For more information about the C(anonical) Scan Matcher, see the webpage: http://purl.org/censi/2007/csm.
Note: there are two branches on the repository. The "master" branch uses GSL.
This is the csm_eigen branch, which uses the eigen library.
This branch is the work of people working at U. Freiburg and Kuka,
including Christoph Sprunk
and Rainer Kuemmerle.