make icp tool use IncrementalICP
make icp tool use IncrementalICP

This simplifies the code and gives a good example for using the class

zhangxaochen/pcl,Tabjones/pcl,starius/pcl,KevenRing/pcl,krips89/pcl_newfeatures,closerbibi/pcl,mikhail-matrosov/pcl,ResByte/pcl,lydhr/pcl,closerbibi/pcl,sbec/pcl,krips89/pcl_newfeatures,stfuchs/pcl,fskuka/pcl,shangwuhencc/pcl,damienjadeduff/pcl,pkuhto/pcl,damienjadeduff/pcl,lydhr/pcl,MMiknis/pcl,wgapl/pcl,starius/pcl,shangwuhencc/pcl,raydtang/pcl,shyamalschandra/pcl,stfuchs/pcl,nikste/pcl,chenxingzhe/pcl,mikhail-matrosov/pcl,stfuchs/pcl,starius/pcl,lebronzhang/pcl,krips89/pcl_newfeatures,pkuhto/pcl,KevenRing/vlp,shivmalhotra/pcl,3dtof/pcl,locnx1984/pcl,cascheberg/pcl,KevenRing/vlp,stefanbuettner/pcl,ipa-rmb/pcl,the-glu/pcl,mschoeler/pcl,stfuchs/pcl,cascheberg/pcl,3dtof/pcl,sbec/pcl,MMiknis/pcl,nikste/pcl,cascheberg/pcl,shivmalhotra/pcl,LZRS/pcl,DaikiMaekawa/pcl,krips89/pcl_newfeatures,KevenRing/vlp,DaikiMaekawa/pcl,3dtof/pcl,shyamalschandra/pcl,stefanbuettner/pcl,zhangxaochen/pcl,3dtof/pcl,lebronzhang/pcl,MMiknis/pcl,drmateo/pcl,zhangxaochen/pcl,the-glu/pcl,KevenRing/vlp,simonleonard/pcl,ipa-rmb/pcl,locnx1984/pcl,simonleonard/pcl,ipa-rmb/pcl,lydhr/pcl,shyamalschandra/pcl,zhangxaochen/pcl,wgapl/pcl,sbec/pcl,kanster/pcl,wgapl/pcl,simonleonard/pcl,pkuhto/pcl,MMiknis/pcl,DaikiMaekawa/pcl,KevenRing/pcl,drmateo/pcl,wgapl/pcl,KevenRing/vlp,raydtang/pcl,sbec/pcl,stefanbuettner/pcl,KevenRing/pcl,Tabjones/pcl,chenxingzhe/pcl,closerbibi/pcl,damienjadeduff/pcl,DaikiMaekawa/pcl,starius/pcl,shyamalschandra/pcl,the-glu/pcl,fskuka/pcl,raydtang/pcl,locnx1984/pcl,lebronzhang/pcl,shyamalschandra/pcl,mschoeler/pcl,chenxingzhe/pcl,shivmalhotra/pcl,kanster/pcl,ResByte/pcl,pkuhto/pcl,lebronzhang/pcl,mikhail-matrosov/pcl,stfuchs/pcl,shangwuhencc/pcl,cascheberg/pcl,starius/pcl,fskuka/pcl,DaikiMaekawa/pcl,krips89/pcl_newfeatures,drmateo/pcl,shivmalhotra/pcl,chenxingzhe/pcl,mschoeler/pcl,kanster/pcl,locnx1984/pcl,zhangxaochen/pcl,mschoeler/pcl,ipa-rmb/pcl,ResByte/pcl,LZRS/pcl,nikste/pcl,shivmalhotra/pcl,kanster/pcl,shangwuhencc/pcl,KevenRing/pcl,raydtang/pcl,lebronzhang/pcl,nikste/pcl,cascheberg/pcl,stefanbuettner/pcl,pkuhto/pcl,Tabjones/pcl,closerbibi/pcl,the-glu/pcl,wgapl/pcl,nikste/pcl,mikhail-matrosov/pcl,sbec/pcl,KevenRing/pcl,lydhr/pcl,fskuka/pcl,LZRS/pcl,drmateo/pcl,stefanbuettner/pcl,ipa-rmb/pcl,simonleonard/pcl,damienjadeduff/pcl,lydhr/pcl,damienjadeduff/pcl,locnx1984/pcl,the-glu/pcl,kanster/pcl,Tabjones/pcl,simonleonard/pcl,ResByte/pcl,drmateo/pcl,Tabjones/pcl,3dtof/pcl,mschoeler/pcl,shangwuhencc/pcl,raydtang/pcl,chenxingzhe/pcl,ResByte/pcl,MMiknis/pcl,LZRS/pcl,LZRS/pcl,mikhail-matrosov/pcl,closerbibi/pcl,fskuka/pcl