This is a C example with CMake management. Note that this example requires the Point Cloud Library (PCL) ≥ 1.8 for reading .pcd files. You can install the library by the following command:

sudo apt install -y libpcl-dev

To build the project, please choose a proper one and execute the corresponding script:

• Pros: You don't need to install the KCP library (libkcp) to the system.
• Cons: You have to set a path to the KCP repository, and you need to re-compile KCP for each project.

mkdir build && cd build
cmake ..
make

• Pros: You can import the KCP library anywhere, without the path to the KCP repository. Moreover, you can re-use the shared library.
• Cons: You have to install the KCP library (libkcp) to the system.

mkdir build && cd build
cmake .. -DFIND_KCP_FROM_SYSTEM=ON
make

./main

The main function will read two point clouds from data, and perform the scan matching using KCP.