PCL学习笔记——Pcl::PointCloud和pcl::PointCloud::Ptr类型的转换

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);