From 3cc7d2c2191524932be54a88fa5f0b0644c8fa89 Mon Sep 17 00:00:00 2001
From: Daniel Girardeau-Montaut <daniel.girardeau@gmail.com>
Date: Tue, 4 Nov 2025 18:37:04 +0100
Subject: [PATCH] Bug fix: the weights derived from normals comparison during
 ICP registration of 2 clouds could be wrong (the wrong normals were compared)

---
 src/RegistrationTools.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/RegistrationTools.cpp b/src/RegistrationTools.cpp
index 37a2b2e..684cfbc 100644
--- a/src/RegistrationTools.cpp
+++ b/src/RegistrationTools.cpp
@@ -659,13 +659,19 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register(	GenericIndexed
 					CCVector3 Nm;
 					if (inputModelMesh)
 					{
+						assert(data.CPSetPlain);
 						unsigned triIndex = static_cast<unsigned>(data.CPSetPlain->getPointScalarValue(i));
 						assert(triIndex < inputModelMesh->size());
 						inputModelMesh->interpolateNormals(triIndex, *data.CPSetPlain->getPoint(i), Nm);
 					}
+					else if (inputModelCloud)
+					{
+						assert(data.CPSetRef);
+						Nm = *inputModelCloud->getNormal(data.CPSetRef->getPointGlobalIndex(i));
+					}
 					else
 					{
-						Nm = *inputModelCloud->getNormal(i);
+						assert(false);
 					}
 
 					//we assume the vectors are unitary!