Probabilistic variant of the iterative closest point algorithm. The point to plane matching is carried out using the Mahalanobis distance between the distributions from which the points in the PCLs have been drawn.
Clone this repository and create a build folder under the root, then execute
cd build
cmake ..
make -j4
Avalible under the bin folder. Run
./test_picp ../meshes/monkey.ply
And hit space until the algorithm reaches convergence and 'q' to exit.