Centering and scaling ruins the results?

[DavidBoja]

Hi,

thank you for the open-source code. I am using the python wrapper for GO-ICP from @aalavandhaann and I noticed something.

When I use his script with default parameters and no trimming to register the provided model and data bunnies, I get good results. However, when I center and scale to unit sphere the provided bunnies (as you indicated it should be done in the instructions), and run the same script, I get a completely wrong result.

Do you have any indication why is that so? Is the algorithm very sensitive to the scale and/or location of the point clouds?

I left an issue on his Github repo as well, with the centering an scaling functions I use, if you want to take a look.