function icp_vs_h3d(seed)

if (nargin == 0 )
    seed = 1;
end

scans = dat_avz;

rot_angles = [15 30 45 60 75 90];

NTESTS = 10;

T = zeros(4,4);
T(4,4) = 1;

data_transformation = zeros(numel(rot_angles)*NTESTS,17);
k = 1;

for i = 1:numel(rot_angles)
   
    for j = 1:NTESTS
        % pick a random transformation
        p = sample_s2();
        rot = rot_axis_angle(p,rot_angles(i));
        T(1:3,1:3) = rot;
        T(1,4) = rand()-0.5;   
        T(2,4) = rand()-0.5;
        T(3,4) = rand()-0.5;
        % pick a random scan
        scan_index = ceil(rand() * numel(scans));
        
        data_transformation(k,1) = scan_index;
        data_transformation(k,2:17) = T(1:16);
        k = k+1;
        
        scan1 = scans{scan_index};        
        scan1 =  h3d_scan_find_normals(h3d_scan_convert_points(scan1));
        points1 = scan1.points;
        points2 = points1;
        points1 = points1';
        points2 = points2';
        newpoints = ApplyTransformation(points2,T);
        save points1.txt points1 -ASCII
        save points2.txt newpoints -ASCII
        system('scp points1.txt shamano@169.236.143.170:c/hsm/icpvsh3d');
        system('scp points2.txt shamano@169.236.143.170:c/hsm/icpvsh3d');
        system('ssh shamano@169.236.143.170:run_icp_h3d');
    end
    
end

save transformations.txt data_transformation -ASCII