Get different transformation results every time

[zouyajing]

Hi, thanks for sharing the project.
I have tried to process two point clouds collected by myself using your code. Unfortunately, I got different transformation results in all the runs. Only the transformation from the first run is close to the ground truth.

I also noticed you mentioned that the first run of testing your own example is inaccurate and may be related to the multi-thread design. So, how can I avoid the issue? Does it come from FPFH manager?

Thx