A new CloudComPy release based on CloudCompare 2.13.1

TODO_list.md

@@ -180,6 +180,11 @@ TODO List
 * DONE: ScalarFields: gaussian & bilateral filters
 * DONE: (issue #156) improve documentation on LabelConnectedComponents. Fix the scalarfield for display (compute min & max, set current)
 * DONE: plugin Cork (idem mesh boolean, faster)
+* DONE: (issue #162) SAVE ccMesh <CC_FILE_ERROR.CC_FERR_BROKEN_DEPENDENCY_ERROR: 13>
+* DONE: (issue #163) Add default arguments to ICP function
+* DONE: (issue #167) Distance map: try to use the same scalar field names as CloudCompare
+* DONE: (issue #170) Color scale: select in a list, edit
+* DONE: (issue #172) add quaternion input for transformations
 - TODO: try to have ctest working at build step on Windows and Linux (incomplete)
 - TODO: A kind of automatic test coverage, to find examples for a particular function.
 - TODO: Fix the Link problem in Windows to avoid the option /force:multiple at link step
@@ -209,3 +214,4 @@ TODO List
 - TODO: plugin 3DFin ?
 - TODO: (issue #154) plugin MeshIO ?
 - TODO: study convergence with Python plugin
+

doc/BuildLinuxConda.md

@@ -61,7 +61,7 @@ conda_buildenv()
     fi
     conda config --add channels conda-forge && \
     conda config --set channel_priority strict && \
-    conda install -y "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2" || error_exit "conda environment ${CONDA_ENV} cannot be completed"
+    conda install -y "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 quaternion "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2" || error_exit "conda environment ${CONDA_ENV} cannot be completed"
 }
 
 # --- CloudComPy build

doc/BuildWindowsConda.md

@@ -14,7 +14,7 @@ conda create -y --name CloudComPy310 python=3.10
 conda activate CloudComPy310
 conda config --add channels conda-forge
 conda config --set channel_priority strict
-conda install -y "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2"
+conda install -y "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 quaternion "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2"
 ```
 For information, the list of packages actually installed for building and testing can be found in `building/conda-list`.
 

doc/ReleaseNotes.md

@@ -2,6 +2,15 @@
 
 These release notes start with the October 18, 2021 CloudComPy release.
 
+## June 13, 2024 CloudCompy release:
+
+ - (issue #162) SAVE ccMesh <CC_FILE_ERROR.CC_FERR_BROKEN_DEPENDENCY_ERROR: 13>
+ - (issue #163) Add default arguments to ICP function
+ - (issue #167) Distance map: try to use the same scalar field names as CloudCompare
+ - (issue #170) Color scale: select in a list, edit
+ - (issue #172) add quaternion input for transformations (requires numpy quaternion package to be useful)
+ - some small fixes.
+
 ## April 20, 2024 CloudCompy release:
 
  - update to **CloudCompare 2.13.1** (March 20, 2024): official release.

doc/UseLinuxCondaBinary.md

@@ -34,7 +34,7 @@ Add or update the packages:
 conda activate CloudComPy310
 conda config --add channels conda-forge
 conda config --set channel_priority strict
-conda install "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2"
+conda install "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 quaternion "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2"
 ```
 
