c++下使用open3d进行GeneralizedICP配准

c++下使用open3d进行GeneralizedICP配准

#include <string>
#include <Eigen>
#include <Open3D/Open3D.h>
using namespace open3d;
using namespace std;

void VisualizeRegistration(const open3d::geometry::PointCloud& source,
    const open3d::geometry::PointCloud& target,
    const Eigen::Matrix4d& Transformation) {
    std::shared_ptr<geometry::PointCloud> source_transformed_ptr(
        new geometry::PointCloud);
    std::shared_ptr<geometry::PointCloud> target_ptr(new geometry::PointCloud);
    *source_transformed_ptr = source;
    *target_ptr = target;
    source_transformed_ptr->Transform(Transformation);
    visualization::DrawGeometries({ source_transformed_ptr, target_ptr },
        "Registration result");
}

int main(int argc, char* argv[]) {

    //读取点云
    std::shared_ptr<geometry::PointCloud> target(new geometry::PointCloud);
    open3d::io::ReadPointCloud("C:/Users/a/Desktop/1.ply", *tar