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Add a part of the new rigid registration method [FRICP] #6199

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yaoyx689 wants to merge 33 commits into
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yaoyx689:add_fricp
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Add a part of the new rigid registration method [FRICP] #6199
yaoyx689 wants to merge 33 commits into
PointCloudLibrary:masterfrom
yaoyx689:add_fricp

Use DefaultConvergenceCriteria per larshg review

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