Class 模板处理 pcl::PointCloud 个具有不同点类型的对象

Question

我正在尝试使用模板 classes 来使用我的函数，而不考虑点类型。我阅读了“Writing a new PCL class”教程，但我没有得到它。我将在尝试使用此技术的地方分享最简单的 class。它的唯一功能是在进程父树的正确执行点创建点云的 KDtree。

KdtreeBuilder_Process.h

#ifndef KDTREEBUILDER_PROCESS_H 
#define KDTREEBUILDER_PROCESS_H 
#include "ProcessManager/ProcessConcurrent.h" //Parent class 
#include <pcl/kdtree/kdtree_flann.h>

class KdtreeBuilder_Process:public ProcessConcurrent 
{ 
public: 
    KdtreeBuilder_Process(pcl::PointCloud<pcl::PointXYZ>::Ptr inputCloud,pcl::KdTree<pcl::PointXYZ>::Ptr cloudKdtree); 
    virtual void run(); //method that executed when the process starts 
private: 

    pcl::PointCloud<pcl::PointXYZ>::Ptr mInputCloud; 
    pcl::KdTree<pcl::PointXYZ>::Ptr mCloudKdtree; 
}; 

#endif // KDTREEBUILDER_PROCESS_H

KdtreeBuilder_Process.cpp

#include "KdtreeBuilder_Process.h" 

KdtreeBuilder_Process::KdtreeBuilder_Process(pcl::PointCloud<pcl::PointXYZ>::Ptr inputCloud,pcl::KdTree<pcl::PointXYZ>::Ptr cloudKdtree): 
    mInputCloud(inputCloud),mCloudKdtree(cloudKdtree) 
{ 

} 

void KdtreeBuilder_Process::run(){ 
    mCloudKdtree->setInputCloud(mInputCloud); 
}

我的意图是能够将此 class 与任何包含 XYZ 坐标的点类型一起使用

感谢您的支持。 BR

Answer 1

首先，在处理模板时，您必须接受所有实现都需要移至头文件。如果你想让 KdtreeBuilder_Process 成为一个模板，它需要 class 个参数点，你只需要添加适当的模板声明语法：

template<class PointType>
class KdtreeBuilder_Process:public ProcessConcurrent 
{ 
public:

如果PointCloud class 准备好接受所有具有 XYZ 坐标的 classes，您只需要相应地更改您的代码

    KdtreeBuilder_Process(pcl::PointCloud<PointType>::Ptr inputCloud,pcl::KdTree<PointType>::Ptr cloudKdtree): mInputCloud(inputCloud), mCloudKdtree(cloudKdtree) { } 
    virtual void run(){ 
        mCloudKdtree->setInputCloud(mInputCloud); 
    } 
private: 

    pcl::PointCloud<PointType>::Ptr mInputCloud; 
    pcl::KdTree<PointType>::Ptr mCloudKdtree; 
};

祝你好运！

Answer 2

我解决了这个问题。这是仅使用头文件的最终解决方案：

KdtreeBuilder_Process.h

#ifndef KDTREEBUILDER_PROCESS_H
#define KDTREEBUILDER_PROCESS_H
#include "ProcessManager/ProcessConcurrent.h"
#include "PointDefinitions.h"
#include <pcl/kdtree/kdtree_flann.h>
#include <QDebug>

template<class PointType>
class KdtreeBuilder_Process:public ProcessConcurrent
{
    typedef typename pcl::PointCloud<PointType>::Ptr PointCloudPtr;
    typedef typename pcl::KdTree<PointType>::Ptr KdTreePtr;

public:

    KdtreeBuilder_Process(PointCloudPtr inputCloud,KdTreePtr cloudKdtree): mInputCloud(inputCloud), mCloudKdtree(cloudKdtree) { }
        virtual void run(){
            mCloudKdtree->setInputCloud(mInputCloud);
        }
    private:

        PointCloudPtr mInputCloud;
        KdTreePtr mCloudKdtree;
};

#endif // KDTREEBUILDER_PROCESS_H

Class 模板处理 pcl::PointCloud 个具有不同点类型的对象

Class templating to process pcl::PointCloud objects with different point types

c++

templates

point-cloud-library

point-clouds