Modern ICP

A modern modular pure Rust implementation of the Iterative Closest Point algorithm.

Example

let (alignee_transform, error_sum) = estimate_transform(
    &alignee_cloud,
    &target_cloud,
    20, // max iterations
    BidirectionalDistance::new(&target_cloud),
    accept_all,
    reject_3_sigma_dist,
    point_to_plane_lls::estimate_isometry,
    same_squared_distance_error(1.0),
);