Rob Hess Linux下的SIFT提取源码，金字塔采样和高斯差分提取特征点，KD树搜索寻找同名点，RANSAC去粗差,Rob Hess Linux source code under the SIFT extraction, sampling and Gaussian pyramid differential extraction of feature points, KD tree search to find the same name, points, RANSAC to gross

icp算法的实现和kd-tree功能的实现，实现了三维激光扫描仪获取的多视点云配准和建立离散点间的拓扑关系，实现基于领域关系的快速查找。-kd-tree implementation and realization of function icp algorithm to achieve a multi-view point cloud registration and establish topological relations between discrete points, field-