Does Open3D's ICP algo also have the ability to iterate on scale?

[adammpolak]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

I have read through: https://www.open3d.org/docs/release/tutorial/pipelines/icp_registration.html

And it seems like it returns a transform but the transforms returned I saw always have 0, 0, 0, 1 as the last row so I am not sure if it is not included as part of the algorithm.

I also see it mentioned here: https://www.open3d.org/docs/release/tutorial/geometry/transformation.html

But I do not see any mention of point cloud scaling for ICP.

I am building a C++ wrapper around the ICP api to be used as a Unity plugin which receives point data from vertices of a 2 meshes, and then returns a transform to align them.