icp を行なってみる

1. ダウンロード

   次の Web ページからicp.zip をダウンロード．

   http://www.mathworks.com/matlabcentral/fileexchange/12627-iterative-closest-point-method

   octave
   
   help icp
   A=[1 2 3; 4 5 6]
   icp(A)
   B=[1 0 0; 0 0 1]
   icp(B)
   

   

    
   ICP fit points in data to the points in model. Fit with respect to minimize the sum of square errors with the closest model points and data points.
      [R, T] = icp(model,data)
      INPUT:   
      model - matrix with model points, 
      data - matrix with data points,
      OUTPUT:
      R - rotation matrix and 
      T - translation vector accordingly 
          so
          newdata = R*data + T .
   newdata are transformed data points to fit model