From 95a231d02411903e70d65f75c2973f692c9f8782 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Sun, 23 Nov 2025 10:36:38 +0300
Subject: [PATCH 01/56] build-test-linux-vcpkg: remove skip_mrbind

---
 .github/workflows/build-test-linux-vcpkg.yml | 19 +++++++++----------
 1 file changed, 9 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index eaa930893832..20c16c1e542e 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -74,7 +74,6 @@ jobs:
             os: ubuntu-24.04-arm
           - arch: arm64
             compiler: GCC 11
-            skip_mrbind: true # GCC + ARM64 build has unresolved problems
     permissions:
       id-token: write # This is required for requesting the JWT
       contents: read  # This is required for actions/checkout
@@ -121,7 +120,7 @@ jobs:
           git submodule update --init --recursive --depth 1 thirdparty/imgui thirdparty/mrbind-pybind11 thirdparty/mrbind
 
       - name: Install MRBind
-        if: ${{ (inputs.mrbind || inputs.mrbind_c) && !matrix.skip_mrbind }}
+        if: ${{ inputs.mrbind || inputs.mrbind_c }}
         run: scripts/mrbind/install_mrbind_rockylinux.sh
 
       - name: Create virtualenv
@@ -136,7 +135,7 @@ jobs:
         run: python3 -m pip install -r ./requirements/python.txt
 
       - name: Generate C bindings
-        if: ${{ inputs.mrbind_c && !matrix.skip_mrbind }}
+        if: ${{ inputs.mrbind_c }}
         env:
           CXX: ${{ matrix.cxx-compiler }}
         run: make -f scripts/mrbind/generate.mk -B --trace TARGET=c DEPS_BASE_DIR=/opt/vcpkg/installed/${{ matrix.arch }}-linux-meshlib CXX_FOR_BINDINGS=/usr/bin/clang++
@@ -154,11 +153,11 @@ jobs:
             -DMR_CXX_STANDARD=${{ matrix.cxx-standard }}
             -DMR_PCH_USE_EXTRA_HEADERS=ON
             -DCMAKE_CUDA_HOST_COMPILER=/opt/rh/gcc-toolset-11/root/usr/bin/g++
-            -DMESHLIB_BUILD_GENERATED_C_BINDINGS=${{ fromJSON('["OFF", "ON"]')[inputs.mrbind_c && !matrix.skip_mrbind] }}
+            -DMESHLIB_BUILD_GENERATED_C_BINDINGS=${{ fromJSON('["OFF", "ON"]')[inputs.mrbind_c] }}
             -DMRVIEWER_NO_GTK=ON
 
       - name: Generate and build Python bindings
-        if: ${{ inputs.mrbind && !matrix.skip_mrbind }}
+        if: ${{ inputs.mrbind }}
         env:
           CXX: ${{ matrix.cxx-compiler }}
         run: make -f scripts/mrbind/generate.mk MODE=none -B --trace MESHLIB_SHLIB_DIR=build/${{matrix.config}}/bin CXX_FOR_BINDINGS=/usr/bin/clang++ DEPS_BASE_DIR=/opt/vcpkg/installed/${{ matrix.arch }}-linux-meshlib
@@ -178,27 +177,27 @@ jobs:
         run: xvfb-run -a ./build/${{ matrix.config }}/bin/MeshViewer -hidden -noEventLoop -unloadPluginsAtEnd
 
       - name: Unit Tests
-        run: ./build/${{ matrix.config }}/bin/MRTest ${{ matrix.skip_mrbind && '--no-python-tests' || '' }}
+        run: ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)
         run: ./build/${{ matrix.config }}/bin/MRTestC
 
       - name: C Unit Tests
-        if: ${{ inputs.mrbind_c && !matrix.skip_mrbind }}
+        if: ${{ inputs.mrbind_c }}
         run: ./build/${{ matrix.config }}/bin/MRTestC2
 
       - name: Python Sanity Tests
-        if: ${{ inputs.mrbind && !matrix.skip_mrbind }}
+        if: ${{ inputs.mrbind }}
         timeout-minutes: 8
         working-directory: ./build/${{ matrix.config }}/bin
         run: python3 ./../../../scripts/run_python_test_script.py -d '../test_python'
 
       - name: Python Regression Tests
-        if: ${{ inputs.internal_build && inputs.mrbind && !matrix.skip_mrbind }}
+        if: ${{ inputs.internal_build && inputs.mrbind }}
         uses: ./.github/actions/python-regression-tests
         with:
           build_config: ${{ matrix.config }}
-          mrbind: ${{ inputs.mrbind && !matrix.skip_mrbind }}
+          mrbind: ${{ inputs.mrbind }}
           pytest_args: "--run-cuda=negative"
           smoke: ${{ !inputs.full_config_build && matrix.config == 'Debug' }}
           test_artifacts_path: linux-vcpkg-${{ matrix.arch }}/${{ matrix.config }}/${{ matrix.compiler }}

From 4f61b4d2bd275849c05b07b8298d1dfdb311f95d Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Sun, 23 Nov 2025 20:24:57 +0300
Subject: [PATCH 02/56] debug logging

---
 source/MRMesh/MRICP.cpp | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 2cbd12f83a2c..fb2a315bb06d 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -7,6 +7,7 @@
 #include "MRQuaternion.h"
 #include "MRBestFit.h"
 #include "MRBitSetParallelFor.h"
+#include "MRStreamOperators.h"
 #include <numeric>
 
 namespace MR
@@ -117,6 +118,8 @@ void ICP::updatePointPairs()
     MR::updatePointPairs( flt2refPairs_, flt_, ref_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     MR::updatePointPairs( ref2fltPairs_, ref_, flt_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     deactivatefarDistPairs_();
+    std::cout << "flt2refPairs_.active=" << MR::getNumActivePairs( flt2refPairs_ ) << std::endl;
+    std::cout << "ref2fltPairs_.active=" << MR::getNumActivePairs( ref2fltPairs_ ) << std::endl;
 }
 
 std::string getICPStatusInfo( int iterations, ICPExitType exitType )
@@ -378,15 +381,32 @@ bool ICP::p2plIter_()
 
 AffineXf3f ICP::calculateTransformation()
 {
+    std::cout << "method=" << (int)prop_.method << '\n';
+    std::cout << "p2plAngleLimit=" << prop_.p2plAngleLimit << '\n';
+    std::cout << "p2plScaleLimit=" << prop_.p2plScaleLimit << '\n';
+    std::cout << "cosThreshold=" << prop_.cosThreshold << '\n';
+    std::cout << "distThresholdSq=" << prop_.distThresholdSq << '\n';
+    std::cout << "farDistFactor=" << prop_.farDistFactor << '\n';
+    std::cout << "icpMode=" << (int)prop_.icpMode << '\n';
+    std::cout << "fixedRotationAxis=" << prop_.fixedRotationAxis << '\n';
+    std::cout << "iterLimit=" << prop_.iterLimit << '\n';
+    std::cout << "badIterStopCount=" << prop_.badIterStopCount << '\n';
+    std::cout << "exitVal=" << prop_.exitVal << '\n';
+    std::cout << "mutualClosest=" << prop_.mutualClosest << std::endl;
+
     float minDist = std::numeric_limits<float>::max();
     int badIterCount = 0;
     resultType_ = ICPExitType::MaxIterations;
     AffineXf3f resXf = flt_.xf;
     for ( iter_ = 1; iter_ <= prop_.iterLimit; ++iter_ )
     {
+        std::cout << "Iter #" << iter_ << '\n';
+        std::cout << "ref_.xf:\n" << ref_.xf << '\n';
+        std::cout << "flt_.xf:\n" << flt_.xf << std::endl;
         updatePointPairs();
         const bool pt2pt = ( prop_.method == ICPMethod::Combined && iter_ < 3 )
             || prop_.method == ICPMethod::PointToPoint;
+        std::cout << "pt2pt=" << pt2pt << std::endl;
 
         if ( iter_ == 1 )
             minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane(); // update initial metric before doing iteration
@@ -398,6 +418,7 @@ AffineXf3f ICP::calculateTransformation()
         }
 
         const float curDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
+        std::cout << "curDist=" << curDist << std::endl;
 
         // exit if several(3) iterations didn't decrease minimization parameter
         if (curDist < minDist)

From 7991f2036f391a5d2ac5b6168f38fcc7abf9b9de Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Sun, 23 Nov 2025 21:08:17 +0300
Subject: [PATCH 03/56] #include <iostream>

---
 source/MRMesh/MRICP.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index fb2a315bb06d..ab9a2e96aa49 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -9,6 +9,7 @@
 #include "MRBitSetParallelFor.h"
 #include "MRStreamOperators.h"
 #include <numeric>
+#include <iostream>
 
 namespace MR
 {

From b99742ac572a25f5fa280ba0f2cf636d7fbfb93b Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Sun, 23 Nov 2025 22:00:01 +0300
Subject: [PATCH 04/56] log minDist

---
 source/MRMesh/MRICP.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index ab9a2e96aa49..d2da48044aba 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -410,7 +410,10 @@ AffineXf3f ICP::calculateTransformation()
         std::cout << "pt2pt=" << pt2pt << std::endl;
 
         if ( iter_ == 1 )
+        {
             minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane(); // update initial metric before doing iteration
+            std::cout << "minDist0=" << minDist << std::endl;
+        }
 
         if ( !( pt2pt ? p2ptIter_() : p2plIter_() ) )
         {
@@ -426,6 +429,7 @@ AffineXf3f ICP::calculateTransformation()
         {
             resXf = flt_.xf;
             minDist = curDist;
+            std::cout << "minDist=" << minDist << std::endl;
             badIterCount = 0;
 
             if ( prop_.exitVal > curDist )
@@ -444,6 +448,8 @@ AffineXf3f ICP::calculateTransformation()
             badIterCount++;
         }
     }
+    std::cout << "final minDist=" << minDist << std::endl;
+    std::cout << "resXf:\n" << resXf << std::endl;
     flt_.xf = resXf;
     return resXf;
 }

From be658e9a6af294869ae38096c0a7eec88ad7aca2 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 10:18:10 +0300
Subject: [PATCH 05/56] updatePointPairs before getMeanSqDistToPoint()

---
 source/MRMesh/MRICP.cpp | 17 ++++++++---------
 1 file changed, 8 insertions(+), 9 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index d2da48044aba..22e66a3f5e9e 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -395,31 +395,30 @@ AffineXf3f ICP::calculateTransformation()
     std::cout << "exitVal=" << prop_.exitVal << '\n';
     std::cout << "mutualClosest=" << prop_.mutualClosest << std::endl;
 
-    float minDist = std::numeric_limits<float>::max();
+    bool pt2pt = prop_.method == ICPMethod::Combined || prop_.method == ICPMethod::PointToPoint;
+    updatePointPairs();
+    float minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
+    std::cout << "minDist0=" << minDist << std::endl;
+
     int badIterCount = 0;
     resultType_ = ICPExitType::MaxIterations;
     AffineXf3f resXf = flt_.xf;
+
     for ( iter_ = 1; iter_ <= prop_.iterLimit; ++iter_ )
     {
         std::cout << "Iter #" << iter_ << '\n';
         std::cout << "ref_.xf:\n" << ref_.xf << '\n';
         std::cout << "flt_.xf:\n" << flt_.xf << std::endl;
-        updatePointPairs();
-        const bool pt2pt = ( prop_.method == ICPMethod::Combined && iter_ < 3 )
+        pt2pt = ( prop_.method == ICPMethod::Combined && iter_ < 3 )
             || prop_.method == ICPMethod::PointToPoint;
         std::cout << "pt2pt=" << pt2pt << std::endl;
 
