6 #include <pcl/io/pcd_io.h>
8 template <
typename Po
intT>
9 boost::shared_ptr<pcl::PointCloud<PointT> >
10 loadPointCloud (std::string filename, std::string suffix)
13 filename.append (suffix);
20 loadPoints (std::string filename)
23 filename.append (
"_points.pcd");
30 loadSurfaceNormals(std::string filename)
33 filename.append (
"_normals.pcd");
40 loadKeypoints (std::string filename)
43 filename.append (
"_keypoints.pcd");
50 loadLocalDescriptors (std::string filename)
53 filename.append (
"_localdesc.pcd");
60 loadGlobalDescriptors (std::string filename)
63 filename.append (
"_globaldesc.pcd");