icp_nl.h

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#ifndef PCL_ICP_NL_H_
#define PCL_ICP_NL_H_

// PCL includes
#include <pcl/registration/icp.h>
#include <pcl/registration/transformation_estimation_lm.h>

namespace pcl
{
  template <typename PointSource, typename PointTarget, typename Scalar = float>
  class IterativeClosestPointNonLinear : public IterativeClosestPoint<PointSource, PointTarget, Scalar>
  {
    using IterativeClosestPoint<PointSource, PointTarget, Scalar>::min_number_correspondences_;
    using IterativeClosestPoint<PointSource, PointTarget, Scalar>::reg_name_;
    using IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformation_estimation_;
    using IterativeClosestPoint<PointSource, PointTarget, Scalar>::computeTransformation;

    public:

      typedef boost::shared_ptr< IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > Ptr;
      typedef boost::shared_ptr< const IterativeClosestPointNonLinear<PointSource, PointTarget, Scalar> > ConstPtr;

      typedef typename Registration<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;

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

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

#endif  //#ifndef PCL_ICP_NL_H_