Matching doesn't seems to be as KISS as expected

[ClementLeBihan]

Hi,

I'm trying the KISS matcher using run_kiss_matcher.py example, with two very closely aligned pointcloud. An A320 Aircraft sampled and a scan of a A320 from ground lidar.

As you can see on this image, the two pointcloud are already pretty close, and I was expecting KISS-Matcher to find the easy solution.

• Gray: Original source cloud
• Cyan: Target cloud
• Orange: Transformed source cloud

Is there any advice on using KISS-Matcher with this kind of data ? How it converges to such a bag result ?

Best,
Clément

source_target.zip