Question about ICP

[lin-name]

Dear Parika Goel, Thanks for this meaningful work. I build this project successful on Wins with VS2019, and run it with the TUM data, it is helpful for understanding the KinectFusion. Thank you very much. But i face the icp problem, as below:

as is shown, (point1- point2).norm() < dist_threshold but, std::abs(normal1.dot(normal2)) > normal_threshold, why is > normal_threshold here? std::abs(normal1.dot(normal2)) < normal_threshold MAY be more reasonable?

And another questions about the icp::findCorrespondence, the Correspondence Points Pair between cur_frame and pre_frame may be 0? at this time，though the code can continue to run, the output mesh is not totally registed as followed:

Looking forward for your reply.