PCL IterativeClosestPoint 重叠最近点 配准

    #include <iostream>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/registration/icp.h>
    
    int
    main(int argc, char** argv)
    {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>(5, 1));
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);
    
    // Fill in the CloudIn data
    for (auto& point : *cloud_in)
    {
        point.x = 1024 * rand() / (RAND_MAX + 1.0f);
        point.y = 1024 * rand() / (RAND_MAX + 1.0f);
        point.z = 1024 * rand() / (RAND_MAX + 1.0f);