Changing center of transformation in ICP alignment

[Lackingcomponents]

Hello,

I'm trying to calculate the misplacement, relative to an ideal situation, of an object with 6 degrees of freedom.
To do so I have 2 meshes, one refers to the "actual position" of the object and one to the "planned position" (this is actually 3 independent meshes: 2 are the objects I want to calculate the misplacement of, and one is common to the "actual position" mesh).

I used the "finely register entities" function to align the "actual position" mesh to the "planned position" using the common part, then I would align the two "planned positions" of the object, one at a time, to the "actual position" mesh, once again using the "finely register entities" tool. I would then use the transformation matrix relative to this alignment to calculate the roll, pitch and yaw angles and the translation vector.

Problem is that I need the angles and vector to be referred to a point at least inside the object (the best case scenario would be to refer the rotation and translaton to the center of the object's bounding box), and the only way I found is to manually translate the meshes to place the moving object onto the Origin of axes, which is fairly imprecise and inconvenient.

Is there a way to change the reference point for the transformation to the center of the object's bounding box when using the "finely register entities" tool? And if there isn't, is there at least a way to move the meshes together so that the object's bounding box is centered to the origin?

Thanks in advance

[daniel]

No you can't specify the rotation point for the ICP registration.

But you can move one or multiple entities at once with the 'Edit > Apply Transformation' tool. And indeed, this way you can change the origin of the coordinate system which is the default rotation point for ICP.