I have only changed the input clouds. I don't think it has anything to do with the return value.
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Re: hasConverged() always return 1

aichim
Administrator
Wouldn't it be so much simpler if you had a look in the source code of DefaultConvergenceCriteria and understand what it does? It's max 50 lines of code. :)

Cheers,
Alex

On Jun 7, 2013, at 4:52 PM, Marcus <[hidden email]> wrote:

> I have used the exact code as given in the ICP tutorial. I have only changed
> the input clouds. I don't think it has anything to do with the return value.
>
>
>
> --
> View this message in context: http://www.pcl-users.org/hasConverged-always-return-1-tp4028133p4028148.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
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Re: hasConverged() always return 1

Marcus
Alright, I read into the code and found a little bug on my part of code. I should have been more careful.