Coordinate transformation of 3D laser scanning based on nonlinear least squares algorithm in MATLAB

Assuming 3D laser scanner coordinate system is O-XYZ, and space retangular coordinate system is O-XYZ. Between the process of coordinate transformation, firstly, move scanner coordinate origin to space retangular coordinate origin in X, Y, Z directions and rotate it three times will achieve conversion. Then asumming three translational parameters are g1, g2, g3, the telescopic parameter is g4, three rotation parameters are g5, g6, g7 in the paper.