Rigid ICP registration

This is a method for relatively fast, robust and accurate rigid transformation (including scaling) of similar 3D point clouds such as anatomical shapes.
As a clinician I needed a code for reliable registration of similar anatomical structures. The present submission appeared -in my applications at least- to be robuster, faster and even more accurate than similar applications I found on file exchange. And this without any necessary pre-processing or pre-alignment.

I hope more technical gifted developpers will be able to improve the present submission.

ICPmanu2 is the principal file to be used and requires a N*3 target and N*3 source data as input.