Qt+pcl Chapter 6 point cloud registration ICP series 4

Preface

Refer to the above ICP Relevant registration settings

One 、 Core code

The code is ICP Point to point , As shown below ：

//icp- Point to point 
Eigen::Matrix4f pcl_registration_icp2plane(pcl::PointCloud<pcl::PointNormal>::Ptr cloud_src, pcl::PointCloud<pcl::