CloudCompare forum

But actually, since ICP can potentially change the pairing at each iteration (since it pairs the nearest points, but this changes over time), this means that CC will consider that if Model B (1, 1, 1) and Data C (0.5, 0.5, 0.5) are matched, then it's probably not the right match, and the cloud shou...

If both your clouds have normals, then the points that have similar normals (and in this case not only the direction but also the orientation) will have more weight in the global registration process. If model and data have two points: Data A - normal (1, 1, 1) Data B - normal (0, 0.5, 0.5) Model A...

How does selecting the Normals option improve the ICP results? If I choose "Same side", what is it changing in the calculations?

So the idea is to consider "negative" distances or not when we filter the farthest points at each iteration. In effect it has an impact when you check the 'Enabled farthest points removal' option or if you use a partial overlap of less than 100%. In this case, the points with negative dis...

Hi, How does the ICP algorithm work with and without "use C2M signed distances" option? Is it somehow changing the RMS calculated? I am trying to decide if this option is good for my case. Just curious as well. Read the tooltip but it leaves me with some doubts and I cannot make sense of t...