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28 Jul 2012 Iterative Closest Point An implementation of various ICP (iterative closest point) features. Author: Jakob Wilm

Ahhh, p and q are (3 x m) and (3 x n). My dataset was (m x 3). Think thats sorted. But now I get another error : I replaced all the tilde's with 'dummy' but there seems to be a division by zero error. I now get this response :
??? Error using ==> svd
Input to SVD must not contain NaN or Inf.
Error in ==> icp>eq_point at 345
[U,dummy,V] = svd(N); % singular value decomposition

Error in ==> icp at 231
[R,T] = eq_point(q(:,q_idx),pt(:,p_idx), weights(p_idx));

What do I do here?I have real 3D point clouds to register. Thanks again for your code and help

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