This is a simple utility for estimating the rigid transformation that aligns two sets of 3D point clouds, given 3 (or more) point matches.
Input: two sets of 3D point clouds (P1 and P2)
Output: homogeneous transformation that aligns the two clouds
Assumptions:
1 point i in the first point cloud corresponds to point i in the second cloud
2 the transformation is rigid (i.e. only a rotation and a translation)
3 you need at least 3 (nondegenerate) point matches (i.e. they don't lie on a straight line)
The math is basic and wellknown. The point of this upload is just to save the little bit of time it would've taken you to code it yourself.
Reference: "Computer Vision, a modern approach" by Forsyth and Ponce
Related:
1 Click3dPoint (on the File Exchange) to manually find a few point correspondences
2 ICP (e.g. Matlat implementation by A. Mian)
