function?[TR?TT]?=?icp（modeldatamax_itermin_iterfittingthresinit_flagtes_flagrefpnt）
%?ICP?Iterative?Closest?Point?Algorithm.?Takes?use?of
%?Delaunay?tesselation?of?points?in?model.
%
%???Ordinary?usage:
%
%???[R?T]?=?icp（modeldata）
%
%???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.
%
%???INPUT:
%
%???model?-?matrix?with?model?points?[Pm_1?Pm_2?...?Pm_nmod]
%???data?-?matrix?with?data?points???[Pd_1?Pd_2?...?Pd_ndat]
%
%???OUTPUT:
%
%???R?-?rotation?matrix?and
%???T?-?translation?vector?accordingly?so
%
%???????????newdata?=?R*data?+?T?.
%
%???newdata?are?transformed?data?points?to?fit?model
%
%
%???Special?usage:
%
%???icp（model）??or?icp（modeltes_flag）
%
%???ICP?creates?a?Delaunay?tessellation?of?points?in
%???model?and?save?it?as?global?variable?Tes.?ICP?also
%???saves?two?global?variables?ir?and?jc?for?tes_flag=1?（default）?or
%???Tesind?and?Tesver?for?tes_flag=2?which
%???makes?it?easy?to?find?in?the?tesselation.?To?use?the?global?variables
%???in?icp?put?tes_flag?to?0.
%
%
%???Other?usage:
%
%???[R?T]?=?icp（modeldatamax_itermin_iter...
%?????????????????????????fittingthresinit_flagtes_flag）
%
%???INPUT:
%
%?	max_iter?-?maximum?number?of?iterations.?Default=104
%
%?	min_iter?-?minimum?number?of?iterations.?Default=4
%
%???fitting??-??=2?Fit?with?respect?to?minimize?the?sum?of?square?errors.?（default）
%??????????????????alt.?=[2w]?where?w?is?a?weight?vector?corresponding?to?data.
%??????????????????w?is?a?vector?of?same?length?as?data.
%??????????????????Fit?with?respect?to?minimize?the?weighted?sum?of?square?errors.
%???????????????=3?Fit?with?respect?to?minimize?the?sum?to?the?amount?0.95
%??????????????????of?the?closest?square?errors.
%??????????????????alt.?=[3lambda]?0.0%??????????????????In?each?iteration?only?the?amount?lambda?of?the?closest
%??????????????????points?will?affect?the?translation?and?rotation.
%??????????????????If?1%??????????????????of?the?closest?points?will?affect?the?translation?and
%??????????????????rotation?in?each?iteration.
%
%?	thres?-?error?differens?threshold?for?stop?iterations.?Default?1e-5
%
%?	init_flag??-??=0?no?initial?starting?transformation
%?????????????????=1?transform?data?so?the?mean?value?of
%?????????????????????data?is?equal?to?mean?value?of?model.
%?????????????????????No?rotation.?（init_flag=1?default）
%
%?	tes_flag??-??=0?No?new?tesselation?has?to?be?done.?There
%???????????????????alredy?exists?one?for?the?current?model?points.
%????????????????=1?A?new?tesselation?of?the?model?points?will
%???????????????????be?done.?（default）
%????????????????=2?A?new?tesselation?of?the?model?points?will
%???????????????????be?done.?Another?search?strategy?than?tes_flag=1
%????????????????=3?The?c

?屬性????????????大小?????日期????時間???名稱
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