function?[TRTTdata]?=?icp（modeldatamaxIterminItercritFunthres）
%?ICP?（iterative?closest?point）?algorithm
%
%????????#?point-to-point?distance?minimization
%
%????????#?robust?criterion?function?using?IRLS?（optional）
%
%
%???Simple?usage?（least-squares?minimization）:
%
%???[RTdata2]?=?icp（modeldata）
%
%???ICP?fits?points?in?data?to?the?points?in?model.
%???（default）?Fit?with?respect?to?minimize?the?sum?of?square
%???errors?with?the?closest?model?points?and?data?points.
%???（optional）?Using?a?robust?criterion?function
%
%???INPUT:
%
%???model?-?matrix?with?model?points?[?X_1?X_2?...?X_M?]
%???data?-?matrix?with?data?points???[?P_1?P_2?...?P_N?]
%
%???OUTPUT:
%
%???R?-?rotation?matrix
%???T?-?translation?vector
%???data2?-?matrix?with?transformed?data?points???[?P_1?P_2?...?P_N?]
%
%???????????data2?=?R*data?+?T
%
%
%???Usage:
%
%???[RTdata2]?=?icp（modeldatamaxIterminItercritFunthres）
%
%???INPUT:
%
%?	maxIter?-?maximum?number?of?iterations.?Default?=?100
%
%?	minIter?-?minimum?number?of?iterations.?Default?=?5
%
%???critFun??-??0?Fit?with?respect?to?minimize?the?sum?of?square?errors.?（default）
%???????????????1?Huber?criterion?function?（robust）
%???????????????2?Tukey‘s?bi-weight?criterion?function?（robust）
%???????????????3?Cauchy?criterion?function?（robust）
%???????????????4?Welsch?criterion?function?（robust）
%
%?	thres?-?error?differens?threshold?to?stop?iterations.?Default?=?1e-5
%
%???m-file?can?be?downloaded?for?free?at
%???http://www.mathworks.com/matlabcentral/fileexchange/12627-iterative-closest-point-method
%
%???icp?version?1.6
%
%???written?by?Per?Bergstr?m?2016-12-11
%
%?Reference:
%
%?Bergstr?m?P.?and?Edlund?O.?2014?‘Robust?registration?of?point?sets?using?iteratively?reweighted?least?squares‘
%?Computational?Optimization?and?Applications?vol?58?no.?3?pp.?543-561?10.1007/s10589-014-9643-2
%
%?Check?input?arguments
if?nargin<2
????
????error（‘To?few?input?arguments‘）;
????
elseif?nargin<6
????
????thres=1e-5;?????????????????????%?threshold?to?stop?icp?iterations
????if?nargin<5
????????critFun=0;??????????????????%?critFun?method?LS
????????if?nargin<4
????????????minIter=5;??????????????%?min?number?of?icp?iterations
????????????if?nargin<3
????????????????maxIter=100;????????%?max?number?of?icp?iterations
????????????end
????????end
????end
????
end
if?or（isempty（model）isempty（data））
????error（‘Something?is?wrong?with?the?model?points?and?data?points‘）;
end
%?Use?default?values
if?isempty（maxIter）
????maxIter=100;
end
if?isempty（minIter）
????minIter=5;
end
if?isempty（critFun）
????critFun=0;
end
if?isempty（thres）
????thres=1e-5;
end
%?Size?of?model?points?and?data?points
if?（size（model2）????mTranspose=true;
????m=size（model2）;
????M=size（model1）;
else
????mTranspose=false;
????m=size（model1）;
????M=size（model2）;
end
if?（size（data2）????data=data‘;
end
if?m~=size（

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件???????1837??2020-05-14?18:11??icpexam2.m

?????文件???????2613??2020-05-14?18:12??icpexam3.m

?????文件???????8321??2020-05-14?18:14??icp.m

?????文件????????767??2020-05-14?18:12??icpexam.m

-----------?---------??----------?-----??----

????????????????13538????????????????????4