SurfaceMan

1.1 I have no ideas about the error before. If you have any progress, please let me known. 1.2 Is OpenMP problem? You can try comment OpenMP pragma with //....

> The memory leak is indeed due to the third point you mentioned, I am understanding your code, is there a blog that can understand it better? try reference this...

> sampleMesh has a significant effect on the results, Perhaps a fixed sampling method would be better You mean sample process lead to no result sometime?

I think the main reason is a bug of cluster method which cause this error. the cluster2 method only keep max votes result which maybe not the true result.

1.1 I also not understand yet. The code based opencv surface_match. 1.2 I tested replace with "float alpha = atan2 (mpt (2), mpt (1));", it will lost many result. 2....

Yes, the multithread lead to random sample result. Because of the big difference between thread count and point count, it looks link uniform.

> Thank you very much. One more question. Is there any article you can refer to about ICP? please see first of [TODO](https://github.com/SurfaceMan/surface_match/blob/master/TODO.md) list

[cloud compare](https://www.cloudcompare.org/) or [meshlab](https://www.meshlab.net/)

1.it's better to create model form CAD model(if you can got it) 2.if most components of model are plane, icp registration may mismatch with scene plane which edge based matching...

1.Can you share sample point cloud? 2.This implementation of ppf not support scaled model, it's recommand to have same size for model and scene。 ppf can torelate difference less than...