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fixed translational matrix initialisation #1

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fixed translational matrix initialisation #1

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4 changes: 2 additions & 2 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -236,7 +236,7 @@ void icp(MatrixXd mat1, MatrixXd mat2, int max_iteration_num) {
my_kd_tree_t mat_index(3, std::cref(mat2), 10 /* max leaf */);
mat_index.index->buildIndex();
Mat rotation_matrix = Mat::eye(3, 3, CV_64F);
Mat translation_matrix = Mat::eye(3, 1, CV_64F);
Mat translation_matrix = Mat::zeros(3, 1, CV_64F);
for (int iters_ = 0; iters_ < max_iters_; iters_++) {
findNearestNeighbours(cvSource, mat_index, cvSource.rows, 3);
Mat cvNewTarget = Mat::zeros(cvSource.rows, 3, CV_64F);
Expand Down Expand Up @@ -296,7 +296,7 @@ void tricp(MatrixXd mat1, MatrixXd mat2, int max_iteration_num) {
int max_iters_ = max_iteration_num;//100;
my_kd_tree_t mat_index(3, std::cref(mat2), 10 /* max leaf */);
Mat rotation_matrix = Mat::eye(3, 3, CV_64F);
Mat translation_matrix = Mat::eye(3, 1, CV_64F);
Mat translation_matrix = Mat::zeros(3, 1, CV_64F);
mat_index.index->buildIndex();

for (int iters_ = 0; iters_ < max_iters_; iters_++) {
Expand Down