dcube is a library for efficient closest point search in high dimenstions. This library comes from Columbia University and was written by Sameer Nene and Shree Nayar and is described in their paper A Simple Algorithm for Nearest Neighbor Search in High Dimensions Technical Report CUCS-030-95 Columbia University Computer Science.

kdtree is a library for creation of kdtrees of arbitrary dimension. It is based on the algorithm described by Zhang in his paper on ICP (IJCV 1994).

match is a library of functions for aligning two surface meshes using spin-images. It contains most of the functionality for filtering and grouping point correspondences using geometric consistency and verification of surface matches using a modification of the iterative closest point algorithm.

spinImage is a library that contains all of the functions for reading, writing and creating spin-images from polygonal surface meshes. It also contains functions for reading, writing and creating vector arrays.

surfaceMesh is a library of functions used for creation and manipulation of polygonal surface meshes.

transform is a library of functions for creating and manipulating rigid transformations.