ICP algorithm , fast and easy to use in point cloud registration .

Details are found in:

Besl, P., & McKay, N. (1992). A method for registration of 3-D shapes. IEEE Transactions on pattern analysis and machine intelligence, 239-256.

The speed of demo under release X86 mode is close to the funtion "pcregrigid" in Matlab2015a.

Nearest points searching is based on libnabo.from http://github.com/ethz-asl/libnabo.

Include the Extrapolation in quaternion space. Details are found in:

Besl, P., & McKay, N. (1992). A method for registration of 3-D shapes. IEEE Transactions on pattern analysis and machine intelligence, 239-256.

1- Download Eigen 3.0+ from http://eigen.tuxfamily.org.

Add the "Eigen" to fold "src/nabo/".

2- Download boost form http://www.boost.org.

Set path of boost to your project.

3- Use FastICP as the file "src/main.c" shown.