请写出一个用c++语言的ICP点云拼接程序

一个用 C 语言实现的 ICP 点云拼接程序的示例代码如下：#include <stdio.h>
#include <math.h>// 定义点云数据结构
typedef struct Point
{
double x;
double y;
double z;
} Point;// 计算两个点之间的距离
double getDistance(Point p1, Point p2)
{
double dx = p2.x - p1.x;
double dy = p2.y - p1.y;
double dz = p2.z - p1.z;
return sqrt(dx*dx + dy*dy + dz*dz);
}// 点云拼接算法
void pointCloudSplicing(Point* p1, int size1, Point* p2, int size2, Point* result)
{
double minDist = 0;
int p1Index = 0;
int p2Index = 0;
for(int i=0; i<size1; i++)
{
for(int j=0; j<size2; j++)
{
double dist = getDistance(p1[i], p2[j]);
if(dist < minDist || minDist == 0)
{
minDist = dist;
p1Index = i;
p2Index = j;
}
}
}
// 拼接点云
for(int i=0; i<p1Index; i++)
{
result[i] = p1[i];
}
for(int i=0; i<size2; i++)
{
result[p1Index+i] = p2[i];
}
for(int i=p1Index+size2; i<size1+size2; i++)
{
result[i] = p1[i-size2];
}
}int main()
{
Point p1[4] = {{1, 2, 3}, {4, 5, 6}, {7, 8, 9}, {10, 11, 12}};
Point p2[4] = {{13, 14, 15}, {16, 17, 18}, {19, 20, 21}, {22, 23, 24}};
Point result[8];
pointCloudSplicing(p1, 4, p2, 4, result);
for(int i=0; i<8; i++)
{
printf("(%lf, %lf, %lf)\n", result[i].x, result[i].y, result[i].z);
}
return 0;
}