 **Remark:** if conda is unknown, or in a bash script, add the following instruction before conda commands:

doc/UseMacOSCondaBinary.md

@@ -45,7 +45,7 @@ Add or update the packages:
 conda activate CloudComPy310
 conda config --add channels conda-forge
 conda config --set channel_priority strict
-conda install "boost" "cgal" cmake draco ffmpeg "gdal" jupyterlab laszip "matplotlib" "mysql=8.0" "numpy" "opencv" "openssl=3.0.8" "pcl" "pdal" "psutil" pybind11 "qhull=2020.2" "qt=5.15.8" "scipy" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2" xorg-libx11 || error_exit "conda environment ${CONDA_ENV} cannot be completed"
+conda install "boost" "cgal" cmake draco ffmpeg "gdal" jupyterlab laszip "matplotlib" "mysql=8.0" "numpy" "opencv" "openssl=3.0.8" "pcl" "pdal" "psutil" pybind11 quaternion "qhull=2020.2" "qt=5.15.8" "scipy" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2" xorg-libx11 || error_exit "conda environment ${CONDA_ENV} cannot be completed"
 ```
 
 Unzip the binary tarfile in the directory of your choice.

doc/UseWindowsCondaBinary.md

@@ -25,7 +25,7 @@ Add or update the packages:
 conda activate CloudComPy310
 conda config --add channels conda-forge
 conda config --set channel_priority strict
-conda install "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2"
+conda install "boost=1.74" "cgal=5.4" cmake draco ffmpeg "gdal=3.5" jupyterlab laszip "matplotlib=3.5" "mysql=8.0" "numpy=1.22" "opencv=4.5" "openmp=8.0" "pcl=1.12" "pdal=2.4" "psutil=5.9" pybind11 quaternion "qhull=2020.2" "qt=5.15.4" "scipy=1.8" sphinx_rtd_theme spyder tbb tbb-devel "xerces-c=3.2"
 ```
 
 Install the binary in the directory of your choice.

pybind11/SRA/SRAPy.cpp

@@ -223,23 +223,23 @@ PYBIND11_MODULE(_SRA, m8)
         .value("FILL_INTERPOLATE", DistanceMapGenerationTool::EmptyCellFillOption::FILL_INTERPOLATE)
         .export_values();
 
-    py::enum_<ccColorScalesManager::DEFAULT_SCALES>(m8, "DEFAULT_SCALES")
-        .value("BGYR", ccColorScalesManager::DEFAULT_SCALES::BGYR)
-        .value("GREY", ccColorScalesManager::DEFAULT_SCALES::GREY)
-        .value("BWR", ccColorScalesManager::DEFAULT_SCALES::BWR)
-        .value("RY", ccColorScalesManager::DEFAULT_SCALES::RY)
-        .value("RW", ccColorScalesManager::DEFAULT_SCALES::RW)
-        .value("ABS_NORM_GREY", ccColorScalesManager::DEFAULT_SCALES::ABS_NORM_GREY)
-        .value("HSV_360_DEG", ccColorScalesManager::DEFAULT_SCALES::HSV_360_DEG)
-        .value("VERTEX_QUALITY", ccColorScalesManager::DEFAULT_SCALES::VERTEX_QUALITY)
-        .value("DIP_BRYW", ccColorScalesManager::DEFAULT_SCALES::DIP_BRYW)
-        .value("DIP_DIR_REPEAT", ccColorScalesManager::DEFAULT_SCALES::DIP_DIR_REPEAT)
-        .value("VIRIDIS", ccColorScalesManager::DEFAULT_SCALES::VIRIDIS)
-        .value("BROWN_YELLOW", ccColorScalesManager::DEFAULT_SCALES::BROWN_YELLOW)
-        .value("YELLOW_BROWN", ccColorScalesManager::DEFAULT_SCALES::YELLOW_BROWN)
-        .value("TOPO_LANDSERF", ccColorScalesManager::DEFAULT_SCALES::TOPO_LANDSERF)
-        .value("HIGH_CONTRAST", ccColorScalesManager::DEFAULT_SCALES::HIGH_CONTRAST)
-        .export_values();
+//    py::enum_<ccColorScalesManager::DEFAULT_SCALES>(m8, "DEFAULT_SCALES")
+//        .value("BGYR", ccColorScalesManager::DEFAULT_SCALES::BGYR)
+//        .value("GREY", ccColorScalesManager::DEFAULT_SCALES::GREY)
+//        .value("BWR", ccColorScalesManager::DEFAULT_SCALES::BWR)
+//        .value("RY", ccColorScalesManager::DEFAULT_SCALES::RY)
+//        .value("RW", ccColorScalesManager::DEFAULT_SCALES::RW)
+//        .value("ABS_NORM_GREY", ccColorScalesManager::DEFAULT_SCALES::ABS_NORM_GREY)
+//        .value("HSV_360_DEG", ccColorScalesManager::DEFAULT_SCALES::HSV_360_DEG)
+//        .value("VERTEX_QUALITY", ccColorScalesManager::DEFAULT_SCALES::VERTEX_QUALITY)
+//        .value("DIP_BRYW", ccColorScalesManager::DEFAULT_SCALES::DIP_BRYW)
+//        .value("DIP_DIR_REPEAT", ccColorScalesManager::DEFAULT_SCALES::DIP_DIR_REPEAT)
+//        .value("VIRIDIS", ccColorScalesManager::DEFAULT_SCALES::VIRIDIS)
+//        .value("BROWN_YELLOW", ccColorScalesManager::DEFAULT_SCALES::BROWN_YELLOW)
+//        .value("YELLOW_BROWN", ccColorScalesManager::DEFAULT_SCALES::YELLOW_BROWN)
+//        .value("TOPO_LANDSERF", ccColorScalesManager::DEFAULT_SCALES::TOPO_LANDSERF)
+//        .value("HIGH_CONTRAST", ccColorScalesManager::DEFAULT_SCALES::HIGH_CONTRAST)
+//        .export_values();
 
