title: Using icp algorithm in pcl
body: <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>