vb_calc_matching

 Calculate distance for transformed points

   dmin = vb_calc_fitting(para, V0, V)
 --- Input
 para   : [ dX ; th ] rigid body transformation parameter (6x1 vector)
   dX   : Translation parameter of 3 directions        (3x1 vector)
   th   : Rotation angle around x, y, z axis [radian]  (3x1 vector) 
 V0     : transformed point set (Npoint x 3)
 V      : reference points      (Npoint x 3)
 Weight : Error weight for each point (Npoint x 1)
 --- Output
 dmin = Min distance from rigid-transformed 'V0' to reference point set 'Vref'

 Copyright (C) 2011, ATR All Rights Reserved.
 License : New BSD License(see VBMEG_LICENSE.txt)

0001 function    dmin = vb_calc_matching(para, V0, V, Weight)
0002 % Calculate distance for transformed points
0003 %
0004 %   dmin = vb_calc_fitting(para, V0, V)
0005 % --- Input
0006 % para   : [ dX ; th ] rigid body transformation parameter (6x1 vector)
0007 %   dX   : Translation parameter of 3 directions        (3x1 vector)
0008 %   th   : Rotation angle around x, y, z axis [radian]  (3x1 vector)
0009 % V0     : transformed point set (Npoint x 3)
0010 % V      : reference points      (Npoint x 3)
0011 % Weight : Error weight for each point (Npoint x 1)
0012 % --- Output
0013 % dmin = Min distance from rigid-transformed 'V0' to reference point set 'Vref'
0014 %
0015 % Copyright (C) 2011, ATR All Rights Reserved.
0016 % License : New BSD License(see VBMEG_LICENSE.txt)
0017 
0018 dmin = sum( sum(( vb_rigid_transform(V0, para) - V ).^2 , 2) .* Weight );