sudo apt-get install libpcl-dev
sudo apt-get install libeigen3-dev# 编译
cd optimized_ICP
mkdir build
cd build
cmake ..
make -j4
# 运行
./optimized_icp
具体推导过程请参考我的博客 【附优化方法的ICP源码】ICP与NDT匹配算法精度对比，以及手动实现的ICP和基于优化方法的ICP精度对比
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高斯牛顿迭代的方式求解ICP问题
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