ICP Shape Match

Is there a way to perform an ICP shape match of two STLs in Rhino? I can’t seem to find anything in the Rhino guides for this but I’m a bit surprised.
Is a Grasshopper plugin necessary?

Hi Kris -

There is no native tool for doing that in Rhino, no.
Typically, matching meshes or point clouds is done in an external application such as CloudCompare or MeshLab.
-wim