icp.hpp

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#pragma once
 
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
 
class ICP{
  private:
    pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI> _icp_; 
  public:
    ICP(std::string target_file, double max_correspondence_distance, long max_iteration, 
        double transformation_epsilon, double euclidean_fitness_epsilon);
 
    double executeICP(pcl::PointCloud<pcl::PointXYZI>::Ptr source, 
                      pcl::PointCloud<pcl::PointXYZI>::Ptr final_cloud);
};