Feature-Aware ICP (Builds on top of Trimmed ICP. In addition to matching points based on a point-to-point distance criteria, matches them based on a local "feature vector.")
Trimmed ICP (Trimmed ICP is identical to Vanilla ICP with the addition of an overlap rate parameter, which specifies the percentage of points between the two point sets that have correspondences. When the overlap rate is 1, the algorithm reduces to vanilla.)
Vanilla ICP (The vanilla algorithm for ICP will match the point-cloud centers exactly and then iterate until an optimal rotation has been found.)

Optionally, read write_icp_instance to use your own ICP implementations.

Visualization & Benchmarking Tool

The following command visualizes the two LiDAR scans at the given files. Instructions are printed to standard output.

make
./main \
    -S ex_data/scan1/first.conf \
    -D ex_data/scan1/second.conf \
    --method vanilla \
    --gui

You can benchmark with make bench; by default, this will pass -mvanilla.

The program itself can be built with

make

which will create an executable named main in the working directory. You can query ./main -h and ./main -v for usage and versioning information.