ICP example with initial transformation parameters and final transformation output (text file)

I added a parameter to allow initial transformation and a parameter to output the transformation matrices in a text file. 

Program call example : 
./pmicp --initTranslation [-0.78,-0.48,0] --initRotation [1,0,0;0,1,0;0,0,1] --isTransfoSaved true bun000.csv bun001.csv

Tranformation output example : 
Initial transformation :
    1     0     0 -0.78
    0     1     0 -0.48
    0     0     1     0
    0     0     0     1

ICP transformation :
           1  1.97669e-05  2.76839e-05   -0.0199986
-1.97788e-05            1  4.90163e-05   -0.0199967
-2.76674e-05 -4.89752e-05            1   5.4054e-06
           0            0            0            1

Complete transformation :
           1  1.97669e-05  2.76839e-05    -0.800008
-1.97788e-05            1  4.90163e-05    -0.499981
-2.76674e-05 -4.89752e-05            1   5.0494e-05
           0            0            0            1

note1 : brackets are optional for transformation
note2 : translation is a vector of dimension 3, rotation is a matrix of dimension 3x3
note3 : for --isTransfoSaved, value can be true, false, 1 or 0
note4 : I did not add any additional help information about this
yes, since it's a demo code, it would be better to keep the 2D functionalities. There are 2D point cloud in the data folder in case you need them to test.