icp算法的实现代码及相关实验数据

0.448103418 14.92141519 -103.1177893 -15.11776437 16.4064314 -77.94278239 -15.73629807 8.296915329 -82.5210978 -14.36446946 7.567642981 -90.26340369 -28.67371787 16.49174641 -104.6739633 -15.65534247 18.41180348 -99.2514117 -16.18751421 6.202667092 -82.25521041 -22.11825143 5.897908808 -85.59528792 5.285557529 22.66780725 -96.98668633 -18.4574344 15.26109805 -89.8795027 1.466945821 12.82430455 -98.31863198 0.953734889 9.238162268 -100.1517771 -3.84096339 0.991936474 -77.81318263 8.592726855 8.974662721 -94.75704302 5.144918055 10.24586582 -88.34466315 -9.165059023 12.51022722 -91.04204936 6.761010954 19.10906857 -105.0974844 -19.38647313 22.68406574 -97.22736474 5.10271232 18.04240646 -96.59022255 -12.40046899 18.71905588 -97.28477446 -7.257831797 14.3863884 -89.5022835 5.623505514 21.47823899 -96.96143695 10.18195974 8.191504418 -81.29506261 -4.919104192 15.24514342 -86.2530766 11.57354045 7.594091063 -96.27188008 5.036714184 10.96051294 -91.66280282 0.710177919 6.145184806 -90.14582641 -7.985592819 14.64452537 -107.0859536 5.491668119 23.74957335 -102.5354421 -9.902437067 11.62478225 -83.17070824 -8.583396505 21.41422797 -84.56085803 -0.834540837 12.87927535 -92.86379748 -12.17164564 13.26505548 -99.65671248 -2.241117391 14.7894778 -97.89407664 -1.932459415 19.45870455 -100.1924003 -6.846258901 14.70848965 -82.13313378 7.609796186 4.959587113 -88.91180314 -11.99811039 4.517711988 -94.28343977 5.239884196 14.40668197 -89.87252604 -0.616733069 14.04623473 -89.64479812 -16.33014409 13.78126808 -87.8517293 -4.323186651 22.69946567 -102.5811015 10.51202921 19.80740885 -111.9521276 1.456134911 6.012722959 -90.77067092 5.47776154 13.34556894 -79.45975123 -31.82612274 10.24739893 -74.48180997 9.395610294 1.500717637 -100.834104 -0.351157256 11.18836365 -87.30791879 -1.929653996 16.07488929 -90.79601578 -1.593872445 19.15172278 -94.79826353 -1.425316295 20.60531554 -101.4285969 0.28706451 11.42538884 -94.13925188 -21.19454351 17.82844875 -85.68201169 23.24439514 6.042775322 -95.36420457 -5.431764878 10.25191648 -83.05014639 7.124826111 20.90217881 -89.29362406 -4.456885165 13.96148021 -88.51083532 -13.00908376 18.8539196 -89.11861501 -5.397632012 22.96362953 -106.3080634 -16.89877696 10.64429087 -101.6639594 -4.330365417 7.483550086 -94.84823225 -10.99619962 2.154983058 -94.624246 4.894855551 6.299942812 -90.28995976 -16.12113793 15.54620189 -93.48529713 -0.922549471 5.759648717 -103.4506703 -31.17816485 12.27436452 -95.85749566 14.44066839 28.78247455 -106.7114201 -11.04779054 -5.794229291 -94.63852014 22.94708811 12.35048642 -93.26666466 -17.48131705 7.758275768 -104.2427032 -15.2855018 11.25582145 -104.4133844 -21.4777686 24.99666035 -96.13925881 -24.17688221 -5.7945386 -93.90355239 -0.057639764 24.79655629 -93.73839751 -8.421547328 20.43150034 -101.9546023 5.686143427 3.063188919 -86.18015489 -3.026254926 13.41542229 -83.7479422 4.294386753 8.179182172 -74.21022086 -10.62959707 20.30231077 -101.8518201 -16.44077832 8.771467346 -90.66973631 -7.29348771 11.72526131 -84.19806043 -0.765726327 21.52429277 -91.29247573 1.166979074 15.45069102 -105.9811735 20.31678259 17.19640753 -92.17484254 0.587570515 8.143415662 -94.39182348 -8.739313021 12.49004948 -77.53262315 -16.32714516 7.783652594 -99.85164147 -12.0125789 11.35672883 -91.62811216 3.277093274 8.097963682 -95.03115917 -7.137586838 19.93492422 -102.692352 0.855996054 -0.488271113 -90.1644057 -1.108532356 9.553692468 -76.47809634 -9.121111616 29.12766282 -93.09887766 9.81483177 11.98408433 -84.53737624 -8.805728915 10.04043053 -80.89446507 21.72878946 9.658130257 -104.4496482 10.36871374 16.02129968 -81.08664785 3.36987188 6.118340495 -85.82462024 7.590640214 15.31930969 -90.16280824 -1.140041317 19.67994569 -82.19432806 -11.31455634 19.21552141 -101.8345747 -15.44850014 18.23167049 -95.04976384 -11.68797132 10.15612137 -97.25669186 -27.41698088 14.61131826 -85.0767477 -9.699162478 20.37177708 -90.00002478 2.425553098 21.78646183 -83.39852713 14.13421161 18.05394681 -91.11838363 -6.540376034 17.07209249 -89.1587411 14.30490667 12.41388895 -102.7898049 -6.724315698 13.12529302 -102.8629773 5.67022095 9.030083013 -90.74745327 -1.289238665 26.30865172 -95.33287496 -15.31627297 7.719171664 -94.03574746 4.839213582 6.574398938 -94.2514671 -1.093045792 20.21356704 -85.87540675 -10.06930135 23.14918621 -104.376407 -7.455321429 16.21297077 -74.59255152 -17.14213715 22.83884542 -111.1913034 -11.35518505 14.83500893 -98.95625904 0.167532878 10.50880548 -88.2562282 3.353527178 9.024871056 -80.03103944 -5.177321164 9.739597409 -85.8199918 11.5613354 10.48722368 -94.12138417 1.210518567 12.04124575 -90.81405418 4.500194159 4.824134497 -89.32903535 2.254977913 10.01967378 -96.59038737 -7.137778334 6.890979991 -94.22417507 -0.761112326 17.26367644 -89.23729058 -8.274687744 16.01536597 -89.3480826 -0.238106899 19.49542735 -98.61343417 2.114555101 15.72966211 -87.87015829 3.201685311 15.7309123 -97.4125877 -25.53557672 21.15717678 -98.74741131 -15.62105566 9.529002264 -93.34636529 -3.13381306 9.468122292 -88.72534101 -9.185197485 17.47274239 -95.82532717 -13.54176715 16.40864084 -96.08588508 -1.382201421 4.559940292 -99.44537313 -5.823561487 19.81656862 -76.02388172 3.582006371 8.372138848 -70.69249588 -18.05468668 13.72464104 -93.62958152 -8.761401254 16.0923091 -90.94959559 -6.792328709 12.72201634 -88.52909016 7.189435906 15.18429717 -82.65685872 -8.788154031 25.43152258 -91.09705161 -16.61675203 13.30010058 -97.55670365 29.39712424 15.42784262 -100.3139383 0.088271575 7.686915464 -84.02918949 7.010305317 25.11015609 -88.29702521 -21.86883411 12.56310198 -97.66210677 2.802740559 10.68278861 -103.9014924 -6.240628865 20.15867176 -99.6022872 -16.25175495 13.75087456 -104.5611719 -12.03571087 11.35496469 -98.71873209 -18.02018407 14.05051212 -102.6558398 -5.305889036 11.29480702 -107.1513538 3.91171061 6.578367214 -91.56660848 -30.66832298 21.01136035 -103.0386726 -1.819492051 11.70447622 -93.54915771 1.985774312 8.289942282 -93.99208624 6.367239186 13.91124724 -86.38399853 -20.09480658 11.51503088 -96.65155091 -0.555620079 22.90313697 -86.20593399 -1.87766266 14.12384775 -89.53091809 -2.029347708 14.2806059 -103.9996216 23.05973021 7.971909058 -89.0284898 -31.40356077 12.94857425 -95.91462724 -0.425501433 10.49633033 -98.24568591 16.80890793 20.99477127 -96.51967498 -12.61341152 23.97259925 -88.59272642 2.798169377 4.13978474 -94.42481076 4.154077666 4.862422617 -100.8707292 11.26708442 2.717287128 -84.66084837 12.00286237 2.079757086 -73.57858539 -5.11897058 24.25594547 -101.7356596 6.071258945 9.287629237 -80.66288595 3.149766219 9.667729901 -93.69762539 12.90297408 16.47745043 -84.34430414 0.165604031 9.620898949 -89.56861736 -7.307863004 20.00849267 -104.1977742 -14.41413374 13.60903799 -92.47498376 -26.30373202 8.738293907 -101.0521642 -14.06146718 5.739663343 -83.8097325 1.129562268 14.1819842 -91.74899442 -3.703100928 16.07880832 -103.4509973 -16.28083075 12.57953343 -89.31260719 -0.128912812 27.07450426 -83.54045289 -4.747023947 29.31823218 -99.11817123 6.623621409 10.52273885 -82.8811303 -14.92516477 8.928991233 -77.22771583 0.087201684 14.62216139 -80.12363794 2.766515913 23.47021328 -92.86801457 2.503420852 18.76854628 -84.36088666 -25.17871681 17.17143875 -103.9039369 -11.3311728 2.704113718 -93.57914216 -25.55195684 25.50234669 -101.8161131 -14.27743466 16.12504426 -89.42692534 -5.087038334 13.31698027 -101.8630108 1.226475179 7.563783537 -88.50890259 -13.66868199 14.65520797 -94.14983335 9.468679251 17.09124023 -95.87370221 3.425975562 23.65502167 -99.42602315 2.115290256 9.770093345 -86.99706015 -10.30433984 9.146513849 -99.7869721 16.00464885 12.43992481 -89.99576491 -9.341256312 13.59343922 -91.06795967 0.505980916 7.532560981 -103.0843437 -2.219885382 15.90160452 -91.32747684 22.64653541 11.134250