* Juan Alfonso Reyes López <[hidden email]> [2013-12-23 16:22]:
> 1.- It should be faster to search the closest neightboor using the 2D
> information of the depthmap (searching in a mxn neighboorhood)
> instead of the kdtree?
> 2.- If the response to 1. is yes, its this implemented in PCL? where I
> can find information about this?
Have a look at cl_search pcl::search:OrganizedNeighbor.
> 3.- I'm using an edge detector to downsample the data, for this reason
> I dont want to use RANSAC, how I can disable RANSAC when using ICP?
AFAIR RANSAC is not part of the default ICP in PCL-1.7 anymore.