Accuracy issues

[ahundt]

As mentioned in the other item, thanks for writing this and putting it up!

I'm also encountering accuracy issues with the demo, the chair lands close to the actual location but not quite there. I'll post a screenshot when I have pcl running with CUDA.

[rosds]

I don't remember exactly where I left this project but it is possible that I was testing the matching with a different model of a chair. Therefore, the final transformation can not me really perfect. Also, I remember the discretization parameters were a bit tricky to tune. I will revisit this repo on the week end and give it a look.

[ahundt]

cool thanks!