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While the functionality is still there, (G)ICP is actually not used anymore in RGBDSLAM as a colleague and me couldn't get it to improve the results from feature correspondences with reasonable effort (i would appreciate any help here, it should be possible somehow).

But when we used it, we downsampled the point clouds considerably to speed it up. Curiously icp was faster writing the points to a file, running the standalone gicp executable and parsing the result, than calling the compiled-in library. We have found no explanation for this.

We took the implementation from Stanford