Hi, may I ask how to install your project?

[yuhui-xie]

Your installation step:

git clone https://github.com/SMRT-AIST/fast_gicp --recursive
mkdir fast_gicp/build && cd fast_gicp/build
cmake .. -DCMAKE_BUILD_TYPE=Release

enable cuda-based implementations

cmake .. -DCMAKE_BUILD_TYPE=Release -DBUILD_VGICP_CUDA=ON

make -j8

seems not match this project.
The projected used is fast_gicp;

[SLAMWang]

Yes, in this project, cuda is not used, most modifications are performed in fast_gicp_impl.hpp.
Our project is based on fast_gicp.