初始尝试：
https://www.jianshu.com/p/18d4270aad2a
http://pointclouds.org/documentation/tutorials/interactive_icp.php#interactive-icp
下载数据：
https://github.com/PointCloudLibrary/data
https://github.com/UnaNancyOwen
https://github.com/UnaNancyOwen/Tutorials
https://github.com/UnaNancyOwen/Tutorials/tree/master/tutorials
https://github.com/UnaNancyOwen/Tutorials/tree/master/tutorials/interactive_icp
https://github.com/UnaNancyOwen/Tutorials/blob/master/tutorials/interactive_icp/monkey.ply
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