NDT 点云匹配

#define BOOST_TYPEOF_EMULATION
#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>


typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloud;

void visualize_pcd(PointCloud::Ptr pcd_src, PointCloud::Ptr pcd_tgt, PointCloud::Ptr pcd_final)
{
	pcl::visualization::PCLVisualizer viewer("registration Viewer");
	//原始点云绿色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> src_h(pcd_src, 0, 255, 0);
	//目标点云红色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h(pcd_tgt, 255, 0, 0);
	//匹配好的点云蓝色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> final_h(pcd_final, 0, 0, 255);

	viewer.setBackgroundColor(255, 255, 255);
	viewer.addPointCloud(pcd_src, src_h, "sourc