Point Cloud Library (PCL) 1.13.0
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auto_io.hpp
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39
40#ifndef PCL_IO_AUTO_IO_IMPL_H_
41#define PCL_IO_AUTO_IO_IMPL_H_
42
43#include <pcl/io/obj_io.h>
44#include <pcl/io/pcd_io.h>
45#include <pcl/io/ply_io.h>
46#include <pcl/io/ifs_io.h>
47#include <boost/filesystem.hpp> // for path
48
49namespace pcl
50{
51 namespace io
52 {
53 template<typename PointT> int
54 load (const std::string& file_name, pcl::PointCloud<PointT>& cloud)
55 {
56 boost::filesystem::path p (file_name.c_str ());
57 std::string extension = p.extension ().string ();
58 int result = -1;
59 if (extension == ".pcd")
60 result = pcl::io::loadPCDFile (file_name, cloud);
61 else if (extension == ".ply")
62 result = pcl::io::loadPLYFile (file_name, cloud);
63 else if (extension == ".ifs")
64 result = pcl::io::loadIFSFile (file_name, cloud);
65 else if (extension == ".obj")
66 result = pcl::io::loadOBJFile (file_name, cloud);
67 else
68 {
69 PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s\n", extension.c_str ());
70 result = -1;
71 }
72 return (result);
73 }
74
75 template<typename PointT> int
76 save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud)
77 {
78 boost::filesystem::path p (file_name.c_str ());
79 std::string extension = p.extension ().string ();
80 int result = -1;
81 if (extension == ".pcd")
82 result = pcl::io::savePCDFile (file_name, cloud, true);
83 else if (extension == ".ply")
84 result = pcl::io::savePLYFile (file_name, cloud, true);
85 else if (extension == ".ifs")
86 result = pcl::io::saveIFSFile (file_name, cloud);
87 else
88 {
89 PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s\n", extension.c_str ());
90 result = -1;
91 }
92 return (result);
93 }
94 }
95}
96
97#endif //PCL_IO_AUTO_IO_IMPL_H_
PointCloud represents the base class in PCL for storing collections of 3D points.
int loadIFSFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)
Load an IFS file into a PCLPointCloud2 blob type.
Definition ifs_io.h:190
int saveIFSFile(const std::string &file_name, const pcl::PCLPointCloud2 &cloud)
Save point cloud data to an IFS file containing 3D points.
Definition ifs_io.h:234
PCL_EXPORTS int load(const std::string &file_name, pcl::PCLPointCloud2 &blob)
Load a file into a PointCloud2 according to extension.
PCL_EXPORTS int save(const std::string &file_name, const pcl::PCLPointCloud2 &blob, unsigned precision=5)
Save point cloud data to a binary file when available else to ASCII.