This function ICP_FINITE is an kind of Iterative Closest Point(ICP) registration algorithm for 3D point clouds (like vertice data of meshes ) using finite difference methods.

Normal ICP solves translation and rotation with analytical equations. By using finite difference this function can also solve resizing and shear thus affine registration.

As first step, this function sorts the static points into a grid of overlapping blocks. The block nearest to a moving point will always contain its closest static point, thus the grid allows faster registration.