Code Undersanding
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Hi @casychow , Thanks for your fantastic work. I've tested several ICPs, and yours seems the most stable. However, I have some questions about several lines in your code. Could you please give some explanations to help me understand?
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L39-L40, it seems there is an initial transformation for the source points, if I comment this init transformation, the registration is much worse, but I think it should not be such case (I also tested with my data, it still has similar performance which is weird, why this initial transformation can be applied to a custom data?). I know that the better the initial alignment, the better the results. Why and how do you use such an initial transformation?
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L61. Here you compute the correspondence, could you give some detailed explanation on this? Why can we get the correspondence from this ?
Looking forward to your reply, thanks!