Point_Set_Registrat​ion

pts_ref = T*pts_move, find T

Align 2 set of point, 3 methods. Can be used in calibration or ICP

Core Function:

% Find T for a = T*b
% as, bs are 3*n column vectors, n>3

T = RigidReg(a,b)
T = RigidReg(a,b,method)
[T,k] = RigidReg(a,b) % also find scale factor

Optional Input: method, default 2

• Method 1: Covariance SVD
• Method 2: Quarternion Method
• Method 3: Another Quarternion Method