Leica ScanStation P30 Basic Training Manual page 162

Figure 26
Once you are happy with the visual alignment, start the point cloud optimization.
From the Visual Alignment window go to Tools | Optimize Constraint
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Figure 29
The alignment results are then displayed in the Optimize Cloud Alignment Results.Figure 30
20 - 52 Module 3.1 – Applied Registration
Figure 28
This will start the cloud alignment optimization.
The algorithm will try to best fit the point
clouds on top of each other using a variant of
the iterative closest point (ICP) algorithm. The
algorithm is trying to calculate a maximum
point number to a minimum error displayed in
a half Gaussian curve (Error! Reference source
not found.). You are generally looking for lots
of overlapping points with a small as possible
remaining error.
Figure 27
Registration