Using icp algorithm in pcl
<p>I'm trying to use the icp algorithm in pcl library, and have few questions:</p>

<ol>
<li><p>should I generate the icp like that:</p>

<pre><code>pcl::IterativeClosestPoint &lt;``pcl::PointXYZ, pcl::PointXYZ&gt; icp;
</code></pre>

<p>or with </p>

<pre><code>pcl::PointXYZRGB. 
</code></pre></li>
<li><p>the icp score in the end is 0.</p></li>
</ol>

<p>Can I do something to help it success?</p>