This library implements various Iterative Closest Point algorithm approaches. The main well known approaches are already implemented:
For all methods, it is possible to use MEstimators to robustely discard outliers. DISCLAIMER: this feature has been poorly tested.
sudo apt-get install libgoogle-glog-dev
Then, install the icp library as follow
mkdir build
cd build
# set EXAMPLES to ON if you want sample binaries,
# set TEST to ON if you want to build the unit tests
ccmake ..
make -j4
# If you want to compile the doxygen documentation for the project
make doc
# This will install the library and headers to /usr/local
sudo make install