Iterative CIosest Point (ICPSlicer) algorithm source

Hi all,
i’m trying to figure out if the ICP implemented in slicer is the standard ICP algorithm or some kind of modified ICP algorithm. The standard ICP algorithm lacks in some important aspects that will increase the registration error. As so, i intended to improve surface registration accuracy and for that i have to know the source algorithm of ICP implemented in slicer in order to compare the results.
Does anybody know if the ICPSlicer algorithm is the standard algorithm? Or if there’s other algorithm implemented in slicer that is an optimized version of standard ICP to improve accuracy?

Thanks for you attention.

Which module(s) are you referring to?

Maybe you want this info:

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