Point Cloud Library (PCL)
1.7.0
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00001 #ifndef IO_H_ 00002 #define IO_H_ 00003 00004 #include "typedefs.h" 00005 00006 #include <pcl/io/pcd_io.h> 00007 00008 template <typename PointT> 00009 boost::shared_ptr<pcl::PointCloud<PointT> > 00010 loadPointCloud (std::string filename, std::string suffix) 00011 { 00012 boost::shared_ptr<pcl::PointCloud<PointT> > output (new pcl::PointCloud<PointT>); 00013 filename.append (suffix); 00014 pcl::io::loadPCDFile (filename, *output); 00015 pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ()); 00016 return (output); 00017 } 00018 00019 PointCloudPtr 00020 loadPoints (std::string filename) 00021 { 00022 PointCloudPtr output (new PointCloud); 00023 filename.append ("_points.pcd"); 00024 pcl::io::loadPCDFile (filename, *output); 00025 pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ()); 00026 return (output); 00027 } 00028 00029 SurfaceNormalsPtr 00030 loadSurfaceNormals(std::string filename) 00031 { 00032 SurfaceNormalsPtr output (new SurfaceNormals); 00033 filename.append ("_normals.pcd"); 00034 pcl::io::loadPCDFile (filename, *output); 00035 pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ()); 00036 return (output); 00037 } 00038 00039 PointCloudPtr 00040 loadKeypoints (std::string filename) 00041 { 00042 PointCloudPtr output (new PointCloud); 00043 filename.append ("_keypoints.pcd"); 00044 pcl::io::loadPCDFile (filename, *output); 00045 pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ()); 00046 return (output); 00047 } 00048 00049 LocalDescriptorsPtr 00050 loadLocalDescriptors (std::string filename) 00051 { 00052 LocalDescriptorsPtr output (new LocalDescriptors); 00053 filename.append ("_localdesc.pcd"); 00054 pcl::io::loadPCDFile (filename, *output); 00055 pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ()); 00056 return (output); 00057 } 00058 00059 GlobalDescriptorsPtr 00060 loadGlobalDescriptors (std::string filename) 00061 { 00062 GlobalDescriptorsPtr output (new GlobalDescriptors); 00063 filename.append ("_globaldesc.pcd"); 00064 pcl::io::loadPCDFile (filename, *output); 00065 pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ()); 00066 return (output); 00067 } 00068 00069 00070 #endif