pcl

``c make -DCMAKE_BUILD_TYPE=None `
-DCMAKE_INSTALL_PREFIX=/home/zgh/pcl_1.9.1_compile \
-DBUILD_GPU=ON \
-DBUILD_apps=ON \
-DBUILD_examples=ON

-DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-12.2 \

-DCUDA_ARCH_BIN=8.6 \

-DCUDA_ARCH_PTX=8.6 ..

cmake
  if(NOT ${CUDA_VERSION_STRING} VERSION_LESS "10.0")
    set(__cuda_arch_bin "3.0 3.5 5.0 5.2 5.3 6.0 6.1 7.0 7.2 7.5")
  elseif(NOT ${CUDA_VERSION_STRING} VERSION_LESS "9.1")
    set(__cuda_arch_bin "3.0 3.5 5.0 5.2 5.3 6.0 6.1 7.0 7.2")
  elseif(NOT ${CUDA_VERSION_STRING} VERSION_LESS "9.0")
    set(__cuda_arch_bin "3.0 3.5 5.0 5.2 5.3 6.0 6.1 7.0")  
  elseif(NOT ${CUDA_VERSION_STRING} VERSION_LESS "8.0")
    set(__cuda_arch_bin "2.0 2.1(2.0) 3.0 3.5 5.0 5.2 5.3 6.0 6.1")
  elseif(NOT ${CUDA_VERSION_STRING} VERSION_LESS "6.5")
    set(__cuda_arch_bin "2.0 2.1(2.0) 3.0 3.5 5.0 5.2")
  elseif(NOT ${CUDA_VERSION_STRING} VERSION_LESS "6.0")
    set(__cuda_arch_bin "2.0 2.1(2.0) 3.0 3.5 5.0")
  elseif(NOT ${CUDA_VERSION_STRING} VERSION_LESS "5.0")
    set(__cuda_arch_bin "2.0 2.1(2.0) 3.0 3.5")
  elseif(${CUDA_VERSION_STRING} VERSION_GREATER "4.1")
    set(__cuda_arch_bin "2.0 2.1(2.0) 3.0")
  else()
    set(__cuda_arch_bin "2.0 2.1(2.0)")
  endif()

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pcl::PointCloud 和 pcl::PCLPointCloud2 是 PCL 中两种不同的点云数据结构，它们之间的主要区别在于数据的组织形式和灵活性：

  1. pcl::PointCloud：
    • pcl::PointCloud 是 PCL 中用于表示点云的模板类。
    • 它是一种比较高级的数据结构，已经预定义了点云中每个点的字段（如坐标、法向量等）以及数据类型（如PointXYZ、Normal等）。
    • 使用 pcl::PointCloud 可以更方便地访问和处理点云数据，因为它提供了成员函数来操作点云中的点，如添加、删除、修改等操作。
  2. pcl::PCLPointCloud2：
    • pcl::PCLPointCloud2 是 PCL 中用于表示点云的更底层、更通用的数据结构。
    • 它是一种更灵活的数据结构，可以容纳任意类型和数量的字段，适合表示各种形式的点云数据。
    • 使用 pcl::PCLPointCloud2 需要通过字段的偏移量和数据类型来手动解析和访问点云数据，相对复杂一些。

总的来说，pcl::PointCloud 更适合处理已知结构和类型的点云数据，而 pcl::PCLPointCloud2 则更适合处理未知结构或需要更大灵活性的点云数据。在实际应用中，根据具体需求选择合适的数据结构进行点云数据的处理和操作。

std::cerr 通常用于输出程序运行时的错误信息、警告信息等