ICP and mesh

[dr_mol]

Hello,
what happens if I use a mesh as model for ICP registration.
1) Is it subsampled to a point cloud, if yes with which density
or
2) are the point-mesh distances (distance to the closest plane) used instead of point to point distances?
or
3) something else.

Thank you. Sebastian

[daniel]

Interesting question that makes me realize that this dusty part of the code should be updated ;)

The mesh is sampled with a constant number of points! (100 000 points). It would be better to use the cloud-to-mesh distance...

[daniel]

Good news: that's fixed!

From now on, CC will compute proper cloud/mesh distances when the reference/model entity is a mesh.

I've updated the online beta version.