-        if ( iter_ == 1 )
-        {
-            minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane(); // update initial metric before doing iteration
-            std::cout << "minDist0=" << minDist << std::endl;
-        }
-
         if ( !( pt2pt ? p2ptIter_() : p2plIter_() ) )
         {
             resultType_ = ICPExitType::NotFoundSolution;
             break;
         }
+        updatePointPairs();
 
         const float curDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
         std::cout << "curDist=" << curDist << std::endl;

From 7a57e8efb0cf6064db87891f8c3b7a1b7ceadbae Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 11:48:57 +0300
Subject: [PATCH 06/56] spdlog

---
 source/MRMesh/MRICP.cpp | 51 +++++++++++++++++++++++------------------
 1 file changed, 29 insertions(+), 22 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 22e66a3f5e9e..1969998627cc 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -8,8 +8,8 @@
 #include "MRBestFit.h"
 #include "MRBitSetParallelFor.h"
 #include "MRStreamOperators.h"
+#include "MRPch/MRSpdlog.h"
 #include <numeric>
-#include <iostream>
 
 namespace MR
 {
@@ -380,25 +380,32 @@ bool ICP::p2plIter_()
     return true;
 }
 
+static void logXf( const char* var, const AffineXf3f& xf )
+{
+    spdlog::info( "{} x: {} {} {} {}\n", var, xf.A.x.x, xf.A.x.y, xf.A.x.z, xf.b.x );
+    spdlog::info( "{} y: {} {} {} {}\n", var, xf.A.y.x, xf.A.y.y, xf.A.y.z, xf.b.y );
+    spdlog::info( "{} z: {} {} {} {}\n", var, xf.A.z.x, xf.A.z.y, xf.A.z.z, xf.b.z );
+}
+
 AffineXf3f ICP::calculateTransformation()
 {
-    std::cout << "method=" << (int)prop_.method << '\n';
-    std::cout << "p2plAngleLimit=" << prop_.p2plAngleLimit << '\n';
-    std::cout << "p2plScaleLimit=" << prop_.p2plScaleLimit << '\n';
-    std::cout << "cosThreshold=" << prop_.cosThreshold << '\n';
-    std::cout << "distThresholdSq=" << prop_.distThresholdSq << '\n';
-    std::cout << "farDistFactor=" << prop_.farDistFactor << '\n';
-    std::cout << "icpMode=" << (int)prop_.icpMode << '\n';
-    std::cout << "fixedRotationAxis=" << prop_.fixedRotationAxis << '\n';
-    std::cout << "iterLimit=" << prop_.iterLimit << '\n';
-    std::cout << "badIterStopCount=" << prop_.badIterStopCount << '\n';
-    std::cout << "exitVal=" << prop_.exitVal << '\n';
-    std::cout << "mutualClosest=" << prop_.mutualClosest << std::endl;
+    spdlog::info( "method = {}\n", ( int )prop_.method );
+    spdlog::info( "p2plAngleLimit = {}\n", prop_.p2plAngleLimit );
+    spdlog::info( "p2plScaleLimit = {}\n", prop_.p2plScaleLimit );
+    spdlog::info( "cosThreshold = {}\n", prop_.cosThreshold );
+    spdlog::info( "distThresholdSq = {}\n", prop_.distThresholdSq );
+    spdlog::info( "farDistFactor = {}\n", prop_.farDistFactor );
+    spdlog::info( "icpMode = {}\n", (int)prop_.icpMode );
+    spdlog::info( "fixedRotationAxis = {} {} {}\n", prop_.fixedRotationAxis.x, prop_.fixedRotationAxis.y, prop_.fixedRotationAxis.z );
+    spdlog::info( "iterLimit = {}\n", prop_.iterLimit );
+    spdlog::info( "badIterStopCount = {}\n", prop_.badIterStopCount );
+    spdlog::info( "exitVal = {}\n", prop_.exitVal );
+    spdlog::info( "mutualClosest = {}\n", prop_.mutualClosest );
 
     bool pt2pt = prop_.method == ICPMethod::Combined || prop_.method == ICPMethod::PointToPoint;
     updatePointPairs();
     float minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
-    std::cout << "minDist0=" << minDist << std::endl;
+    spdlog::info( "minDist0 = {}\n", minDist );
 
     int badIterCount = 0;
     resultType_ = ICPExitType::MaxIterations;
@@ -406,12 +413,12 @@ AffineXf3f ICP::calculateTransformation()
 
     for ( iter_ = 1; iter_ <= prop_.iterLimit; ++iter_ )
     {
-        std::cout << "Iter #" << iter_ << '\n';
-        std::cout << "ref_.xf:\n" << ref_.xf << '\n';
-        std::cout << "flt_.xf:\n" << flt_.xf << std::endl;
+        spdlog::info( "Iter #{}\n", iter_ );
+        logXf( "ref_.xf", ref_.xf );
+        logXf( "flt_.xf", flt_.xf );
         pt2pt = ( prop_.method == ICPMethod::Combined && iter_ < 3 )
             || prop_.method == ICPMethod::PointToPoint;
-        std::cout << "pt2pt=" << pt2pt << std::endl;
+        spdlog::info( "pt2pt = {}\n", pt2pt );
 
         if ( !( pt2pt ? p2ptIter_() : p2plIter_() ) )
         {
@@ -421,14 +428,14 @@ AffineXf3f ICP::calculateTransformation()
         updatePointPairs();
 
         const float curDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
-        std::cout << "curDist=" << curDist << std::endl;
+        spdlog::info( "curDist = {}\n", curDist );
 
         // exit if several(3) iterations didn't decrease minimization parameter
         if (curDist < minDist)
         {
             resXf = flt_.xf;
             minDist = curDist;
-            std::cout << "minDist=" << minDist << std::endl;
+            spdlog::info( "minDist = {}\n", minDist );
             badIterCount = 0;
 
             if ( prop_.exitVal > curDist )
@@ -447,8 +454,8 @@ AffineXf3f ICP::calculateTransformation()
             badIterCount++;
         }
     }
-    std::cout << "final minDist=" << minDist << std::endl;
-    std::cout << "resXf:\n" << resXf << std::endl;
+    spdlog::info( "minDist1 = {}\n", minDist );
+    logXf( "resXf", resXf );
     flt_.xf = resXf;
     return resXf;
 }

From bcb076615f55f4c1d789c09372429cfb97113d8b Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 11:58:42 +0300
Subject: [PATCH 07/56] more

---
 source/MRMesh/MRICP.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 1969998627cc..ab612bf87b05 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -119,8 +119,8 @@ void ICP::updatePointPairs()
     MR::updatePointPairs( flt2refPairs_, flt_, ref_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     MR::updatePointPairs( ref2fltPairs_, ref_, flt_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     deactivatefarDistPairs_();
-    std::cout << "flt2refPairs_.active=" << MR::getNumActivePairs( flt2refPairs_ ) << std::endl;
-    std::cout << "ref2fltPairs_.active=" << MR::getNumActivePairs( ref2fltPairs_ ) << std::endl;
+    spdlog::info( "flt2refPairs_.active = {}\n", MR::getNumActivePairs( flt2refPairs_ ) );
+    spdlog::info( "ref2fltPairs_.active = {}\n", MR::getNumActivePairs( ref2fltPairs_ ) );
 }
 
 std::string getICPStatusInfo( int iterations, ICPExitType exitType )

From 86e090ed5e7804c3ca8b35102c77c70ce511dfe8 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 12:25:47 +0300
Subject: [PATCH 08/56] remove \n

---
 source/MRMesh/MRICP.cpp | 46 ++++++++++++++++++++---------------------
 1 file changed, 23 insertions(+), 23 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index ab612bf87b05..627a98e47fb6 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -119,8 +119,8 @@ void ICP::updatePointPairs()
     MR::updatePointPairs( flt2refPairs_, flt_, ref_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     MR::updatePointPairs( ref2fltPairs_, ref_, flt_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     deactivatefarDistPairs_();
-    spdlog::info( "flt2refPairs_.active = {}\n", MR::getNumActivePairs( flt2refPairs_ ) );
-    spdlog::info( "ref2fltPairs_.active = {}\n", MR::getNumActivePairs( ref2fltPairs_ ) );
+    spdlog::info( "flt2refPairs_.active = {}", MR::getNumActivePairs( flt2refPairs_ ) );
+    spdlog::info( "ref2fltPairs_.active = {}", MR::getNumActivePairs( ref2fltPairs_ ) );
 }
 
 std::string getICPStatusInfo( int iterations, ICPExitType exitType )
@@ -382,30 +382,30 @@ bool ICP::p2plIter_()
 
 static void logXf( const char* var, const AffineXf3f& xf )
 {
-    spdlog::info( "{} x: {} {} {} {}\n", var, xf.A.x.x, xf.A.x.y, xf.A.x.z, xf.b.x );
-    spdlog::info( "{} y: {} {} {} {}\n", var, xf.A.y.x, xf.A.y.y, xf.A.y.z, xf.b.y );
-    spdlog::info( "{} z: {} {} {} {}\n", var, xf.A.z.x, xf.A.z.y, xf.A.z.z, xf.b.z );
+    spdlog::info( "{} x: {} {} {} {}", var, xf.A.x.x, xf.A.x.y, xf.A.x.z, xf.b.x );
+    spdlog::info( "{} y: {} {} {} {}", var, xf.A.y.x, xf.A.y.y, xf.A.y.z, xf.b.y );
+    spdlog::info( "{} z: {} {} {} {}", var, xf.A.z.x, xf.A.z.y, xf.A.z.z, xf.b.z );
 }
 
