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.



Ordinary usage:



[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



see help icp for more information