点云配准过程，就是求一个两个点云之间的旋转平移矩阵（rigid transform or euclidean transform 刚性变换或欧式变换），将源点云(source cloud)变换到目标点云(target cloud)相同的坐标系下。(Matching of two sets oPoint cloud registration process, is to get a two point cloud between the translation and rotation matrix (rigid transform or Euclidean transform rigid transformation or Euclidean transformation), the source point cloud (source cloud) transform to the target point cloud (target cloud) under the same coordinate system.f points in spac)