matlab中ICP点云匹配算法 function[R1,t1]=reg(data1,data2,corr)M=data1(:,corr(:,1));mm=mean(M,2);S=data2(:,corr(:,2));ms=mean(S,2);Sshifted=[S(1,:)-ms(1);S(2,:)-ms(2);];Mshifte