<DIV>Hi all users,</DIV>  <DIV>I try to implement iterative closestpoint2 with two pointsets which are consisted of four points on each sets,but I face a problem which is:</DIV>  <DIV>&nbsp;</DIV>  <DIV><STRONG>vnl_least_squares_function: WARNING: unknowns(6) &gt; residuals(4)<BR>vnl_levenberg_marquardt: Number of unknowns(6) greater than number of data (4)<BR>Solution = [0, 0, 0, 0, 0, 0]</STRONG></DIV>  <DIV><STRONG></STRONG>&nbsp;</DIV>  <DIV>Is there any way to remove this problem?Since mathematically four points are good enough to calculate the rotation and translation matrix.</DIV>  <DIV>Thanks,</DIV>  <DIV>Alireza</DIV><p>&#32;

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