Go to the documentation of this file.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