Hi Alexey,

The georeferenced point cloud (A) is in UTM (51N). I exported the others in local coordinates (m). Then in CloudCompare, the transformation matrix looks like this:

1.103528 -0.441145 1.498212 -1620.791138

1.553641 0.497434 -0.997887 -492.023804

-0.159516 1.793034 0.645449 -385.839966

0.000000 0.000000 0.000000 1.000000

Because CloudCompare has applied a global shift to the georeferenced point cloud, I then add back in the global shift to the translation component (rightmost column). So the final matrix that I put in looks like:

1.103528 -0.441145 1.498212 351379.208862

1.553641 0.497434 -0.997887 2673507.976196

-0.159516 1.793034 0.645449 -385.839966

0.000000 0.000000 0.000000 1.000000

This means that I end up with a point cloud that appears to have the correct rotation, and the coordinates are close to UTM, but are all off by ~1-100 m. My guess was that Cloud Compare and Agisoft treat the scale differently in the transformation matrix (as each measured object is consistently off by about 30%), but I haven't been able to figure out exactly why.

I've been trying to do that debugging as well, but could you clarify what each of the components mean? Based on another of your posts:

http://www.agisoft.com/forum/index.php?topic=1322.msg15758#msg15758, I can see that the top left 3x3 matrix deals with rotation (1a-3c in the example matrix below). But can you clarify what the other components mean?

1a 1b 1c 1d

2a 2b 2c 2d

3a 3b 3c 3d

4a 4b 4c 4d

Thank you!