PointCloud::Ptr 转换 pcl::PointCloudpcl::PointXYZ::Ptr
PointCloud::Ptr cloud (new PointCloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *out_cloud);
sensor_msgs::PointCloud 转换 pcl::PointCloudpcl::PointXYZ::Ptr
sensor_msgs::PointCloud2 cloud;
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2 pcl_pc2;
pcl_conversions::toPCL(cloud,pcl_pc2);
pcl::fromPCLPointCloud2(pcl_pc2,*out_cloud);
pcl::PCLPointCloud2::Ptr 转换 pcl::PointCloudpcl::PointXYZ::Ptr
pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2), cloud (new pcl::PCLPointCloud2);
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (*cloud, *out_cloud);