 AffineXf3f ICP::calculateTransformation()
 {
-    spdlog::info( "method = {}\n", ( int )prop_.method );
-    spdlog::info( "p2plAngleLimit = {}\n", prop_.p2plAngleLimit );
-    spdlog::info( "p2plScaleLimit = {}\n", prop_.p2plScaleLimit );
-    spdlog::info( "cosThreshold = {}\n", prop_.cosThreshold );
-    spdlog::info( "distThresholdSq = {}\n", prop_.distThresholdSq );
-    spdlog::info( "farDistFactor = {}\n", prop_.farDistFactor );
-    spdlog::info( "icpMode = {}\n", (int)prop_.icpMode );
-    spdlog::info( "fixedRotationAxis = {} {} {}\n", prop_.fixedRotationAxis.x, prop_.fixedRotationAxis.y, prop_.fixedRotationAxis.z );
-    spdlog::info( "iterLimit = {}\n", prop_.iterLimit );
-    spdlog::info( "badIterStopCount = {}\n", prop_.badIterStopCount );
-    spdlog::info( "exitVal = {}\n", prop_.exitVal );
-    spdlog::info( "mutualClosest = {}\n", prop_.mutualClosest );
+    spdlog::info( "method = {}", ( int )prop_.method );
+    spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );
+    spdlog::info( "p2plScaleLimit = {}", prop_.p2plScaleLimit );
+    spdlog::info( "cosThreshold = {}", prop_.cosThreshold );
+    spdlog::info( "distThresholdSq = {}", prop_.distThresholdSq );
+    spdlog::info( "farDistFactor = {}", prop_.farDistFactor );
+    spdlog::info( "icpMode = {}", (int)prop_.icpMode );
+    spdlog::info( "fixedRotationAxis = {} {} {}", prop_.fixedRotationAxis.x, prop_.fixedRotationAxis.y, prop_.fixedRotationAxis.z );
+    spdlog::info( "iterLimit = {}", prop_.iterLimit );
+    spdlog::info( "badIterStopCount = {}", prop_.badIterStopCount );
+    spdlog::info( "exitVal = {}", prop_.exitVal );
+    spdlog::info( "mutualClosest = {}", prop_.mutualClosest );
 
     bool pt2pt = prop_.method == ICPMethod::Combined || prop_.method == ICPMethod::PointToPoint;
     updatePointPairs();
     float minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
-    spdlog::info( "minDist0 = {}\n", minDist );
+    spdlog::info( "minDist0 = {}", minDist );
 
     int badIterCount = 0;
     resultType_ = ICPExitType::MaxIterations;
@@ -413,12 +413,12 @@ AffineXf3f ICP::calculateTransformation()
 
     for ( iter_ = 1; iter_ <= prop_.iterLimit; ++iter_ )
     {
-        spdlog::info( "Iter #{}\n", iter_ );
+        spdlog::info( "Iter #{}", iter_ );
         logXf( "ref_.xf", ref_.xf );
         logXf( "flt_.xf", flt_.xf );
         pt2pt = ( prop_.method == ICPMethod::Combined && iter_ < 3 )
             || prop_.method == ICPMethod::PointToPoint;
-        spdlog::info( "pt2pt = {}\n", pt2pt );
+        spdlog::info( "pt2pt = {}", pt2pt );
 
         if ( !( pt2pt ? p2ptIter_() : p2plIter_() ) )
         {
@@ -428,14 +428,14 @@ AffineXf3f ICP::calculateTransformation()
         updatePointPairs();
 
         const float curDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
-        spdlog::info( "curDist = {}\n", curDist );
+        spdlog::info( "curDist = {}", curDist );
 
         // exit if several(3) iterations didn't decrease minimization parameter
         if (curDist < minDist)
         {
             resXf = flt_.xf;
             minDist = curDist;
-            spdlog::info( "minDist = {}\n", minDist );
+            spdlog::info( "minDist = {}", minDist );
             badIterCount = 0;
 
             if ( prop_.exitVal > curDist )
@@ -454,7 +454,7 @@ AffineXf3f ICP::calculateTransformation()
             badIterCount++;
         }
     }
-    spdlog::info( "minDist1 = {}\n", minDist );
+    spdlog::info( "minDist1 = {}", minDist );
     logXf( "resXf", resXf );
     flt_.xf = resXf;
     return resXf;

From 14efa44eb8d5062b09915a1d7ce8ba2de8f274b7 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 13:07:34 +0300
Subject: [PATCH 09/56] setupLoggerByDefault

---
 source/MRMesh/MRICP.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 627a98e47fb6..b1fd33fcc1bc 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -10,6 +10,7 @@
 #include "MRStreamOperators.h"
 #include "MRPch/MRSpdlog.h"
 #include <numeric>
+#include "MRSystem.h"
 
 namespace MR
 {
@@ -389,6 +390,8 @@ static void logXf( const char* var, const AffineXf3f& xf )
 
 AffineXf3f ICP::calculateTransformation()
 {
+    static bool init = []{ MR::setupLoggerByDefault(); return true; }();
+
     spdlog::info( "method = {}", ( int )prop_.method );
     spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );
     spdlog::info( "p2plScaleLimit = {}", prop_.p2plScaleLimit );

From 2d1c788832f9a4c6f8162ac39696aeaff7559beb Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 13:17:56 +0300
Subject: [PATCH 10/56] [[maybe_unused]]

---
 source/MRMesh/MRICP.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index b1fd33fcc1bc..199c6d252f4a 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -390,7 +390,7 @@ static void logXf( const char* var, const AffineXf3f& xf )
 
 AffineXf3f ICP::calculateTransformation()
 {
-    static bool init = []{ MR::setupLoggerByDefault(); return true; }();
+    [[maybe_unused]] static bool init = []{ MR::setupLoggerByDefault(); return true; }();
 
     spdlog::info( "method = {}", ( int )prop_.method );
     spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );

From f810f95b340ce6220d1368e92e16a1f9a71dc525 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Mon, 24 Nov 2025 13:43:49 +0300
Subject: [PATCH 11/56] simple call

---
 source/MRMesh/MRICP.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 199c6d252f4a..ac551e3f6f51 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -390,7 +390,7 @@ static void logXf( const char* var, const AffineXf3f& xf )
 
 AffineXf3f ICP::calculateTransformation()
 {
-    [[maybe_unused]] static bool init = []{ MR::setupLoggerByDefault(); return true; }();
+    MR::setupLoggerByDefault();
 
     spdlog::info( "method = {}", ( int )prop_.method );
     spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );

From 4498f46eac77fee8e49a6356a8b86a447cac99f6 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 10:17:18 +0300
Subject: [PATCH 12/56] rounding and stacktrace

---
 source/MRMesh/MRICP.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index ac551e3f6f51..532fc8842036 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -11,6 +11,7 @@
 #include "MRPch/MRSpdlog.h"
 #include <numeric>
 #include "MRSystem.h"
+#include <fenv.h>
 
 namespace MR
 {
@@ -391,6 +392,10 @@ static void logXf( const char* var, const AffineXf3f& xf )
 AffineXf3f ICP::calculateTransformation()
 {
     MR::setupLoggerByDefault();
+    spdlog::info( "fegetround() = {}", fegetround() );
+#ifndef __EMSCRIPTEN__
+    spdlog::info( "stacktrace:\n{}", getCurrentStacktrace() );
+#endif
 
     spdlog::info( "method = {}", ( int )prop_.method );
     spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );

From 7ca1778e826d9346c300d86f693b25595cbdd7f5 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 11:59:04 +0300
Subject: [PATCH 13/56] more logs, no parallel

---
 source/MRMesh/MRICP.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 532fc8842036..1172abb06af3 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -172,7 +172,8 @@ void updatePointPairs( PointPairs & pairs,
     pairs.active.resize( pairs.vec.size(), true );
 
     // calculate pairs
-    BitSetParallelForAll( pairs.active, [&] ( size_t idx )
+    //BitSetParallelForAll( pairs.active, [&] ( size_t idx )
+    for( size_t idx : pairs.active )
     {
         auto & res = pairs.vec[idx];
         const auto p0 = srcPoints[res.srcVertId];
@@ -226,7 +227,7 @@ void updatePointPairs( PointPairs & pairs,
             if ( prj.closestVert != res.srcVertId )
                 pairs.active.reset( idx );
         }
-    } );
+    }// );
 }
 
 void ICP::deactivatefarDistPairs_()
@@ -237,6 +238,7 @@ void ICP::deactivatefarDistPairs_()
     {
         const auto avgDist = getMeanSqDistToPoint();
         const auto maxDistSq = sqr( prop_.farDistFactor * avgDist );
+        spdlog::info( "avgDist = {}, maxDistSq = {}", avgDist, maxDistSq );
         if ( maxDistSq >= prop_.distThresholdSq )
             break;
 
@@ -396,6 +398,14 @@ AffineXf3f ICP::calculateTransformation()
 #ifndef __EMSCRIPTEN__
     spdlog::info( "stacktrace:\n{}", getCurrentStacktrace() );
 #endif
+    auto* refMeshPart = ref_.obj.asMeshPart();
+    auto* fltMeshPart = flt_.obj.asMeshPart();
+    spdlog::info( "ref mesh = {}, flt mesh = {}", refMeshPart != nullptr, fltMeshPart != nullptr );
+    if ( refMeshPart && fltMeshPart )
+    {
+        spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
+        spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
+    }
 
     spdlog::info( "method = {}", ( int )prop_.method );
     spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );

From 2f29788f5d66fa7262b233405b1d000c1876a8ed Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 12:26:10 +0300
Subject: [PATCH 14/56] fix seq

---
 source/MRMesh/MRICP.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 1172abb06af3..c6f45684f517 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -198,7 +198,7 @@ void updatePointPairs( PointPairs & pairs,
         {
             // no target point found within distance threshold
             pairs.active.reset( idx );
-            return;
+            continue;
         }
         const auto p1 = prj.point;
 
@@ -217,7 +217,7 @@ void updatePointPairs( PointPairs & pairs,
         if ( prj.isBd || vp.normalsAngleCos < cosThreshold || vp.distSq > distThresholdSq )
         {
             pairs.active.reset( idx );
-            return;
+            continue;
         }
         if ( mutualClosest )
         {

From ea634f376695eb6154a36e9a583ba05c3c258cca Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 13:16:11 +0300
Subject: [PATCH 15/56] caches, both distances

---
 source/MRMesh/MRICP.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index c6f45684f517..cf9ba9bd7349 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -405,6 +405,8 @@ AffineXf3f ICP::calculateTransformation()
     {
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
+        const_cast<Mesh&>(refMeshPart->mesh).invalidateCaches();
+        const_cast<Mesh&>(fltMeshPart->mesh).invalidateCaches();
     }
 
     spdlog::info( "method = {}", ( int )prop_.method );
@@ -422,6 +424,8 @@ AffineXf3f ICP::calculateTransformation()
 
     bool pt2pt = prop_.method == ICPMethod::Combined || prop_.method == ICPMethod::PointToPoint;
     updatePointPairs();
+    spdlog::info( "getMeanSqDistToPoint = {}", getMeanSqDistToPoint() );
+    spdlog::info( "getMeanSqDistToPlane = {}", getMeanSqDistToPlane() );
     float minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();
     spdlog::info( "minDist0 = {}", minDist );
 

From e769ee61204d01b3f9001334cfc6061de7024610 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 15:32:08 +0300
Subject: [PATCH 16/56] point-to-point

---
 source/MRTest/MRICPTests.cpp |  3 ++-
 test_python/test_icp.py      | 25 +++++++++++++------------
 2 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/source/MRTest/MRICPTests.cpp b/source/MRTest/MRICPTests.cpp
index 8e4d372b770f..1e44600fb888 100644
--- a/source/MRTest/MRICPTests.cpp
+++ b/source/MRTest/MRICPTests.cpp
@@ -24,13 +24,14 @@ TEST( MRMesh, ICPTorus )
 
     ICPProperties props
     {
+        .method = ICPMethod::PointToPoint,
         .iterLimit = 20
     };
     icp.setParams( props );
     auto newXf = icp.calculateTransformation();
     std::cout << icp.getStatusInfo() << '\n';
 
-    constexpr float eps = 1e-6f;
+    constexpr float eps = 1e-3f;
     EXPECT_NEAR( ( newXf.A - Matrix3f::identity() ).norm(), 0., eps );
     EXPECT_NEAR( newXf.b.length(), 0., eps );
 }
diff --git a/test_python/test_icp.py b/test_python/test_icp.py
index 08e981eea5ee..27d95b99dd09 100644
--- a/test_python/test_icp.py
+++ b/test_python/test_icp.py
@@ -23,6 +23,7 @@ def test_icp():
 
     props = mrmesh.ICPProperties()
     props.iterLimit = 20
+    props.method = mrmesh.ICPMethod.PointToPoint
     icp.setParams(props)
     newXf = icp.calculateTransformation()
     print(icp.getStatusInfo())
@@ -31,18 +32,18 @@ def test_icp():
     diffXf.A -= newXf.A
     diffXf.b -= newXf.b
 
