The result is abnormal.

[qiushye]

Thanks for your code first.
I used the dataset "fr1/xyz" from Computer Vision Grouphttp://vision.in.tum.de/data/datasets/rgbd-dataset/download to test your code, and used the result "slow.poses", depth images and rgb images to make the point cloud as the image "pointcloud_icp.png". I also used the ground truth to make the point cloud as the image "pointcloud_groundtruth.png". The image "1.png" shows the actual scene.
Why the point cloud result of ICP is abnormal?

[qiushye]

The images order is "1.png", "pointcloud_groundtruth.png", "pointcloud_icp.png".

[mp3guy]

Looks like you're chaining/using the transformations in the wrong way.

[qiushye]

Is each transformation got between the last image and next image?

[mp3guy]

No, each is in the global coordinate frame.