     py::class_<qSRA>(m8, "qSRA", SRA_qSRA_doc)
         .def(py::init<>(), SRA_qSRA_ctor_doc)

pybind11/SRA/__init__.py

@@ -38,5 +38,6 @@
       import cloudComPy.SRA
       cc.SRA.loadProfile(...)
 """
+from cloudComPy import DEFAULT_SCALES
 from _SRA import *
 initTrace_SRA()

pybind11/ScalarFieldPy.cpp

@@ -73,6 +73,12 @@ const ScalarType& (CCCoreLib::ScalarField::* getValue2)(std::size_t) const = &CC
 //typedef const ScalarType& (CCCoreLib::ScalarField::*gvftype)(std::size_t) const; // the same using a typedef
 //gvftype getValue2 = &CCCoreLib::ScalarField::getValue;
 
+void setColorScalePy(ccScalarField& self, ccColorScale* scale)
+{
+    QSharedPointer<ccColorScale> shared = QSharedPointer<ccColorScale>(scale);
+    self.setColorScale(shared);
+}
+
 void export_ScalarField(py::module &m0)
 {
     py::class_<CCCoreLib::ScalarField, std::unique_ptr<CCCoreLib::ScalarField, py::nodelete>>(m0, "ScalarField",
@@ -105,6 +111,7 @@ void export_ScalarField(py::module &m0)
         .def(py::init<const char*>(), py::arg("name")=nullptr, ccScalarFieldPy_ccScalarField_ctor_doc)
         .def("isSerializable", &ccScalarField::isSerializable)
         .def("getGlobalShift", &ccScalarField::getGlobalShift, ccScalarFieldPy_getGlobalShift_doc)
+        .def("setColorScale", &setColorScalePy, ccScalarFieldPy_setColorScale_doc)
         ;
 
     //TODO add serialization functions

pybind11/ScalarFieldPy_DocStrings.hpp

@@ -192,4 +192,10 @@ Used for instance for LAS GPS time shift
 
 )";
 
+const char* ccScalarFieldPy_setColorScale_doc= R"(
+Sets associated color scale
+
+:param ccColorScale scale: the color scale
+)";
+
 #endif /* SCALARFIELDPY_DOCSTRINGS_HPP_ */

pybind11/ccMeshPy.cpp

@@ -174,6 +174,20 @@ bool flagVerticesByType_py(ccGenericMesh* mesh)
 