-    assert abs(diffXf.A.x.x) < 1e-6
-    assert abs(diffXf.A.x.y) < 1e-6
-    assert abs(diffXf.A.x.z) < 1e-6
+    assert abs(diffXf.A.x.x) < 1e-3
+    assert abs(diffXf.A.x.y) < 1e-3
+    assert abs(diffXf.A.x.z) < 1e-3
 
-    assert abs(diffXf.A.y.x) < 1e-6
-    assert abs(diffXf.A.y.y) < 1e-6
-    assert abs(diffXf.A.y.z) < 1e-6
+    assert abs(diffXf.A.y.x) < 1e-3
+    assert abs(diffXf.A.y.y) < 1e-3
+    assert abs(diffXf.A.y.z) < 1e-3
 
-    assert abs(diffXf.A.z.x) < 1e-6
-    assert abs(diffXf.A.z.y) < 1e-6
-    assert abs(diffXf.A.z.z) < 1e-6
+    assert abs(diffXf.A.z.x) < 1e-3
+    assert abs(diffXf.A.z.y) < 1e-3
+    assert abs(diffXf.A.z.z) < 1e-3
 
-    assert abs(diffXf.b.x) < 1e-6
-    assert abs(diffXf.b.y) < 1e-6
-    assert abs(diffXf.b.z) < 1e-6
+    assert abs(diffXf.b.x) < 1e-3
+    assert abs(diffXf.b.y) < 1e-3
+    assert abs(diffXf.b.z) < 1e-3

From 0cc719784a951a7e5aa1baefd9a8a588b532a537 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 16:21:27 +0300
Subject: [PATCH 17/56] Revert "point-to-point"

This reverts commit e769ee61204d01b3f9001334cfc6061de7024610.
---
 source/MRTest/MRICPTests.cpp |  3 +--
 test_python/test_icp.py      | 25 ++++++++++++-------------
 2 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/source/MRTest/MRICPTests.cpp b/source/MRTest/MRICPTests.cpp
index 1e44600fb888..8e4d372b770f 100644
--- a/source/MRTest/MRICPTests.cpp
+++ b/source/MRTest/MRICPTests.cpp
@@ -24,14 +24,13 @@ TEST( MRMesh, ICPTorus )
 
     ICPProperties props
     {
-        .method = ICPMethod::PointToPoint,
         .iterLimit = 20
     };
     icp.setParams( props );
     auto newXf = icp.calculateTransformation();
     std::cout << icp.getStatusInfo() << '\n';
 
-    constexpr float eps = 1e-3f;
+    constexpr float eps = 1e-6f;
     EXPECT_NEAR( ( newXf.A - Matrix3f::identity() ).norm(), 0., eps );
     EXPECT_NEAR( newXf.b.length(), 0., eps );
 }
diff --git a/test_python/test_icp.py b/test_python/test_icp.py
index 27d95b99dd09..08e981eea5ee 100644
--- a/test_python/test_icp.py
+++ b/test_python/test_icp.py
@@ -23,7 +23,6 @@ def test_icp():
 
     props = mrmesh.ICPProperties()
     props.iterLimit = 20
-    props.method = mrmesh.ICPMethod.PointToPoint
     icp.setParams(props)
     newXf = icp.calculateTransformation()
     print(icp.getStatusInfo())
@@ -32,18 +31,18 @@ def test_icp():
     diffXf.A -= newXf.A
     diffXf.b -= newXf.b
 
-    assert abs(diffXf.A.x.x) < 1e-3
-    assert abs(diffXf.A.x.y) < 1e-3
-    assert abs(diffXf.A.x.z) < 1e-3
+    assert abs(diffXf.A.x.x) < 1e-6
+    assert abs(diffXf.A.x.y) < 1e-6
+    assert abs(diffXf.A.x.z) < 1e-6
 
-    assert abs(diffXf.A.y.x) < 1e-3
-    assert abs(diffXf.A.y.y) < 1e-3
-    assert abs(diffXf.A.y.z) < 1e-3
+    assert abs(diffXf.A.y.x) < 1e-6
+    assert abs(diffXf.A.y.y) < 1e-6
+    assert abs(diffXf.A.y.z) < 1e-6
 
-    assert abs(diffXf.A.z.x) < 1e-3
-    assert abs(diffXf.A.z.y) < 1e-3
-    assert abs(diffXf.A.z.z) < 1e-3
+    assert abs(diffXf.A.z.x) < 1e-6
+    assert abs(diffXf.A.z.y) < 1e-6
+    assert abs(diffXf.A.z.z) < 1e-6
 
-    assert abs(diffXf.b.x) < 1e-3
-    assert abs(diffXf.b.y) < 1e-3
-    assert abs(diffXf.b.z) < 1e-3
+    assert abs(diffXf.b.x) < 1e-6
+    assert abs(diffXf.b.y) < 1e-6
+    assert abs(diffXf.b.z) < 1e-6

From 6b93d9191c8b8fe9444d3b3a63a947bbdaac3d4c Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 16:29:15 +0300
Subject: [PATCH 18/56] logXfHex

---
 source/MRMesh/MRICP.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index cf9ba9bd7349..8e106f32cb77 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -391,6 +391,17 @@ static void logXf( const char* var, const AffineXf3f& xf )
     spdlog::info( "{} z: {} {} {} {}", var, xf.A.z.x, xf.A.z.y, xf.A.z.z, xf.b.z );
 }
 
+static void logXfHex( const char* var, const AffineXf3f& xf )
+{
+    auto d = [] ( float f )
+    {
+        return std::bit_cast<std::uint32_t>( f );
+    };
+    spdlog::info( "{} x: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.x.x ), d( xf.A.x.y ), d( xf.A.x.z ), d( xf.b.x ) );
+    spdlog::info( "{} y: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.y.x ), d( xf.A.y.y ), d( xf.A.y.z ), d( xf.b.y ) );
+    spdlog::info( "{} z: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.z.x ), d( xf.A.z.y ), d( xf.A.z.z ), d( xf.b.z ) );
+}
+
 AffineXf3f ICP::calculateTransformation()
 {
     MR::setupLoggerByDefault();
@@ -408,6 +419,8 @@ AffineXf3f ICP::calculateTransformation()
         const_cast<Mesh&>(refMeshPart->mesh).invalidateCaches();
         const_cast<Mesh&>(fltMeshPart->mesh).invalidateCaches();
     }
+    logXf( "flt_.xf", flt_.xf );
+    logXfHex( "flt_.xf", flt_.xf );
 
     spdlog::info( "method = {}", ( int )prop_.method );
     spdlog::info( "p2plAngleLimit = {}", prop_.p2plAngleLimit );

From 82a7ce33ea55f0e006f78f684610a6658cae6060 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 17:30:42 +0300
Subject: [PATCH 19/56] logPointPairs

---
 source/MRMesh/MRICP.cpp | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 8e106f32cb77..303fa924b21e 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -150,6 +150,21 @@ std::string getICPStatusInfo( int iterations, ICPExitType exitType )
     return result;
 }
 
+void logPointPairs( const PointPairs& pairs )
+{
+    for ( int i = 0; i < pairs.vec.size(); ++i )
+    {
+        const auto& pair = pairs.vec[i];
+        spdlog::info( "#{}: active={}, srcVertId={}, tgtCloseVert={}, srcPoint=({} {} {}), srcNorm=({} {} {}), tgtPoint=({} {} {}), tgtNorm=({} {} {}), distSq={}, weight={}, normalsAngleCos={}, tgtOnBd={}",
+            i, pairs.active.test( i ), (int)pair.srcVertId, (int)pair.tgtCloseVert,
+            pair.srcPoint.x, pair.srcPoint.y, pair.srcPoint.z,
+            pair.srcNorm.x, pair.srcNorm.y, pair.srcNorm.z,
+            pair.tgtPoint.x, pair.tgtPoint.y, pair.tgtPoint.z,
+            pair.tgtNorm.x, pair.tgtNorm.y, pair.tgtNorm.z,
+            pair.distSq, pair.weight, pair.normalsAngleCos, pair.tgtOnBd );
+    }
+}
+
 void updatePointPairs( PointPairs & pairs,
     const MeshOrPointsXf& src, const MeshOrPointsXf& tgt,
     float cosThreshold, float distThresholdSq, bool mutualClosest )
@@ -437,6 +452,11 @@ AffineXf3f ICP::calculateTransformation()
 
     bool pt2pt = prop_.method == ICPMethod::Combined || prop_.method == ICPMethod::PointToPoint;
     updatePointPairs();
+    spdlog::info( "flt2refPairs" );
+    logPointPairs( flt2refPairs_ );
+    spdlog::info( "ref2fltPairs" );
+    logPointPairs( ref2fltPairs_ );
+
     spdlog::info( "getMeanSqDistToPoint = {}", getMeanSqDistToPoint() );
     spdlog::info( "getMeanSqDistToPlane = {}", getMeanSqDistToPlane() );
     float minDist = pt2pt ? getMeanSqDistToPoint() : getMeanSqDistToPlane();

From 99eb480eecea8486d1a7d633076f744ecb973a2b Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 19:04:37 +0300
Subject: [PATCH 20/56] more xf logging

---
 source/MRMesh/MRICP.cpp | 52 ++++++++++++++++++++++++-----------------
 1 file changed, 30 insertions(+), 22 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 303fa924b21e..e69beae7b435 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -118,7 +118,9 @@ void ICP::sampleRefPoints( float samplingVoxelSize )
 void ICP::updatePointPairs()
 {
     MR_TIMER;
+    spdlog::info( "updatePointPairs flt->ref" );
     MR::updatePointPairs( flt2refPairs_, flt_, ref_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
+    spdlog::info( "updatePointPairs ref->flt" );
     MR::updatePointPairs( ref2fltPairs_, ref_, flt_, prop_.cosThreshold, prop_.distThresholdSq, prop_.mutualClosest );
     deactivatefarDistPairs_();
     spdlog::info( "flt2refPairs_.active = {}", MR::getNumActivePairs( flt2refPairs_ ) );
@@ -165,6 +167,24 @@ void logPointPairs( const PointPairs& pairs )
     }
 }
 
