Point Cloud Library (PCL) 1.12.0
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load_clouds.h
1#pragma once
2
3#include "typedefs.h"
4
5#include <pcl/io/pcd_io.h>
6
7template <typename PointT>
9loadPointCloud (std::string filename, std::string suffix)
10{
12 filename.append (suffix);
13 pcl::io::loadPCDFile (filename, *output);
14 pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
15 return (output);
16}
17
18PointCloudPtr
19loadPoints (std::string filename)
20{
21 PointCloudPtr output (new PointCloud);
22 filename.append ("_points.pcd");
23 pcl::io::loadPCDFile (filename, *output);
24 pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
25 return (output);
26}
27
28SurfaceNormalsPtr
29loadSurfaceNormals(std::string filename)
30{
31 SurfaceNormalsPtr output (new SurfaceNormals);
32 filename.append ("_normals.pcd");
33 pcl::io::loadPCDFile (filename, *output);
34 pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
35 return (output);
36}
37
38PointCloudPtr
39loadKeypoints (std::string filename)
40{
41 PointCloudPtr output (new PointCloud);
42 filename.append ("_keypoints.pcd");
43 pcl::io::loadPCDFile (filename, *output);
44 pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
45 return (output);
46}
47
48LocalDescriptorsPtr
49loadLocalDescriptors (std::string filename)
50{
51 LocalDescriptorsPtr output (new LocalDescriptors);
52 filename.append ("_localdesc.pcd");
53 pcl::io::loadPCDFile (filename, *output);
54 pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
55 return (output);
56}
57
58GlobalDescriptorsPtr
59loadGlobalDescriptors (std::string filename)
60{
61 GlobalDescriptorsPtr output (new GlobalDescriptors);
62 filename.append ("_globaldesc.pcd");
63 pcl::io::loadPCDFile (filename, *output);
64 pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
65 return (output);
66}
Iterator class for point clouds with or without given indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
int loadPCDFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)
Load a PCD v.6 file into a templated PointCloud type.
Definition pcd_io.h:621
PCL_EXPORTS void print_info(const char *format,...)
Print an info message on stream with colors.