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Hi, we hadn't touched the GICP code for a while, since it didn't improve our results. Since we didn't test it anymore changes elsewhere broke the GICP functionality. I fixed that and will properly release a new version as soon as my work schedule permits. Try updating your svn in a few days.

However, in my experiments with GICP, SIFTGPU and SURF the results with Features+GICP are still slightly worse than Features only. Depends on the scenario of course.

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