加了ptr的是指针类型,两者可以互相转换
1.PointCloud::Ptr—>PointCloud
pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
cloud=*cloud_ptr;
2.PointCloud—>PointCloud::Ptr
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud_ptr=cloud.makeShared();
example:
1.
pcl::PointCloud<pcl::PointXYZ> cloudA;
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);
octree.setInputCloud(cloudA.makeShared());
2.
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA(new pcl::PointCloud<pcl::PointXYZ>);
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);
octree.setInputCloud(cloudA);