如何使用迭代最近点ICP

（ PCL学习11.2.1） 如何使用迭代最近点ICP

书本第11章例1，运行代码出现报错：无法访问private等问题；
采用官网上提供的代码：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>//ICP配准类的相关文件

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);
    }

    std::cout << "Saved " << cloud_in->size() << " data points to input:" << std::endl;

    for (auto& point : *cloud_in)
        std::cout << point << std::endl;

    *cloud_out = *cloud_in;

    std::cout << "size:" << cloud_out->size() << std::endl;


    for (auto& point : *cloud_out)
        point.x += 0.7f;

    std::cout << "Transformed " << cloud_in->size() << " data points:" << std::endl;

    for (auto& point : *cloud_out)
        std::cout << point << std::endl;

    pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
    icp.setInputSource(cloud_in);//cloud_in设置为源点云
    icp.setInputTarget(cloud_out);//cloud_out设置为目标的匹配点云

    pcl::PointCloud<pcl::PointXYZ> Final;//存储经过配准变换源点云后的点云
    icp.align(Final);                    //存储到Final

    std::cout << "has converged:" << icp.hasConverged() << " score: " <<
        icp.getFitnessScore() << std::endl;
    std::cout << icp.getFinalTransformation() << std::endl;//输出最终估计的变换矩阵

    return (0);
}

运行结果如下：

有用的文章：https://blog.youkuaiyun.com/yamgyutou/article/details/105605412?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522163530495116780269870439%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=163530495116780269870439&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_ecpm_v1~rank_v31_ecpm-1-105605412.first_rank_v2_pc_rank_v29&utm_term=pcl+%E5%A6%82%E4%BD%95%E4%BD%BF%E7%94%A8%E8%BF%AD%E4%BB%A3%E6%9C%80%E8%BF%91%E7%82%B9ICP&spm=1018.2226.3001.4187