function?[?UpdateMatrix?]?=?ICP（?InitialMatrix?TargetData?SourceData?MaxIteration?）

%ICP?Algrithm
%Source?=?Rotate?*?Target?+?Translate
[TargetDimension?TargetNum]?=?size（TargetData）;
[SourceDimension?SourceNum]?=?size（SourceData）;
PointThresh?=?1;%平方和
ColorThresh?=?10;%平方和
ErrorThresh?=?0.1;%歸一化
DifferThresh?=?0.1;%歸一化
RotateMatrix?=?InitialMatrix;
LastError?=?0;
TotalError?=?0;
Iteration?=?1;
TranslatedSource?=?zeros（3?SourceNum）;
TranslatedTarget?=?zeros（3?TargetNum）;
RotateData?=?zeros（3?TargetNum）;
SourceCenter?=?[0;0;0];
TargetCenter?=?[0;0;0];
for?idx?=?1:SourceNum
????SourceCenter?=?SourceCenter?+?SourceData（1:3?idx）;
end
SourceCenter?=?SourceCenter?./?SourceNum;
for?idx?=?1:SourceNum
????TranslatedSource（:?idx）?=?SourceData（1:3?idx）?-?SourceCent

?屬性????????????大小?????日期????時間???名稱
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?????文件???29492616??2012-11-19?19:47??ICP\data.mat

?????文件???????3834??2012-11-27?17:36??ICP\ICP.asv

?????文件???????3796??2012-11-27?17:40??ICP\ICP.m

?????文件????????576??2012-11-17?14:54??ICP\rotate.mat

?????文件?????????93??2012-10-11?20:04??ICP\SourceData.txt

?????文件?????????81??2012-10-11?20:00??ICP\TargetData.txt

?????文件????????463??2012-11-16?21:49??ICP\test.mat

?????文件????????618??2012-11-17?16:53??ICP\translate.mat

?????目錄??????????0??2012-11-27?17:31??ICP

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

?????????????29502077????????????????????9