pcl::PointCloudpcl::PointXYZI::Ptr和pcl::PointCloudpcl::PointXYZI::Ptr&的区别

这两个类型是一样的，都是指向pcl::PointCloud<pcl::PointXYZI>的指针类型。

其中，pcl::PointCloud<pcl::PointXYZI>是一个点云数据结构，保存了一组三维点的坐标和强度信息。而pcl::PointCloud<pcl::PointXYZI>::Ptr则是指向该数据结构的指针类型。由于指向PointCloud的指针经常被使用，因此定义了一个方便的别名PointCloud::Ptr。

相关问题

void find_match_shot(pcl::PointCloudpcl::BINARY::Ptr shot1, pcl::PointCloudpcl::BINARY::Ptr shot2, pcl::CorrespondencesPtr model_scene_corrs)BINARY不是pcl的成员

是的，您是正确的，pcl::BINARY并不是PCL库的成员。因此，这段代码可能存在错误。如果您想使用PCL的SHOT描述符来计算两个点云之间的相似性，可以使用以下代码：

pcl::PointCloud<pcl::SHOT352>::Ptr shot1(new pcl::PointCloud<pcl::SHOT352>());
pcl::PointCloud<pcl::SHOT352>::Ptr shot2(new pcl::PointCloud<pcl::SHOT352>());
pcl::registration::CorrespondenceEstimation<pcl::SHOT352, pcl::SHOT352> est;
est.setInputSource(shot1);
est.setInputTarget(shot2);
est.determineCorrespondences(*model_scene_corrs);

这段代码将创建两个PointCloud对象，分别用于存储两个点云的SHOT描述符。然后，使用pcl::registration::CorrespondenceEstimation类计算两个点云之间的对应关系。

pcl::PointCloud<pcl::PointXYZI>::Ptr &

This is a smart pointer to a point cloud object of type pcl::PointXYZI. It is used to allocate and manage memory for the point cloud object dynamically, and is part of the Point Cloud Library (PCL) in C++.

The point cloud is represented as a set of points in 3D space, where each point has an intensity value in addition to its x, y, and z coordinates. This type of point cloud is often used in lidar and laser scanning applications, where the intensity value represents the reflected laser beam strength at that particular point.

The "Ptr" suffix in the type indicates that this is a smart pointer, which means that it automatically manages the memory allocation and deallocation for the point cloud object. This helps to prevent memory leaks and other memory-related issues that can occur when using raw pointers.