+static void logXf( const char* var, const AffineXf3f& xf )
+{
+    spdlog::info( "{} x: {} {} {} {}", var, xf.A.x.x, xf.A.x.y, xf.A.x.z, xf.b.x );
+    spdlog::info( "{} y: {} {} {} {}", var, xf.A.y.x, xf.A.y.y, xf.A.y.z, xf.b.y );
+    spdlog::info( "{} z: {} {} {} {}", var, xf.A.z.x, xf.A.z.y, xf.A.z.z, xf.b.z );
+}
+
+static void logXfHex( const char* var, const AffineXf3f& xf )
+{
+    auto d = [] ( float f )
+    {
+        return std::bit_cast< std::uint32_t >( f );
+    };
+    spdlog::info( "{} x: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.x.x ), d( xf.A.x.y ), d( xf.A.x.z ), d( xf.b.x ) );
+    spdlog::info( "{} y: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.y.x ), d( xf.A.y.y ), d( xf.A.y.z ), d( xf.b.y ) );
+    spdlog::info( "{} z: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.z.x ), d( xf.A.z.y ), d( xf.A.z.z ), d( xf.b.z ) );
+}
+
 void updatePointPairs( PointPairs & pairs,
     const MeshOrPointsXf& src, const MeshOrPointsXf& tgt,
     float cosThreshold, float distThresholdSq, bool mutualClosest )
@@ -172,6 +192,10 @@ void updatePointPairs( PointPairs & pairs,
     MR_TIMER;
     const auto src2tgtXf = tgt.xf.inverse() * src.xf;
     const auto tgt2srcXf = src.xf.inverse() * tgt.xf;
+    logXf( "src2tgtXf", src2tgtXf );
+    logXfHex( "src2tgtXf", src2tgtXf );
+    logXf( "tgt2srcXf", tgt2srcXf );
+    logXfHex( "tgt2srcXf", tgt2srcXf );
 
     const VertCoords& srcPoints = src.obj.points();
     const VertCoords& tgtPoints = tgt.obj.points();
@@ -399,24 +423,6 @@ bool ICP::p2plIter_()
     return true;
 }
 
-static void logXf( const char* var, const AffineXf3f& xf )
-{
-    spdlog::info( "{} x: {} {} {} {}", var, xf.A.x.x, xf.A.x.y, xf.A.x.z, xf.b.x );
-    spdlog::info( "{} y: {} {} {} {}", var, xf.A.y.x, xf.A.y.y, xf.A.y.z, xf.b.y );
-    spdlog::info( "{} z: {} {} {} {}", var, xf.A.z.x, xf.A.z.y, xf.A.z.z, xf.b.z );
-}
-
-static void logXfHex( const char* var, const AffineXf3f& xf )
-{
-    auto d = [] ( float f )
-    {
-        return std::bit_cast<std::uint32_t>( f );
-    };
-    spdlog::info( "{} x: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.x.x ), d( xf.A.x.y ), d( xf.A.x.z ), d( xf.b.x ) );
-    spdlog::info( "{} y: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.y.x ), d( xf.A.y.y ), d( xf.A.y.z ), d( xf.b.y ) );
-    spdlog::info( "{} z: {:08x} {:08x} {:08x} {:08x}", var, d( xf.A.z.x ), d( xf.A.z.y ), d( xf.A.z.z ), d( xf.b.z ) );
-}
-
 AffineXf3f ICP::calculateTransformation()
 {
     MR::setupLoggerByDefault();
@@ -434,6 +440,8 @@ AffineXf3f ICP::calculateTransformation()
         const_cast<Mesh&>(refMeshPart->mesh).invalidateCaches();
         const_cast<Mesh&>(fltMeshPart->mesh).invalidateCaches();
     }
+    logXf( "ref_.xf", ref_.xf );
+    logXfHex( "ref_.xf", ref_.xf );
     logXf( "flt_.xf", flt_.xf );
     logXfHex( "flt_.xf", flt_.xf );
 
@@ -452,10 +460,10 @@ AffineXf3f ICP::calculateTransformation()
 
     bool pt2pt = prop_.method == ICPMethod::Combined || prop_.method == ICPMethod::PointToPoint;
     updatePointPairs();
-    spdlog::info( "flt2refPairs" );
-    logPointPairs( flt2refPairs_ );
-    spdlog::info( "ref2fltPairs" );
-    logPointPairs( ref2fltPairs_ );
+    //spdlog::info( "flt2refPairs" );
+    //logPointPairs( flt2refPairs_ );
+    //spdlog::info( "ref2fltPairs" );
+    //logPointPairs( ref2fltPairs_ );
 
     spdlog::info( "getMeanSqDistToPoint = {}", getMeanSqDistToPoint() );
     spdlog::info( "getMeanSqDistToPlane = {}", getMeanSqDistToPlane() );

From 170de6b1aa34666fcf2402cbadffd4d621bb295e Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 20:12:09 +0300
Subject: [PATCH 21/56] edgeWithOrg

---
 source/MRMesh/MRICP.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index e69beae7b435..bac597b6da9e 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -437,8 +437,12 @@ AffineXf3f ICP::calculateTransformation()
     {
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
-        const_cast<Mesh&>(refMeshPart->mesh).invalidateCaches();
-        const_cast<Mesh&>(fltMeshPart->mesh).invalidateCaches();
+        const auto& refTopology = refMeshPart->mesh.topology;
+        const auto& fltTopology = fltMeshPart->mesh.topology;
+        for ( auto v = 0_v; v < refTopology.vertSize(); ++v )
+        {
+            spdlog::info( "{}_v: refE={} fltE={}", (int)v, (int)refTopology.edgeWithOrg( v ), (int)fltTopology.edgeWithOrg( v ) );
+        }
     }
     logXf( "ref_.xf", ref_.xf );
     logXfHex( "ref_.xf", ref_.xf );

From c84767b03ad23b84d98b223683a8f93afaeb9b30 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 21:03:34 +0300
Subject: [PATCH 22/56] fltNN

---
 source/MRMesh/MRICP.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index bac597b6da9e..f28d6721bd98 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -438,10 +438,16 @@ AffineXf3f ICP::calculateTransformation()
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
         const auto& refTopology = refMeshPart->mesh.topology;
-        const auto& fltTopology = fltMeshPart->mesh.topology;
+        //const auto& fltTopology = fltMeshPart->mesh.topology;
         for ( auto v = 0_v; v < refTopology.vertSize(); ++v )
         {
-            spdlog::info( "{}_v: refE={} fltE={}", (int)v, (int)refTopology.edgeWithOrg( v ), (int)fltTopology.edgeWithOrg( v ) );
+            auto refN = refMeshPart->mesh.pseudonormal( v );
+            auto fltN = fltMeshPart->mesh.pseudonormal( v );
+            auto fltNN = refN.normalized();
+            spdlog::info( "{}_v: refN=({} {} {}) fltN=({} {} {}) fltNN=({} {} {})", (int)v,
+                refN.x, refN.y, refN.z,
+                fltN.x, fltN.y, fltN.z,
+                fltNN.x, fltNN.y, fltNN.z );
         }
     }
     logXf( "ref_.xf", ref_.xf );

From 6bd148315f460ba69d74fb7f8322247961a823ff Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 22:04:26 +0300
Subject: [PATCH 23/56] 0_v nei verts

---
 source/MRMesh/MRICP.cpp | 21 ++++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index f28d6721bd98..7bb190284493 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -12,6 +12,7 @@
 #include <numeric>
 #include "MRSystem.h"
 #include <fenv.h>
+#include "MRRingIterator.h"
 
 namespace MR
 {
@@ -439,7 +440,7 @@ AffineXf3f ICP::calculateTransformation()
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
         const auto& refTopology = refMeshPart->mesh.topology;
         //const auto& fltTopology = fltMeshPart->mesh.topology;
-        for ( auto v = 0_v; v < refTopology.vertSize(); ++v )
+/*        for ( auto v = 0_v; v < refTopology.vertSize(); ++v )
         {
             auto refN = refMeshPart->mesh.pseudonormal( v );
             auto fltN = fltMeshPart->mesh.pseudonormal( v );
@@ -448,6 +449,24 @@ AffineXf3f ICP::calculateTransformation()
                 refN.x, refN.y, refN.z,
                 fltN.x, fltN.y, fltN.z,
                 fltNN.x, fltNN.y, fltNN.z );
+        }*/
+        {
+            std::ostringstream s;
+            s << "0_v nei verts: ";
+            for ( auto e : orgRing( refTopology, 0_v ) )
+            {
+                s << (int)refTopology.dest( e ) << ' ';
+            }
+            spdlog::info( "{}", s.str() );
+        }
+        {
+            std::ostringstream s;
+            s << "0_v nei faces: ";
+            for ( auto e : orgRing( refTopology, 0_v ) )
+            {
+                s << ( int )refTopology.left( e ) << ' ';
+            }
+            spdlog::info( "{}", s.str() );
         }
     }
     logXf( "ref_.xf", ref_.xf );

From 8fb3e82832a47bffad10c7c10c8d7c29ad94243c Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Tue, 25 Nov 2025 22:46:11 +0300
Subject: [PATCH 24/56] more logs

---
 source/MRMesh/MRICP.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 7bb190284493..2e6e381fd571 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -438,6 +438,7 @@ AffineXf3f ICP::calculateTransformation()
     {
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
+        const auto& refPoints = refMeshPart->mesh.points;
         const auto& refTopology = refMeshPart->mesh.topology;
         //const auto& fltTopology = fltMeshPart->mesh.topology;
 /*        for ( auto v = 0_v; v < refTopology.vertSize(); ++v )
@@ -450,12 +451,17 @@ AffineXf3f ICP::calculateTransformation()
                 fltN.x, fltN.y, fltN.z,
                 fltNN.x, fltNN.y, fltNN.z );
         }*/
+        auto n0 = refMeshPart->mesh.pseudonormal( 0_v );
+        spdlog::info( "pseudonormal 0: {} {} {}", n0.x, n0.y, n0.z );
+        spdlog::info( "point 0: {} {} {}", refPoints[0_v].x, refPoints[0_v].y, refPoints[0_v].z );
         {
             std::ostringstream s;
             s << "0_v nei verts: ";
             for ( auto e : orgRing( refTopology, 0_v ) )
             {
-                s << (int)refTopology.dest( e ) << ' ';
+                auto d = refTopology.dest( e );
+                spdlog::info( "point {}: {} {} {}", (int)d, refPoints[d].x, refPoints[d].y, refPoints[d].z );
+                s << (int)d << ' ';
             }
             spdlog::info( "{}", s.str() );
         }

From 72b55e3374b72f5756c385501426ca373c694133 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 00:23:01 +0300
Subject: [PATCH 25/56] pseudonormalLog

---
 source/MRMesh/MRICP.cpp | 30 +++++++++++++++++++++++++++++-
 1 file changed, 29 insertions(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 2e6e381fd571..1cb30e0fd2bd 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -424,6 +424,34 @@ bool ICP::p2plIter_()
     return true;
 }
 
+inline float angleLog( const Vector3f& a, const Vector3f& b )
+{
+    auto x = cross( a, b ).length();
+    auto y = dot( a, b );
+    auto r = std::atan2( x, y );
+    spdlog::info( "std::atan2( {}, {} ) = {}", x, y, r );
+    return r;
+}
+
+static Vector3f pseudonormalLog( const MeshTopology& topology, const VertCoords& points, VertId v, const FaceBitSet* region = nullptr )
+{
+    Vector3f sum;
+    for ( EdgeId e : orgRing( topology, v ) )
+    {
+        const auto l = topology.left( e );
+        if ( l && ( !region || region->test( l ) ) )
+        {
+            auto d0 = edgeVector( topology, points, e );
+            auto d1 = edgeVector( topology, points, topology.next( e ) );
+            auto angle = MR::angleLog( d0, d1 );
+            auto n = cross( d0, d1 );
+            sum += angle * n.normalized();
+        }
+    }
+
+    return sum.normalized();
+}
+
 AffineXf3f ICP::calculateTransformation()
 {
     MR::setupLoggerByDefault();
@@ -451,7 +479,7 @@ AffineXf3f ICP::calculateTransformation()
                 fltN.x, fltN.y, fltN.z,
                 fltNN.x, fltNN.y, fltNN.z );
         }*/
-        auto n0 = refMeshPart->mesh.pseudonormal( 0_v );
+        auto n0 = pseudonormalLog( refTopology, refPoints, 0_v );
         spdlog::info( "pseudonormal 0: {} {} {}", n0.x, n0.y, n0.z );
         spdlog::info( "point 0: {} {} {}", refPoints[0_v].x, refPoints[0_v].y, refPoints[0_v].z );
         {

