fix bug in projectFeatures function
optimize Makefile
fix bug in toPointCloud function
add ply file for viewing result
Revert "add ply file for viewing result"

This reverts commit 4f098b564f25d758497f44d81ab1850ee5cf3146.
test transform estimation
add SLAM class
add SLAM class
complete run function
add function for writing point cloud
fix some syntax errors
fix memory deallocation error