 }
 
+ccMesh* meshTriangulate_py(ccGenericPointCloud* cloud,
+                            CCCoreLib::TRIANGULATION_TYPES type,
+                            bool updateNormals/*=false*/,
+                            PointCoordinateType maxEdgeLength/*=0*/,
+                            unsigned char dim/*=2*/)
+{
+    ccMesh* mesh = ccMesh::Triangulate(cloud, type, updateNormals, maxEdgeLength, dim);
+    if (mesh)
+    {
+        mesh->addChild(cloud);
+    }
+    return mesh;
+}
+
 void export_ccMesh(py::module &m0)
 {
     py::class_<CCCoreLib::MeshSamplingTools::EdgeConnectivityStats>(m0, "EdgeConnectivityStats", ccMeshPy_EdgeConnectivityStats_doc)
@@ -220,7 +234,7 @@ void export_ccMesh(py::module &m0)
               ccMeshPy_laplacianSmooth_doc)
         .def("subdivide", &ccMesh::subdivide, py::return_value_policy::reference, ccMeshPy_subdivide_doc)
         .def_static("triangulate",
-             &ccMesh::Triangulate,
+             &meshTriangulate_py,
              py::arg("cloud"), py::arg("type"), py::arg("updateNormals")=false, py::arg("maxEdgeLength")=0, py::arg("dim")=2,
                      ccMeshPy_triangulate_doc, py::return_value_policy::reference)
         .def_static("triangulateTwoPolylines",

pybind11/ccPrimitivesPy.cpp

@@ -35,6 +35,7 @@
 #include <ccSphere.h>
 #include <ccTorus.h>
 #include <ccDish.h>
+#include <SquareMatrix.h>
 #include "ccPrimitivesPy_DocStrings.hpp"
 #include "pyccTrace.h"
 
@@ -125,6 +126,86 @@ ccGLMatrixd FromViewDirAndUpDir_double(const Vector3Tpl<double>& forward, const
     return ccGLMatrixd(ccGLMatrixTpl<double>::FromViewDirAndUpDir(forward, up));
 }
 
+ccGLMatrix FromQuaternionAndTranslation_float(const std::vector<float>& quaternion, const Vector3Tpl<float>& depl=Vector3Tpl<float>())
+{
+    if (quaternion.size() != 4)
+    {
+        CCTRACE("incorrect quaternion size, must have 4 floats!");
+        return ccGLMatrix();
+    }
+    double norm  = 0;
+    for (int i=0; i<4; i++)
+    {
+        norm += quaternion[i]*quaternion[i];
+    }
+    norm = sqrt(norm);
+    if (norm == 0)
+    {
+        CCTRACE("quaternion norm is null!");
+        return ccGLMatrix();
+    }
+    float normed[4];
+    if (abs(norm - 1) < 1.e-7)
+        norm = 1;
+    for (int i=0; i<4; i++)
+    {
+        normed[i] = quaternion[i]/norm;
+    }
+    CCCoreLib::SquareMatrixTpl<float> rot = CCCoreLib::SquareMatrixTpl<float>();
+    rot.initFromQuaternion(normed);
+    ccGLMatrixTpl<float> trans = FromCCLibMatrix<float,float>(rot, depl);
+    return trans;
+}
+
+ccGLMatrixd FromQuaternionAndTranslation_double(const std::vector<double>& quaternion, const Vector3Tpl<double>& depl=Vector3Tpl<double>())
+{
+    if (quaternion.size() != 4)
+    {
+        CCTRACE("incorrect quaternion size, must have 4 double!");
+        return ccGLMatrixd();
+    }
+    double norm  = 0;
+    for (int i=0; i<4; i++)
+    {
+        norm += quaternion[i]*quaternion[i];
+    }
+    norm = sqrt(norm);
+    if (norm == 0)
+    {
+        CCTRACE("quaternion norm is null!");
+        return ccGLMatrixd();
+    }
+    if (abs(norm - 1) < 1.e-7)
+        norm = 1;
+    double normed[4];
+    for (int i=0; i<4; i++)
+    {
+        normed[i] = quaternion[i]/norm;
+    }
+    CCCoreLib::SquareMatrixTpl<double> rot = CCCoreLib::SquareMatrixTpl<double>();
+    rot.initFromQuaternion(normed);
+    ccGLMatrixTpl<double> trans = FromCCLibMatrix<double,double>(rot, depl);
+    return trans;
+}
+
+std::vector<double> toQuaternion_double(ccGLMatrixTpl<double>& self)
+{
+    CCCoreLib::SquareMatrixTpl<double> rot = CCCoreLib::SquareMatrixTpl<double>(self.data(), true);
+    std::vector<double> quat;
+    quat.resize(4);
+    rot.toQuaternion(&quat[0]);
+    return quat;
+}
+
+std::vector<double> toQuaternion_float(ccGLMatrixTpl<float>& self)
+{
+    CCCoreLib::SquareMatrixTpl<float> rot = CCCoreLib::SquareMatrixTpl<float>(self.data(), true);
+    std::vector<double> quat;
+    quat.resize(4);
+    rot.toQuaternion(&quat[0]);
+    return quat;
+}
+
 ccGLMatrix xRotation_float(ccGLMatrixTpl<float>& self)
 {
     return ccGLMatrix(self.xRotation());
@@ -443,11 +524,15 @@ void export_ccPrimitives(py::module &m0)
         .def("FromToRotation", &FromToRotation_float, ccPrimitivesPy_FromToRotation_doc)
         .def("Interpolate", &Interpolate_float, ccPrimitivesPy_Interpolate_doc)
         .def("FromViewDirAndUpDir", &FromViewDirAndUpDir_float, ccPrimitivesPy_FromViewDirAndUpDir_doc)
+        .def_static("FromQuaternionAndTranslation", &FromQuaternionAndTranslation_float,
+             py::arg("quaternion"), py::arg("depl")=Vector3Tpl<float>(),
+             ccPrimitivesPy_FromQuaternionAndTranslation_doc)
         .def("xRotation", &xRotation_float, ccPrimitivesPy_xRotation_doc)
         .def("yRotation", &yRotation_float, ccPrimitivesPy_yRotation_doc)
         .def("zRotation", &zRotation_float, ccPrimitivesPy_zRotation_doc)
         .def("inverse", &inverse_float, ccPrimitivesPy_inverse_doc)
         .def("transposed", &transposed_float, ccPrimitivesPy_transposed_doc)
+        .def("toQuaternion", &toQuaternion_float, ccPrimitivesPy_toQuaternion_doc)
         ;
 