From b0053f2ee3f0eb0cdbdf44deb42c97d7017965fd Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 00:56:01 +0300
Subject: [PATCH 26/56] abc

---
 source/MRMesh/MRICP.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 1cb30e0fd2bd..553d23f3717a 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -426,7 +426,12 @@ bool ICP::p2plIter_()
 
 inline float angleLog( const Vector3f& a, const Vector3f& b )
 {
-    auto x = cross( a, b ).length();
+    const auto c = cross( a, b );
+    spdlog::info( "a=({} {} {}), b=({} {} {}), c=({} {} {})",
+        a.x, a.y, a.z,
+        b.x, b.y, b.z,
+        c.x, c.y, c.z );
+    auto x = c.length();
     auto y = dot( a, b );
     auto r = std::atan2( x, y );
     spdlog::info( "std::atan2( {}, {} ) = {}", x, y, r );

From 93a058fc81e35ca17c0afb63aefe009a93fc88ab Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 10:02:27 +0300
Subject: [PATCH 27/56] length

---
 source/MRMesh/MRICP.cpp | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 553d23f3717a..90cb312f15b2 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -424,6 +424,11 @@ bool ICP::p2plIter_()
     return true;
 }
 
+inline float myLength( const Vector3f& a )
+{
+    return std::sqrt( a.x * a.x + a.y * a.y + a.z * a.z );
+}
+
 inline float angleLog( const Vector3f& a, const Vector3f& b )
 {
     const auto c = cross( a, b );
@@ -431,7 +436,7 @@ inline float angleLog( const Vector3f& a, const Vector3f& b )
         a.x, a.y, a.z,
         b.x, b.y, b.z,
         c.x, c.y, c.z );
-    auto x = c.length();
+    auto x = myLength( c );
     auto y = dot( a, b );
     auto r = std::atan2( x, y );
     spdlog::info( "std::atan2( {}, {} ) = {}", x, y, r );
@@ -471,6 +476,10 @@ AffineXf3f ICP::calculateTransformation()
     {
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
+
+        Vector3f c( -0.02146666f, 0.0014069901f, 0.0014069926f );
+        spdlog::info( "({} {} {}).length() = {}", c.x, c.y, c.z, c.length() );
+
         const auto& refPoints = refMeshPart->mesh.points;
         const auto& refTopology = refMeshPart->mesh.topology;
         //const auto& fltTopology = fltMeshPart->mesh.topology;

From 5eee64c872530c8253cb2fa2d82bb7af58f09770 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 11:21:31 +0300
Subject: [PATCH 28/56] lengthSq

---
 source/MRMesh/MRICP.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 90cb312f15b2..d216a85795f8 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -478,7 +478,7 @@ AffineXf3f ICP::calculateTransformation()
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
 
         Vector3f c( -0.02146666f, 0.0014069901f, 0.0014069926f );
-        spdlog::info( "({} {} {}).length() = {}", c.x, c.y, c.z, c.length() );
+        spdlog::info( "({} {} {}).lengthSq() = {}, length = {}", c.x, c.y, c.z, c.lengthSq(), c.length() );
 
         const auto& refPoints = refMeshPart->mesh.points;
         const auto& refTopology = refMeshPart->mesh.topology;

From 718820c94b9f3cbe279f72f7a693d1ef195230d2 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 12:17:37 +0300
Subject: [PATCH 29/56] dladdr

---
 source/MRMesh/MRICP.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index d216a85795f8..34b9fe7e74e0 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -13,6 +13,8 @@
 #include "MRSystem.h"
 #include <fenv.h>
 #include "MRRingIterator.h"
+#include <bit>
+#include <dlfcn.h>
 
 namespace MR
 {
@@ -477,6 +479,14 @@ AffineXf3f ICP::calculateTransformation()
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
 
+        using A = std::array<void*,2>;
+        void* symbol = std::bit_cast<A>(&Vector3f::lengthSq)[0];
+        Dl_info info;
+        if ( !dladdr( symbol, &info ) )
+            spdlog::error( "Failed to get library path" );
+        else
+            spdlog::info( "Vector3f::lengthSq: fname={}, sname={}", info.dli_fname, info.dli_sname );
+
         Vector3f c( -0.02146666f, 0.0014069901f, 0.0014069926f );
         spdlog::info( "({} {} {}).lengthSq() = {}, length = {}", c.x, c.y, c.z, c.lengthSq(), c.length() );
 

From cca1f69327f3ca691664ccf1e1bbc4022f75af26 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 12:48:17 +0300
Subject: [PATCH 30/56] -fvisibility-inlines-hidden

---
 scripts/mrbind/generate.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/mrbind/generate.mk b/scripts/mrbind/generate.mk
index 66610e48c812..1feabe3a0fe7 100644
--- a/scripts/mrbind/generate.mk
+++ b/scripts/mrbind/generate.mk
@@ -601,7 +601,7 @@ ifeq ($(TARGET),python)
 # Linux or MacOS.
 ifneq ($(IS_LINUX)$(IS_MACOS),)
 
-COMPILER += -fvisibility=hidden
+COMPILER += -fvisibility=hidden -fvisibility-inlines-hidden
 COMPILER_FLAGS += -fPIC
 
 # Override Pybind ABI identifiers to force compatibility with `mrviewerpy` (which is compiled with some other compiler, but is also made to define those).

From e75b618d9130cdc70bfbb671bdcbbb63923e4e3b Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 13:42:22 +0300
Subject: [PATCH 31/56] #ifdef linux

---
 source/MRMesh/MRICP.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 34b9fe7e74e0..279c62cbad8a 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -14,7 +14,9 @@
 #include <fenv.h>
 #include "MRRingIterator.h"
 #include <bit>
+#ifdef __linux__
 #include <dlfcn.h>
+#endif
 
 namespace MR
 {
@@ -479,6 +481,7 @@ AffineXf3f ICP::calculateTransformation()
         spdlog::info( "ref region = {}, flt region = {}", (void*)refMeshPart->region, (void*)fltMeshPart->region );
         spdlog::info( "same meshes = {}", refMeshPart->mesh == fltMeshPart->mesh );
 
+#ifdef __linux__
         using A = std::array<void*,2>;
         void* symbol = std::bit_cast<A>(&Vector3f::lengthSq)[0];
         Dl_info info;
@@ -486,6 +489,7 @@ AffineXf3f ICP::calculateTransformation()
             spdlog::error( "Failed to get library path" );
         else
             spdlog::info( "Vector3f::lengthSq: fname={}, sname={}", info.dli_fname, info.dli_sname );
+#endif
 
         Vector3f c( -0.02146666f, 0.0014069901f, 0.0014069926f );
         spdlog::info( "({} {} {}).lengthSq() = {}, length = {}", c.x, c.y, c.z, c.lengthSq(), c.length() );

From f75bd857065a946ec7cff34e871cd10192eb606d Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Wed, 26 Nov 2025 23:24:11 +0300
Subject: [PATCH 32/56] objdump -T

---
 .github/workflows/build-test-linux-vcpkg.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index 1267e6a657ee..31ad02d0a2a3 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -175,7 +175,9 @@ jobs:
         run: xvfb-run -a ./build/${{ matrix.config }}/bin/MeshViewer -hidden -noEventLoop -unloadPluginsAtEnd
 
       - name: Unit Tests
-        run: ./build/${{ matrix.config }}/bin/MRTest
+        run: |
+          objdump -T ./build/${{ matrix.config }}/bin/MRTest
+          ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)
         run: ./build/${{ matrix.config }}/bin/MRTestC

From 5a141886db3b4a7d978036323ab381acf33a2480 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 00:10:16 +0300
Subject: [PATCH 33/56] inline void foo() {}

---
 source/MRTest/MRTestApp.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index f9dc62ab9012..1e281b097d0d 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -35,8 +35,11 @@ TEST(MRMesh, QuadraticForm)
 
 } //namespace MR
 
+inline void foo() {}
+
 int main( int argc, char** argv )
 {
+    foo();
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From df1cf457e99a86e3113063a3f94a602490983a06 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 00:41:06 +0300
Subject: [PATCH 34/56] restore inlines

---
 cmake/Modules/CompilerOptions.cmake | 2 --
 1 file changed, 2 deletions(-)

diff --git a/cmake/Modules/CompilerOptions.cmake b/cmake/Modules/CompilerOptions.cmake
index 0817b2b5dd6b..6d3eada31e15 100644
--- a/cmake/Modules/CompilerOptions.cmake
+++ b/cmake/Modules/CompilerOptions.cmake
@@ -84,8 +84,6 @@ IF(MSVC)
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} /wd4061 /wd4250 /wd4324 /wd4365 /wd4371 /wd4388 /wd4435 /wd4514 /wd4582 /wd4583 /wd4599 /wd4605 /wd4623 /wd4625 /wd4626 /wd4668 /wd4686 /wd4710 /wd4711 /wd4820 /wd4865 /wd4866 /wd4868 /wd5026 /wd5027 /wd5031 /wd5039 /wd5045 /wd5104 /wd5105 /wd5219 /wd5243 /wd5246 /wd5262 /wd5264 /wd26451")
 ELSE()
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wall -Wextra -Wno-missing-field-initializers -Wno-unknown-pragmas -Wno-sign-compare -Werror -fvisibility=hidden -pedantic-errors")
-  # command line option '-fvisibility-inlines-hidden' is valid for C++/ObjC++ but not for C, so we cannot put it in MESHLIB_COMMON_C_CXX_FLAGS
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility-inlines-hidden")
 
   IF(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
     set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wno-newline-eof")

From fc331e1649f2f8facfef2000f6e26de2cd49162c Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 10:09:58 +0300
Subject: [PATCH 35/56] foo(T)

---
 source/MRTest/MRTestApp.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index 1e281b097d0d..49712f8ff1c8 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -35,11 +35,12 @@ TEST(MRMesh, QuadraticForm)
 
 } //namespace MR
 
-inline void foo() {}
+template<class T>
+void foo(T) {}
 
 int main( int argc, char** argv )
 {
-    foo();
+    foo(1);
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From 04fb3ff269897c6f47076739008e10e1343a28d2 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 11:47:33 +0300
Subject: [PATCH 36/56] in MRMesh

---
 .github/workflows/build-test-linux-vcpkg.yml | 3 ++-
 source/MRMesh/MRICP.cpp                      | 3 +++
 source/MRTest/MRTestApp.cpp                  | 4 ----
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index bbc7672eae0e..c6e445870ca0 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -177,7 +177,8 @@ jobs:
 
       - name: Unit Tests
         run: |
-          objdump -T ./build/${{ matrix.config }}/bin/MRTest
+          objdump -T ./build/Debug/bin/libMRMesh.so
+          objdump -T ./build/Debug/bin/libMRMesh.so | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)
diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 279c62cbad8a..f4e7c1008c5e 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -466,8 +466,11 @@ static Vector3f pseudonormalLog( const MeshTopology& topology, const VertCoords&
     return sum.normalized();
 }
 
