[PCL]4 PCL中圖像匹配的幾個類圖

  IterativeClosestPoint () 
      {
        reg_name_ = "IterativeClosestPoint";
        ransac_iterations_ = 1000;
        transformation_estimation_.reset (new pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>);
      };

 IterativeClosestPointNonLinear ()
      {
        min_number_correspondences_ = 4;
        reg_name_ = "IterativeClosestPointNonLinear";

        transformation_estimation_.reset (new pcl::registration::TransformationEstimationLM<PointSource, PointTarget>);
      }

 

CorrespondenceEstimationBase相關類圖：