ICP rotation not disabled in CLI

[marcel.d]

Dear Daniel,

I am using the CLI of CloudCompare compute a transformation between two point clouds and I would really like to restrict it to translation only. Running the following:

cloudcompare -O -GLOBAL_SHIFT {xyz} to_align.laz -O -GLOBAL_SHIFT {xyz} reference.laz -C_EXPORT_FMT LAS -ICP -OVERLAP 100 -RANDOM_SAMPLING_LIMIT 10000 -MIN_ERROR_DIFF 1e-6 -ROT NONE

the output transformation matrix is:

1.000000000000 0.000000000000 0.000000000000 -0.368743419647
0.000000000000 0.999997019768 -0.002448272659 0.369123190641
0.000000000000 0.002448272659 0.999997019768 7.098420143127
0.000000000000 0.000000000000 0.000000000000 1.000000000000

As you see, I am using the -ROT NONE option, but it does still rotate slightly around x. Is it a bug, or am I using the tool wrong?

BTW CloudCompare is version 2.12.0.

Thanks,
Marcel

[daniel]

Ah, I think it's a bug!

And it was always present probably... While fixing this bug, I also added the option to the GUI version (since it was not present!).

I'll have to wait before releasing the 2.12.1(alpha). Tell me if it's blocking on your side.

[marcel.d]

Hey Daniel,

thanks for the quick reply!

I can wait for the release, no rush. While you are at it, could you please also add switches for controlling the translation in the CLI? In the GUI, we can choose along which axes the translation happens, but the CLI does not seem to support it (at least according to the documentation here https://www.cloudcompare.org/doc/wiki/i ... _line_mode). I hope it is a trivial change, but it would be extremely useful.

Many thanks for this awesome software!

Cheers,
Marcel