PCL的配准算法，主要针对Velodyne HDL-64E S2 Laser的数据，个人利用PCL编写，思想借鉴跑出来PCL英文论坛学者讨论的一般标准思想编写。-PCL registration algorithm, mainly for the HDL-64E S2 Laser Velodyne data, the use of personal use of PCL to prepare, the idea of running out of the PCL forum to discuss the general standard of writing.