Merge branch 'icp' into dev

icp has a error result, and need be optimized in the feature
now, merge it to dev, to develop the vector method
add kdtree-bbf and min-priority-queue
kd-tree release, vectmatch, image dip-dialog, random color
vect match: transient
finish match_clp
Merge branch 'match_clp' into dev
Merge branch 'dev', match_clp