中文说明：ICP迭代最近点算法的各种实现方法，包括四元函数法，最小迭代，等算法，以及ICP迭代最近点算法的实现。
English Description：
Various implementation methods of ICP iterative closest point algorithm, including quaternion function method, minimum iteration, etc., as well as the implementation of ICP iterative closest point algorithm.