根据一片点云经过旋转变换，生成另一片点云，求出曲率，实现两片点云的粗配准。-Through the rotation transform a point cloud generated another piece of point cloud obtained curvature coarse registration of two point clouds.

三维点云配准kd-tree搜索算法，用于特征点的搜索匹配-3 d point cloud registration kd- tree search algorithm, is used to search of feature point matching