     py::class_<ccGLMatrixd, ccGLMatrixTpl<double> >(m0, "ccGLMatrixd", ccPrimitivesPy_ccGLMatrixd_doc)
@@ -459,11 +544,15 @@ void export_ccPrimitives(py::module &m0)
         .def("FromToRotation", &FromToRotation_double, ccPrimitivesPy_FromToRotation_doc)
         .def("Interpolate", &Interpolate_double, ccPrimitivesPy_Interpolate_doc)
         .def("FromViewDirAndUpDir", &FromViewDirAndUpDir_double, ccPrimitivesPy_FromViewDirAndUpDir_doc)
+        .def_static("FromQuaternionAndTranslation", &FromQuaternionAndTranslation_double,
+             py::arg("quaternion"), py::arg("depl")=Vector3Tpl<double>(),
+             ccPrimitivesPy_FromQuaternionAndTranslation_doc)
         .def("xRotation", &xRotation_double, ccPrimitivesPy_xRotation_doc)
         .def("yRotation", &yRotation_double, ccPrimitivesPy_yRotation_doc)
         .def("zRotation", &zRotation_double, ccPrimitivesPy_zRotation_doc)
         .def("inverse", &inverse_double, ccPrimitivesPy_inverse_doc)
         .def("transposed", &transposed_double, ccPrimitivesPy_transposed_doc)
+        .def("toQuaternion", &toQuaternion_double, ccPrimitivesPy_toQuaternion_doc)
         ;
 
     py::class_<ccGenericPrimitive, PyccGenericPrimitive>(m0, "ccGenericPrimitive") //boost::noncopyable, no_init

pybind11/ccPrimitivesPy_DocStrings.hpp

@@ -230,6 +230,36 @@ Generates a 'viewing' matrix from a looking vector and a 'up' direction.
 :return: rotation matrix
 :rtype: ccGLMatrix)";
 
