open3d c++ 点云ICP配准

使用C++运行open3d，进行ICP配准测试

 

#include <opencv2/opencv.hpp>
#include <iostream>
#include <Eigen/Dense>
#include <iostream>
#include <memory>
#include "Open3D/Registration/GlobalOptimization.h"
#include "Open3D/Registration/PoseGraph.h"
#include "Open3D/Registration/ColoredICP.h"
#include "Open3D/Open3D.h"
#include "Open3D/Registration/FastGlobalRegistration.h"


using namespace open3d;
using namespace std;
using namespace registration;
using namespace geometry;
using namespace cv;

void main()
{

	open3d::geometry::PointCloud source, target;
	open3d::io::ReadPointCloud("C:/Users/chili1080/Desktop/Augmented ICL-NUIM Dataset-jyx/livingroom1-fragments-ply/cloud_bin_0.ply", source);
	open3d::io::ReadPointCloud("C:/Users/chili1080/Desktop/Augmented ICL-NUIM Dataset-jyx/livingroom1-fragments-ply/cloud_bin_1.ply", target);

	Eigen::Vector3d color_sou