Chamfer Distance
- Distance between two point clouds
- For each point in
find closest point in 
and add distance to 
- For each point in find closest point in and add distance to
d = 0
for x in Sp:
min_dist = inf
for y in St:
if dist(x, y) < min_dist:
min_dist = dist(x, y)
d += min_dist
for y in St:
min_dist = inf
for x in Sp:
if dist(x, y) < min_dist:
min_dist = dist(x, y)
d += min_dist