pcl setCorrespondenceEstimation

pcl::CorrespondenceEstimation is a class in the Point Cloud Library (PCL) that allows you to estimate the correspondences between two point clouds. pcl::setCorrespondenceEstimation is a method of this class that sets the correspondence estimation method to use. It takes a template parameter that specifies the type of correspondence estimation to use, such as pcl::registration::CorrespondenceEstimation or pcl::registration::CorrespondenceEstimationNormalShooting.

For example, if you want to use the normal shooting correspondence estimation method, you would call setCorrespondenceEstimation with the pcl::registration::CorrespondenceEstimationNormalShooting template parameter, like this:

pcl::registration::CorrespondenceEstimationNormalShooting<pcl::PointXYZ, pcl::PointXYZ, pcl::Normal> est;
est.setInputSource (cloud_source);
est.setInputTarget (cloud_target);
est.setSourceNormals (normals_source);
est.setTargetNormals (normals_target);
est.determineCorrespondences (correspondences);

This would create a CorrespondenceEstimationNormalShooting object with PointXYZ point types and Normal normal types, set the input point clouds and their normals, and then call the determineCorrespondences method to compute the correspondences between the two clouds.