pcl
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correspondence estimation for different point types
extending https://github.com/PointCloudLibrary/pcl/pull/4901 with impl and tests for different point types
This has a large overlap with PR #4901 . I don't want to review the same changes twice. Could you either modify the PRs so that each change is contained in only one PR, or mark one PR as a draft, then we review and merge the other PR first and deal with any additional changes after that?
i marked this one as a draft, first please review the other one
@al-tu would you rebase this one?