+inline void foo() {}
+
 AffineXf3f ICP::calculateTransformation()
 {
+    foo();
     MR::setupLoggerByDefault();
     spdlog::info( "fegetround() = {}", fegetround() );
 #ifndef __EMSCRIPTEN__
diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index 49712f8ff1c8..f9dc62ab9012 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -35,12 +35,8 @@ TEST(MRMesh, QuadraticForm)
 
 } //namespace MR
 
-template<class T>
-void foo(T) {}
-
 int main( int argc, char** argv )
 {
-    foo(1);
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From 2ee9efa2cf75ea37477558f0e37372e5d10a7ad8 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 12:38:07 +0300
Subject: [PATCH 37/56] A{}.foo();

---
 .github/workflows/build-test-linux-vcpkg.yml | 3 +--
 source/MRMesh/MRICP.cpp                      | 6 ++++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index c6e445870ca0..bf228c3a8a1d 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -177,8 +177,7 @@ jobs:
 
       - name: Unit Tests
         run: |
-          objdump -T ./build/Debug/bin/libMRMesh.so
-          objdump -T ./build/Debug/bin/libMRMesh.so | c++filt
+          objdump -T ./build/${{ matrix.config }}/bin/libMRMesh.so | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)
diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index f4e7c1008c5e..a355a9ec3f85 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -466,11 +466,13 @@ static Vector3f pseudonormalLog( const MeshTopology& topology, const VertCoords&
     return sum.normalized();
 }
 
-inline void foo() {}
+struct A {
+    void foo() {}
+};
 
 AffineXf3f ICP::calculateTransformation()
 {
-    foo();
+    A{}.foo();
     MR::setupLoggerByDefault();
     spdlog::info( "fegetround() = {}", fegetround() );
 #ifndef __EMSCRIPTEN__

From aab0f29e60863ef951f85958abd27f90cc9535c7 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 13:15:17 +0300
Subject: [PATCH 38/56] struct __attribute__((visibility("default"))) A

---
 .github/workflows/build-test-linux-vcpkg.yml | 2 +-
 source/MRMesh/MRICP.cpp                      | 5 -----
 source/MRTest/MRTestApp.cpp                  | 9 +++++++++
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index bf228c3a8a1d..ed4e2453afd0 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -177,7 +177,7 @@ jobs:
 
       - name: Unit Tests
         run: |
-          objdump -T ./build/${{ matrix.config }}/bin/libMRMesh.so | c++filt
+          objdump -T ./build/${{ matrix.config }}/bin/MRTest | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)
diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index a355a9ec3f85..279c62cbad8a 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -466,13 +466,8 @@ static Vector3f pseudonormalLog( const MeshTopology& topology, const VertCoords&
     return sum.normalized();
 }
 
-struct A {
-    void foo() {}
-};
-
 AffineXf3f ICP::calculateTransformation()
 {
-    A{}.foo();
     MR::setupLoggerByDefault();
     spdlog::info( "fegetround() = {}", fegetround() );
 #ifndef __EMSCRIPTEN__
diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index f9dc62ab9012..da74da379342 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -35,8 +35,17 @@ TEST(MRMesh, QuadraticForm)
 
 } //namespace MR
 
+struct __attribute__((visibility("default"))) A {
+    void foo() {}
+    void bar();
+};
+
+void A::bar() {}
+
 int main( int argc, char** argv )
 {
+    A{}.foo();
+    A{}.bar();
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From 4fc54c9dd468fa90322f86dd813a48ca91ed39f8 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 14:33:35 +0300
Subject: [PATCH 39/56] all configurations

---
 .github/workflows/build-test-linux-vcpkg.yml | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index ed4e2453afd0..00a72eb38f51 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -50,15 +50,6 @@ jobs:
         compiler: [Clang 19, GCC 11]
         full_config_build:
           - ${{ fromJSON( inputs.full_config_build ) }}
-        exclude:
-          # Do not run Debug Clang 19 build on every commit (but only once a day)
-          - full_config_build: false
-            compiler: Clang 19
-            config: Debug
-          # Do not run Release GCC 11 build on every commit (but only once a day)
-          - full_config_build: false
-            compiler: GCC 11
-            config: Release
         include:
           - compiler: Clang 19
             cxx-compiler: /usr/bin/clang++-19

From 1dbbf28d90b6d6a381ec4f7ae7d91d0fe612bfa8 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 15:20:11 +0300
Subject: [PATCH 40/56] x*x + y*y

---
 source/MRTest/MRTestApp.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index da74da379342..3a6cd1b7e93b 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -36,16 +36,16 @@ TEST(MRMesh, QuadraticForm)
 } //namespace MR
 
 struct __attribute__((visibility("default"))) A {
-    void foo() {}
-    void bar();
+    float foo( float x, float y ) { return x*x + y*y; }
+    float bar( float x, float y );
 };
 
-void A::bar() {}
+float A::bar( float x, float y ) { return x*x + y*y; }
 
 int main( int argc, char** argv )
 {
-    A{}.foo();
-    A{}.bar();
+    A{}.foo( 1, 2 );
+    A{}.bar( 1, 2 );
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From 042ce558c2d3e816363ffc3c95ebbd788cc0c36d Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 15:49:05 +0300
Subject: [PATCH 41/56] template

---
 source/MRTest/MRTestApp.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index 3a6cd1b7e93b..5084d60004cd 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -35,17 +35,19 @@ TEST(MRMesh, QuadraticForm)
 
 } //namespace MR
 
+template<class T>
 struct __attribute__((visibility("default"))) A {
-    float foo( float x, float y ) { return x*x + y*y; }
-    float bar( float x, float y );
+    T foo( T x, T y ) { return x*x + y*y; }
+    T bar( T x, T y );
 };
 
-float A::bar( float x, float y ) { return x*x + y*y; }
+template<class T>
+T A<T>::bar( T x, T y ) { return x*x + y*y; }
 
 int main( int argc, char** argv )
 {
-    A{}.foo( 1, 2 );
-    A{}.bar( 1, 2 );
+    A<float>{}.foo( 1, 2 );
+    A<float>{}.bar( 1, 2 );
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From cadb1046b14ec69cf9e9219936c428f20aec947c Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 16:24:56 +0300
Subject: [PATCH 42/56] data members

---
 source/MRTest/MRTestApp.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index 5084d60004cd..921b7d0d8b2a 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -37,17 +37,19 @@ TEST(MRMesh, QuadraticForm)
 
 template<class T>
 struct __attribute__((visibility("default"))) A {
-    T foo( T x, T y ) { return x*x + y*y; }
-    T bar( T x, T y );
+    T x, y;
+    T foo() const { return x*x + y*y; }
+    T bar() const;
 };
 
+float uu = A{ 1.0f, 2.0f }.foo();
+float vv = A{ 1.0f, 2.0f }.bar();
+
 template<class T>
-T A<T>::bar( T x, T y ) { return x*x + y*y; }
+T A<T>::bar() const { return x*x + y*y; }
 
 int main( int argc, char** argv )
 {
-    A<float>{}.foo( 1, 2 );
-    A<float>{}.bar( 1, 2 );
     //! If `flag` exists in `argv`, returns true and removes it from there.
     [[maybe_unused]] auto consumeFlag = [&]( std::string_view flag ) -> bool
     {

From 65b8d161293ba528ce52bd4187d992eca269ef72 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 17:04:50 +0300
Subject: [PATCH 43/56] &A<float>::foo

---
 source/MRTest/MRTestApp.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index 921b7d0d8b2a..ccc1231ea868 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -42,8 +42,8 @@ struct __attribute__((visibility("default"))) A {
     T bar() const;
 };
 
-float uu = A{ 1.0f, 2.0f }.foo();
-float vv = A{ 1.0f, 2.0f }.bar();
+auto pfoo = &A<float>::foo;
+auto pbar = &A<float>::bar;
 
 template<class T>
 T A<T>::bar() const { return x*x + y*y; }

From 81fe3e457e5bdcb40d8f7c28c64b4f41f7edca1c Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 17:28:44 +0300
Subject: [PATCH 44/56] in libMRMesh

---
 .github/workflows/build-test-linux-vcpkg.yml |  2 +-
 source/MRMesh/MRICP.cpp                      | 13 +++++++++++++
 source/MRTest/MRTestApp.cpp                  | 13 -------------
 3 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/build-test-linux-vcpkg.yml b/.github/workflows/build-test-linux-vcpkg.yml
index 00a72eb38f51..a87d0ead4178 100644
--- a/.github/workflows/build-test-linux-vcpkg.yml
+++ b/.github/workflows/build-test-linux-vcpkg.yml
@@ -168,7 +168,7 @@ jobs:
 
       - name: Unit Tests
         run: |
-          objdump -T ./build/${{ matrix.config }}/bin/MRTest | c++filt
+          objdump -T ./build/${{ matrix.config }}/bin/libMRMesh.so | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)
diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 279c62cbad8a..46f281f4c397 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -384,6 +384,19 @@ AffineXf3f getAligningXf( const PointToPlaneAligningTransform & p2pl,
     return res;
 }
 
+template<class T>
+struct __attribute__((visibility("default"))) A {
+    T x, y;
+    T foo() const { return x*x + y*y; }
+    T bar() const;
+};
+
+auto pfoo = &A<float>::foo;
+auto pbar = &A<float>::bar;
+
+template<class T>
+T A<T>::bar() const { return x*x + y*y; }
+
 bool ICP::p2plIter_()
 {
     MR_TIMER;
diff --git a/source/MRTest/MRTestApp.cpp b/source/MRTest/MRTestApp.cpp
index ccc1231ea868..f9dc62ab9012 100644
--- a/source/MRTest/MRTestApp.cpp
+++ b/source/MRTest/MRTestApp.cpp
@@ -35,19 +35,6 @@ TEST(MRMesh, QuadraticForm)
 
 } //namespace MR
 
-template<class T>
-struct __attribute__((visibility("default"))) A {
-    T x, y;
-    T foo() const { return x*x + y*y; }
-    T bar() const;
-};
-
-auto pfoo = &A<float>::foo;
-auto pbar = &A<float>::bar;
-
-template<class T>
-T A<T>::bar() const { return x*x + y*y; }
-
 int main( int argc, char** argv )
 {
     //! If `flag` exists in `argv`, returns true and removes it from there.

