ICP算法进行两组点云配准时初值如何给

liuyu_pq

IterativeClosestPoint<PointXYZ, PointXYZ> icp;
// Set the input source and target
icp.setInputCloud (cloud_source);
icp.setInputTarget (cloud_target);

// Set the max correspondence distance to 5cm (e.g., correspondences with higher distances will be ignored)
icp.setMaxCorrespondenceDistance (0.05);
// Set the maximum number of iterations (criterion 1)
icp.setMaximumIterations (50);
// Set the transformation epsilon (criterion 2)
icp.setTransformationEpsilon (1e-8);
// Set the euclidean distance difference epsilon (criterion 3)
icp.setEuclideanFitnessEpsilon (1);

// Perform the alignment
icp.align (cloud_source_registered);

// Obtain the transformation that aligned cloud_source to cloud_source_registered
Eigen::Matrix4f transformation = icp.getFinalTransformation ();

书上十三章第一个例子，两组点云之间只有平移，采用ICP算法配准成功，可如果两组点云之间既存在旋转也存在平移的话，再用上面代码，始终无法收敛，我感觉是ICP算法使用时没有给出初值？可初值如何给呢？？找不到出路？还请各位大侠多多指教，本人初学PCL库