# Solution based on: # Y Chen and G Medioni, 1991. Object modeling by registration of multiple range images. Robotics and # Automation. Proc. of IEEE International Conf. on, 3, pp. 2724 - 2729. # - and - # Chetverikov, D and Svirko, D and Stepanov, D and Krsek, P, 2002. The Trimmed Iterative Closest # Point algorithm. Pattern Recognition, 2002. Proceedings. 16th International Conference on, 3, pp. 2724 - 2729. readingDataPointsFilters: - MinDistDataPointsFilter: minDist: 1.0 - RandomSamplingDataPointsFilter: prob: 0.05 referenceDataPointsFilters: - MinDistDataPointsFilter: minDist: 1.0 - SamplingSurfaceNormalDataPointsFilter: binSize: 7 samplingMethode: 1 ratio: 0.1 matcher: KDTreeMatcher: knn: 1 epsilon: 3.16 outlierFilters: - TrimmedDistOutlierFilter: ratio: 0.7 errorMinimizer: PointToPlaneErrorMinimizer transformationCheckers: - CounterTransformationChecker: maxIterationCount: 150 - DifferentialTransformationChecker: minDiffRotErr: 0.001 minDiffTransErr: 0.01 smoothLength: 4 inspector: PerformanceInspector logger: # FileLogger NullLogger