From dbdb934098e5793807d1eb13cba7a5accf7c0829 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 18:02:08 +0300
Subject: [PATCH 45/56] not-template

---
 source/MRMesh/MRICP.cpp | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 46f281f4c397..1d3a1fc2980f 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -384,18 +384,16 @@ AffineXf3f getAligningXf( const PointToPlaneAligningTransform & p2pl,
     return res;
 }
 
-template<class T>
 struct __attribute__((visibility("default"))) A {
-    T x, y;
-    T foo() const { return x*x + y*y; }
-    T bar() const;
+    float x, y;
+    float foo() const { return x*x + y*y; }
+    float bar() const;
 };
 
-auto pfoo = &A<float>::foo;
-auto pbar = &A<float>::bar;
+auto pfoo = &A::foo;
+auto pbar = &A::bar;
 
-template<class T>
-T A<T>::bar() const { return x*x + y*y; }
+float A::bar() const { return x*x + y*y; }
 
 bool ICP::p2plIter_()
 {

From b7724c8e4a62e6aa710db34a64d66793cc03a7d6 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 18:40:48 +0300
Subject: [PATCH 46/56] simplify

---
 source/MRMesh/MRICP.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 1d3a1fc2980f..93c955a8e90f 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -385,15 +385,14 @@ AffineXf3f getAligningXf( const PointToPlaneAligningTransform & p2pl,
 }
 
 struct __attribute__((visibility("default"))) A {
-    float x, y;
-    float foo() const { return x*x + y*y; }
-    float bar() const;
+    void foo() {}
+    void bar();
 };
 
 auto pfoo = &A::foo;
 auto pbar = &A::bar;
 
-float A::bar() const { return x*x + y*y; }
+void A::bar() {}
 
 bool ICP::p2plIter_()
 {

From 33b8a5754e1e5dc14bb6cdd0be3924e2c09de7d5 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 19:44:25 +0300
Subject: [PATCH 47/56] Revert "restore inlines"

This reverts commit df1cf457e99a86e3113063a3f94a602490983a06.
---
 cmake/Modules/CompilerOptions.cmake | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/cmake/Modules/CompilerOptions.cmake b/cmake/Modules/CompilerOptions.cmake
index 6d3eada31e15..0817b2b5dd6b 100644
--- a/cmake/Modules/CompilerOptions.cmake
+++ b/cmake/Modules/CompilerOptions.cmake
@@ -84,6 +84,8 @@ IF(MSVC)
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} /wd4061 /wd4250 /wd4324 /wd4365 /wd4371 /wd4388 /wd4435 /wd4514 /wd4582 /wd4583 /wd4599 /wd4605 /wd4623 /wd4625 /wd4626 /wd4668 /wd4686 /wd4710 /wd4711 /wd4820 /wd4865 /wd4866 /wd4868 /wd5026 /wd5027 /wd5031 /wd5039 /wd5045 /wd5104 /wd5105 /wd5219 /wd5243 /wd5246 /wd5262 /wd5264 /wd26451")
 ELSE()
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wall -Wextra -Wno-missing-field-initializers -Wno-unknown-pragmas -Wno-sign-compare -Werror -fvisibility=hidden -pedantic-errors")
+  # command line option '-fvisibility-inlines-hidden' is valid for C++/ObjC++ but not for C, so we cannot put it in MESHLIB_COMMON_C_CXX_FLAGS
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility-inlines-hidden")
 
   IF(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
     set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wno-newline-eof")

From e0d2d3d0fb9f2367cdd4b2fcb0ea14ed435a305b Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 21:43:22 +0300
Subject: [PATCH 48/56] no pointers

---
 source/MRMesh/MRICP.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 93c955a8e90f..35253f510b12 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -389,9 +389,6 @@ struct __attribute__((visibility("default"))) A {
     void bar();
 };
 
-auto pfoo = &A::foo;
-auto pbar = &A::bar;
-
 void A::bar() {}
 
 bool ICP::p2plIter_()

From e6707eee9b4b54eb534d074ec3d46783abaa702c Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Thu, 27 Nov 2025 22:19:03 +0300
Subject: [PATCH 49/56] remove -fvisibility-inlines-hidden

---
 cmake/Modules/CompilerOptions.cmake | 2 --
 1 file changed, 2 deletions(-)

diff --git a/cmake/Modules/CompilerOptions.cmake b/cmake/Modules/CompilerOptions.cmake
index 0817b2b5dd6b..6d3eada31e15 100644
--- a/cmake/Modules/CompilerOptions.cmake
+++ b/cmake/Modules/CompilerOptions.cmake
@@ -84,8 +84,6 @@ IF(MSVC)
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} /wd4061 /wd4250 /wd4324 /wd4365 /wd4371 /wd4388 /wd4435 /wd4514 /wd4582 /wd4583 /wd4599 /wd4605 /wd4623 /wd4625 /wd4626 /wd4668 /wd4686 /wd4710 /wd4711 /wd4820 /wd4865 /wd4866 /wd4868 /wd5026 /wd5027 /wd5031 /wd5039 /wd5045 /wd5104 /wd5105 /wd5219 /wd5243 /wd5246 /wd5262 /wd5264 /wd26451")
 ELSE()
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wall -Wextra -Wno-missing-field-initializers -Wno-unknown-pragmas -Wno-sign-compare -Werror -fvisibility=hidden -pedantic-errors")
-  # command line option '-fvisibility-inlines-hidden' is valid for C++/ObjC++ but not for C, so we cannot put it in MESHLIB_COMMON_C_CXX_FLAGS
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility-inlines-hidden")
 
   IF(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
     set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wno-newline-eof")

From 5263be5fde647d92dfd8e0139891b51d381f091e Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 11:51:25 +0300
Subject: [PATCH 50/56] test mac

---
 cmake/Modules/CompilerOptions.cmake | 2 ++
 source/MRMesh/MRICP.cpp             | 3 +++
 2 files changed, 5 insertions(+)

diff --git a/cmake/Modules/CompilerOptions.cmake b/cmake/Modules/CompilerOptions.cmake
index 6d3eada31e15..0817b2b5dd6b 100644
--- a/cmake/Modules/CompilerOptions.cmake
+++ b/cmake/Modules/CompilerOptions.cmake
@@ -84,6 +84,8 @@ IF(MSVC)
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} /wd4061 /wd4250 /wd4324 /wd4365 /wd4371 /wd4388 /wd4435 /wd4514 /wd4582 /wd4583 /wd4599 /wd4605 /wd4623 /wd4625 /wd4626 /wd4668 /wd4686 /wd4710 /wd4711 /wd4820 /wd4865 /wd4866 /wd4868 /wd5026 /wd5027 /wd5031 /wd5039 /wd5045 /wd5104 /wd5105 /wd5219 /wd5243 /wd5246 /wd5262 /wd5264 /wd26451")
 ELSE()
   set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wall -Wextra -Wno-missing-field-initializers -Wno-unknown-pragmas -Wno-sign-compare -Werror -fvisibility=hidden -pedantic-errors")
+  # command line option '-fvisibility-inlines-hidden' is valid for C++/ObjC++ but not for C, so we cannot put it in MESHLIB_COMMON_C_CXX_FLAGS
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility-inlines-hidden")
 
   IF(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
     set(MESHLIB_COMMON_C_CXX_FLAGS "${MESHLIB_COMMON_C_CXX_FLAGS} -Wno-newline-eof")
diff --git a/source/MRMesh/MRICP.cpp b/source/MRMesh/MRICP.cpp
index 35253f510b12..93c955a8e90f 100644
--- a/source/MRMesh/MRICP.cpp
+++ b/source/MRMesh/MRICP.cpp
@@ -389,6 +389,9 @@ struct __attribute__((visibility("default"))) A {
     void bar();
 };
 
+auto pfoo = &A::foo;
+auto pbar = &A::bar;
+
 void A::bar() {}
 
 bool ICP::p2plIter_()

From 1cb581041502efe24ada9b55223e368ad81d569b Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 12:07:35 +0300
Subject: [PATCH 51/56] objdump

---
 .github/workflows/build-test-macos.yml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-test-macos.yml b/.github/workflows/build-test-macos.yml
index ab6861a1571d..1c2994f9266a 100644
--- a/.github/workflows/build-test-macos.yml
+++ b/.github/workflows/build-test-macos.yml
@@ -168,9 +168,11 @@ jobs:
         run: ./build/${{ matrix.config }}/bin/MeshViewer -tryHidden -noEventLoop -unloadPluginsAtEnd
 
       - name: Unit Tests
-        run: ./build/${{ matrix.config }}/bin/MRTest
+        run: |
+          objdump -T ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
+          ./build/${{ matrix.config }}/bin/MRTest
 
-      - name: C Unit Tests (old bindings)
+       - name: C Unit Tests (old bindings)
         run: ./build/${{ matrix.config }}/bin/MRTestC
 
       - name: C Unit Tests

From 5027c8e0e7db12cb1e0a0b3c1a2e8cbcbb9b8ce7 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 12:10:41 +0300
Subject: [PATCH 52/56] fix indent

---
 .github/workflows/build-test-macos.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-test-macos.yml b/.github/workflows/build-test-macos.yml
index 1c2994f9266a..e87371212a2a 100644
--- a/.github/workflows/build-test-macos.yml
+++ b/.github/workflows/build-test-macos.yml
@@ -172,7 +172,7 @@ jobs:
           objdump -T ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
-       - name: C Unit Tests (old bindings)
+      - name: C Unit Tests (old bindings)
         run: ./build/${{ matrix.config }}/bin/MRTestC
 
       - name: C Unit Tests

From 8729b52e5ab8cc678b428e07ee1a3d6697283d66 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 13:08:38 +0300
Subject: [PATCH 53/56] nm -DC

---
 .github/workflows/build-test-macos.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-test-macos.yml b/.github/workflows/build-test-macos.yml
index e87371212a2a..68c715c923ea 100644
--- a/.github/workflows/build-test-macos.yml
+++ b/.github/workflows/build-test-macos.yml
@@ -169,7 +169,7 @@ jobs:
 
       - name: Unit Tests
         run: |
-          objdump -T ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
+          nm -DC ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)

From fbff883113d75ab48c0c70fe8082ad6b5b43b241 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 13:31:42 +0300
Subject: [PATCH 54/56] nm -gU

---
 .github/workflows/build-test-macos.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-test-macos.yml b/.github/workflows/build-test-macos.yml
index 68c715c923ea..e236e5880040 100644
--- a/.github/workflows/build-test-macos.yml
+++ b/.github/workflows/build-test-macos.yml
@@ -169,7 +169,7 @@ jobs:
 
       - name: Unit Tests
         run: |
-          nm -DC ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
+          nm -gU ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)

From 853e17cdefb53dda36ab77f294e9118b650e8475 Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 14:15:05 +0300
Subject: [PATCH 55/56] llvm-cxxfilt

---
 .github/workflows/build-test-macos.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-test-macos.yml b/.github/workflows/build-test-macos.yml
index e236e5880040..c839d190f2fc 100644
--- a/.github/workflows/build-test-macos.yml
+++ b/.github/workflows/build-test-macos.yml
@@ -169,7 +169,7 @@ jobs:
 
       - name: Unit Tests
         run: |
-          nm -gU ./build/${{ matrix.config }}/bin/libMRMesh.dylib | c++filt
+          nm -gU ./build/${{ matrix.config }}/bin/libMRMesh.dylib | llvm-cxxfilt
           ./build/${{ matrix.config }}/bin/MRTest
 
       - name: C Unit Tests (old bindings)

From 75fce7c1c8304a72f1e454e790a00472e9b12ced Mon Sep 17 00:00:00 2001
From: Fedor Chelnokov <fedor.chelnokov@meshinspector.com>
Date: Fri, 28 Nov 2025 14:56:19 +0300
Subject: [PATCH 56/56] export PATH="$(brew --prefix llvm@18)/bin:$PATH"

---
 .github/workflows/build-test-macos.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/build-test-macos.yml b/.github/workflows/build-test-macos.yml
index c839d190f2fc..676312ecc0b1 100644
--- a/.github/workflows/build-test-macos.yml
+++ b/.github/workflows/build-test-macos.yml
@@ -169,6 +169,7 @@ jobs:
 
       - name: Unit Tests
         run: |
+          export PATH="$(brew --prefix llvm@18)/bin:$PATH"
           nm -gU ./build/${{ matrix.config }}/bin/libMRMesh.dylib | llvm-cxxfilt
           ./build/${{ matrix.config }}/bin/MRTest