【slam_PCL学习】—pcl::PointCloud::Ptr 和Pcl::PointCloud两个类的相互转换

1：Ptr类型和非Ptr类型相互转换

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_Ptr(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud=*cloud_Ptr;
cloud_Ptr=cloud.makeShared;

2: 实际的使用：

a)非Ptr

pcl::PointCloud<pcl::PointXYZ> cloud;
pcl::SACSegmentation<pcl::PointXYZ>seg;
****中间是点云分割的参数设置（省略）*****
seg.setInputCloud(cloud.makeShared());

b)Ptr 动态智能指针类型

pcl::PointCloud<pcl::PointXYZ> cloud（new pcl::PointCloud<pcl::PointXYZ>）;
pcl::SACSegmentation<pcl::PointXYZ>seg;
****中间是点云分割的参数设置（省略）*****
seg.setInputCloud(cloud);

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);

参考：
1.https://blog.csdn.net/qq_39707351/article/details/83828242