Getting zero correspondences with ICP based odometry

[tanajikamble13]

I am trying with other type of odometry, Rgbd-ICP and ICP. Its not working, unable to find correspondences, I changed main code accordingly as shown below:

odom = std::make_shared<rgbd::RgbdICPOdometry>(
          cameraMatrix, MIN_DEPTH, MAX_DEPTH, MAX_DEPTH_DIFF, MAX_POINTS_PART, iterCounts,
          minGradMagnitudes, rgbd::Odometry::RIGID_BODY_MOTION);
      /* 
      odom = std::make_shared<rgbd::ICPOdometry>(
          cameraMatrix, MIN_DEPTH, MAX_DEPTH, MAX_DEPTH_DIFF, MAX_POINTS_PART, iterCounts,
          rgbd::Odometry::RIGID_BODY_MOTION);
      */