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any method, although using images is advised. Try to select control points that later on you will able to easily recognize and select on the other point cloud: usually, edges work very well. Keep in mind that you should also select points that are displaced on all three axis. When this is done, you can pick the same three control points on the unstructured objects. Make sure to use easy to recognize names as you will have to manually select the control points pairing. Note how control points are grouped by object in the “Control Points” panel. When all the control points have been placed, simply select Tools -> Registration -> Control point registration from the menu.