在MATLAB环境中，ICP点云匹配算法被应用。

简介：
The function calculates R1 and t1 values using a regression procedure. Specifically, it extracts data from two datasets, data1 and data2, based on specified correlation indices. The relevant columns from data1 are designated as M, and their mean is computed to obtain mm. Similarly, the corresponding columns from data2 are assigned to S, with their mean calculated as ms. To facilitate the regression, shifts are applied to both M and S; these shifts represent the difference between the first element of S and ms, and the second element of S and ms, respectively. Furthermore, shifts are applied to M as well. Subsequently, two coefficients, b1 and b2, are determined through a linear combination of these shifted data points. The distance between these coefficients is then calculated as bb = sqrt(b1^2 + b2^2). Finally, c and s represent the ratios of b1 and b2 relative to bb. These values are then utilized to construct a matrix R1: [c -s s c]. Lastly, t1 is determined by subtracting R1 multiplied by ms from mm.