使用正态分布变换进行配准

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <pcl/registration/ndt.h>
#include <pcl/filters/approximate_voxel_grid.h>

#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

int
main(int argc, char** argv)
{
	// Loading first scan of room.
	pcl::PointCloud<pcl::PointXYZ>::Ptr target_cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("room_scan1.pcd", *target_cloud) == -1)
	{
		PCL_ERROR("Couldn't read file room_scan1.pcd \n");
		return (-1);
	}
	std::cout << "Loaded " << target_cloud->size() << " data points from room_scan1.pcd" << std::endl;

	// Loading second scan of room from new perspective.
	pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::