Parameters for 3D object recognition based on correspondance grouping

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Parameters for 3D object recognition based on correspondance grouping

Jaume
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I implemented 3D object recognition based on correspondance grouping but I am unable to deal with proper algorithm parameters to find an object on the scene.

Following example works good with provided milk and scene pcds.

http://www.pointclouds.org/documentation/tutorials/correspondence_grouping.php

but not with my example object and scene. Then, current tried parameters are,

//Algorithm params
    bool show_keypoints_(true);
    bool show_correspondences_(false);
    bool use_cloud_resolution_(false);
    bool use_hough_(true);
    float model_ss_(0.01f);
    float scene_ss_(0.01f);
    float rf_rad_(0.008f);
    float descr_rad_(0.008f);
    float cg_size_(0.05f);
    float cg_thresh_(5.0f);

and model and scene files,

https://www.dropbox.com/s/0o8igpbfnqu5vk3/model.pcd?dl=0 https://www.dropbox.com/s/pv5re3iqzsme29j/scene.pcd?dl=0

Could anybody please help me to deal with proper parameters? Thank you