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Ah, ok thanks! I should have read this more carefully in the documentation and noted it specifically applies to failing to invert the transformation. Page 104... Advanced parameters This tool can also determine the best scale factor between the two point sets. To allow the optimization of the scale ...

Please could you confirm that the fine registration tool (ICP) uses a similarity transformation when scale is selected? ie uniform or global scaling as opposed to scaling plus shearing which occurs with an affine transformation. Noted in the documentation the point picking algorithm is affine which ...