The code in line 484-487 of plyalign.cpp are listed in the following:
PointCloudT::Ptr ref (new PointCloudT);
ref->reserve(clouds[i]->points.size());
PointCloudT::Ptr dat (new PointCloudT);
dat->reserve(clouds[i-1]->points.size());
However, I think "ref" and "dat" should exchange positions. Am I right?Thanks!