GICP speed? #1

Hi, and thank you for making this code available. I have a question regarding the gicp implementation.

In a one-shot test project, it gives a huge speed increase over the pcl::gicp. However, when i actually integrate it into my application (with streaming data), the speed jumps around, 21ms some frames, then 255 the next. Could you think of any reason for this?

Do I need to set the num_threads variable for gicp, as you do for NDT?

I am running it like this:

 pclomp::GeneralizedIterativeClosestPoint<POINT_TYPE, POINT_TYPE> icp;

	  icp.setTransformationEpsilon(params_.tf_epsilon);
	  icp.setMaxCorrespondenceDistance(params_.corr_dist);
	  icp.setMaximumIterations(params_.iterations);

	  icp.setInputSource(query);
	  icp.setInputTarget(reference);

	  PointCloud unused;
	  icp.align(unused);

	  // Retrieve transformation and estimate and update.
	 Eigen::Matrix4f   T = icp.getFinalTransformation();