使用不同點類型處理pcl :: PointCloud對象的類模板

Question

我嘗試使用模板類來使用我的函數，而不管點類型如何。我讀了「編寫一個新的PCL類」教程，但我沒有得到它。我將分享我嘗試使用這種技術的最簡單的課程。它的唯一功能是在進程的父樹的正確執行點上創建點雲的KD樹。

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); 
} 

我的目的是要能夠使用這個類包含XYZ座標

感謝您的支持任意點的類型。 BR

Answer 1

我解決了這個問題。下面是僅使用頭文件的最終解決方案：

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 

Answer 2

首先，在處理模板時，您必須接受所有實現都需要移動到頭文件。如果你想KdtreeBuilder_Process是一個模板，採用類點的參數，您只需要添加相應的模板聲明語法：

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

如果PointCloud類是準備接受所有類與XYZ座標，你只需要改變你的代碼

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; 
}; 

祝你好運！