Interactive icp pcl-c++

Hi, i have two point clouds(pcd format) and applied icp on them. Now, I want to visualise how icp is working at every iteration. So, for this i fpund an example program in pcl website. Take that example program and modify such that it should read pcd files and when ever i press space i should see how target cloud is moving.

Note: Only bid if you already have pcl environment setup in your pc.

Here is the link I mentioned above:
https://pcl.readthedocs.io/projects/tutorials/en/latest/interactive_icp.html
Source: PCL official website.