apply termination criteria

koide3 · Apr 8, 2024 · 7b9b760 · 7b9b760
1 parent ae2f3cb
commit 7b9b760
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -122,6 +122,7 @@ if(BUILD_BENCHMARKS)
     src/benchmark/odometry_benchmark_fast_gicp.cpp
     src/benchmark/odometry_benchmark_fast_vgicp.cpp
     src/benchmark/odometry_benchmark_small_gicp.cpp
+    src/benchmark/odometry_benchmark_small_gicp_pcl.cpp
     src/benchmark/odometry_benchmark_small_gicp_omp.cpp
     src/benchmark/odometry_benchmark_small_vgicp_omp.cpp
     src/benchmark/odometry_benchmark_small_gicp_tbb.cpp

diff --git a/include/small_gicp/pcl/pcl_registration_impl.hpp b/include/small_gicp/pcl/pcl_registration_impl.hpp
@@ -116,6 +116,8 @@ void RegistrationPCL<PointSource, PointTarget>::computeTransformation(PointCloud
   }
 
   Registration<GICPFactor, ParallelReductionOMP> registration;
+  registration.criteria.rotation_eps = rotation_epsilon_;
+  registration.criteria.translation_eps = transformation_epsilon_;
   registration.reduction.num_threads = num_threads_;
   registration.rejector.max_dist_sq = corr_dist_threshold_ * corr_dist_threshold_;
   registration.optimizer.verbose = verbose_;