Help tunning

[UannaFF]

Hello! I want to use your implementation to register a sequence of point clouds gotten from a kinect. I normalize the points to be [-1,1], the results i'm getting are good, better than other approaches but there's a point where I can't get anything better. I can show you:

1_1_points.txt
2_1_points.txt

I'm trying to register 1 to 2, those are the originals. (I'm ignoring the rgb's in the code)

And the best i've gotten is:

1_1_points_aligned1000.txt

If you compare the transformed 1, compared to the 2, it does a good job but at one points it stops to get better.

I haven't changed the configuration because when I do I get worse results.

Could you please help me giving me a hint on what could I change to help make results better with this data?

[bomtorazek]

Did you solve the problem??