在QT对象类中声明PCL点云 [英] Declare a PCL point cloud in QT object class

问题描述

我是使用PCL(点云库)的新手.我尝试在QT对象类中私下声明一个点云，如下所示:

I'm new from using the PCL (Point Cloud Library). I try to declare a point cloud in QT object class in private, like this:

class pcl_sys : public QThread
{
    Q_OBJECT
public:
    explicit pcl_sys();
    ~pcl_sys();
    void stop();
    bool load_pcd_file(int type);

signals:

public slots:

protected:
    void run();

private:
    pcl::PointCloud<pcl::PointXYZ>::Ptr *cloud_test;

};

然后我在打开程序时新建了点云:

Then I new the point cloud when I opened up the program:

pcl_sys::pcl_sys()
{
     cloud_test=0;
     cloud_test= new pcl::PointCloud<pcl::PointXYZ>::Ptr (new pcl::PointCloud<pcl::PointXYZ>);
}      

但是当我尝试加载文件时尝试清除这些点时，QT给我一个错误，表明这些点不属于模板cloud_test.

but when i try to clear the points when I try to load a file, QT give me an error shows that points is not belong to template cloud_test.

bool pcl_sys::load_pcd_file(int choice)
{

     cloud_test->points.clear();
}

如何解决此问题?非常感谢.

How do I fix this issue? Thank you very much.

推荐答案

cloud_test是指向PointCloud :: Ptr类型的指针.因此，您必须使用函数get()访问其主体，然后通过它访问点.

he cloud_test is a pointer to a PointCloud::Ptr type. So you have to access to its body using function get() and then access the points through it.

pcl::PointCloud<pcl::PointXYZ>::Ptr *cloud_test; 
cloud_test= new pcl::PointCloud<pcl::PointXYZ>::Ptr (new pcl::PointCloud<pcl::PointXYZ>); 
if (!cloud_test) cloud_test->get()->points.clear();

您可以使用它之一.在下面，cloud_test是PointCloud :: Ptr类型(不是引用指针):

you can use this either. in the below, cloud_test is a PointCloud::Ptr type (not a reference pointer):

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_test  ;
cloud_test = pcl::PointCloud<pcl::PointXYZ>::Ptr (new pcl::PointCloud<pcl::PointXYZ>);
cloud_test.get()->points.clear();

或者您可以使用boost :: shared_ptr作为指向PointCloud :: Ptr类型的指针，如下所示:

or you can use boost::shared_ptr as pointer to PointCloud::Ptr type as below:

boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloud_test; 
cloud_test = boost::make_shared <pcl::PointCloud<pcl::PointXYZ>::Ptr> (new pcl::PointCloud<pcl::PointXYZ>);
cloud_test->get()->points.clear();

:)

这篇关于在QT对象类中声明PCL点云的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！