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Register two point clouds using ICP algorithm

`tform = pcregrigid(moving,fixed)`

```
[tform,movingReg]
= pcregrigid(moving,fixed)
```

`[___,rmse] = pcregrigid(moving,fixed)`

`[___] = pcregrigid(moving,fixed,Name,Value)`

returns
a rigid transformation that registers a moving point cloud to a fixed
point cloud.`tform`

= pcregrigid(`moving`

,`fixed`

)

The registration algorithm is based on the "iterative closest
point" (ICP) algorithm. Best performance of this iterative process
requires adjusting properties for your data. Consider downsampling
point clouds using `pcdownsample`

before
using `pcregrigid`

to improve accuracy and efficiency
of registration.

Point cloud normals are required by the registration algorithm
when you select the `'pointToPlane'`

metric. Therefore,
if the input point cloud’s `Normal`

property
is empty, the function fills it. When the function fills the `Normal`

property,
it uses 6 points to fit the local plane. Six points may not work under
all circumstances. If registration with the `'pointToPlane'`

metric
fails, consider calling the `pcnormals`

function
which allows you to select the number of points to use.

`[___] = pcregrigid(`

uses
additional options specified by one or more `moving`

,`fixed`

,`Name,Value`

)`Name,Value`

pair
arguments.

[1] Chen, Y. and G. Medioni. “Object
Modelling by Registration of Multiple Range Images.” *Image
Vision Computing*. Butterworth-Heinemann . Vol. 10, Issue
3, April 1992, pp. 145-155.

[2] Besl, Paul J., N. D. McKay. “A Method
for Registration of 3-D Shapes.” *IEEE Transactions
on Pattern Analysis and Machine Intelligence*. Los Alamitos,
CA: IEEE Computer Society. Vol. 14, Issue 2, 1992, pp. 239-256.

`affine3d`

| `pcdenoise`

| `pcdownsample`

| `pcfitplane`

| `pcmerge`

| `pcplayer`

| `pcread`

| `pcshow`

| `pctransform`

| `pcwrite`

| `planeModel`

| `pointCloud`