1   IterativeClosestPoint () 
2       {
3         reg_name_ = "IterativeClosestPoint";
4         ransac_iterations_ = 1000;
5         transformation_estimation_.reset (new pcl::registration::TransformationEstimationSVD<PointSource, PointTarget>);
6       };

1  IterativeClosestPointNonLinear ()
 
2       {
3         min_number_correspondences_ = 4;
4         reg_name_ = "IterativeClosestPointNonLinear";
5 
6         transformation_estimation_.reset (new pcl::registration::TransformationEstimationLM<PointSource, PointTarget>);
7       }

CorrespondenceEstimationBase相關類圖：