+const char* ccPrimitivesPy_FromQuaternionAndTranslation_doc= R"(
+Generates a transformation from a quaternion and an optional translation.
+
+A normalized quaternion such as \|q\| = sqrt(q1*q1 + q2*q2 + q3*q3 + q4*q4) = 1,
+can also be expressed as:
+q = {cos(θ/2), ux*sin(θ/2), uy*sin(θ/2), uz*sin(θ/2)}
+where (ux, uy, uz) represent the components of a unit vector u, and θ is an angle.
+The quaternion defines a rotation around the vector u, of angle θ.
+Here, if q is not normalized, q is divided by its euclidian norm \|q\|.
+
+:param list[float] quaternion: a quaternion formed from 4 floats.
+:param CCVector3,optional depl: an optional translation.
+
+:return: transformation matrix
+:rtype: ccGLMatrix 
+)";
+
+const char* ccPrimitivesPy_toQuaternion_doc= R"(
+Generates the quaternion corresponding to the rotation part of the transformation.
+
+A normalized quaternion such as \|q\| = sqrt(q1*q1 + q2*q2 + q3*q3 + q4*q4) = 1,
+can also be expressed as:
+q = {cos(θ/2), ux*sin(θ/2), uy*sin(θ/2), uz*sin(θ/2)}
+where (ux, uy, uz) represent the components of a unit vector u, and θ is an angle.
+The quaternion defines a rotation around the vector u, of angle θ.
+
+:return: the normalized rotation quaternion
+:rtype: list of 4 double
+)";
+
 const char* ccPrimitivesPy_xRotation_doc= R"(
 Returns the rotation component around X only.
 

pybind11/cloudComPy.cpp

@@ -109,12 +109,12 @@ struct ICPres
 
 ICPres ICP_py(  ccHObject* data,
                 ccHObject* model,
-                double minRMSDecrease,
-                unsigned maxIterationCount,
-                unsigned randomSamplingLimit,
-                bool removeFarthestPoints,
-                CCCoreLib::ICPRegistrationTools::CONVERGENCE_TYPE method,
-                bool adjustScale,
+                double minRMSDecrease=1.e-5,
+                unsigned maxIterationCount=20,
+                unsigned randomSamplingLimit=50000,
+                bool removeFarthestPoints=false,
+                CCCoreLib::ICPRegistrationTools::CONVERGENCE_TYPE method=CCCoreLib::ICPRegistrationTools::CONVERGENCE_TYPE::MAX_ITER_CONVERGENCE,
+                bool adjustScale=false,
                 double finalOverlapRatio = 1.0,
                 bool useDataSFAsWeights = false,
                 bool useModelSFAsWeights = false,
@@ -2807,9 +2807,16 @@ PYBIND11_MODULE(_cloudComPy, m0)
     ;
 
     m0.def("ICP", &ICP_py,
-           py::arg("data"), py::arg("model"), py::arg("minRMSDecrease"), py::arg("maxIterationCount"), py::arg("randomSamplingLimit"),
-           py::arg("removeFarthestPoints"), py::arg("method"), py::arg("adjustScale"), py::arg("finalOverlapRatio")=1.0,
-           py::arg("useDataSFAsWeights")=false, py::arg("useModelSFAsWeights")=false,
+           py::arg("data"), py::arg("model"),
+           py::arg("minRMSDecrease")=1.E-5,
+           py::arg("maxIterationCount")=20,
+           py::arg("randomSamplingLimit")=50000,
+           py::arg("removeFarthestPoints")=false,
+           py::arg("method")=CCCoreLib::ICPRegistrationTools::CONVERGENCE_TYPE::MAX_ITER_CONVERGENCE,
+           py::arg("adjustScale")=false,
+           py::arg("finalOverlapRatio")=1.0,
+           py::arg("useDataSFAsWeights")=false,
+           py::arg("useModelSFAsWeights")=false,
            py::arg("transformationFilters")=CCCoreLib::RegistrationTools::SKIP_NONE,
            py::arg("maxThreadCount")=0,
            cloudComPy_ICP_doc);