auto_io.hpp

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#ifndef PCL_IO_AUTO_IO_IMPL_H_
#define PCL_IO_AUTO_IO_IMPL_H_
 
#include <pcl/io/obj_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/ifs_io.h>
#include <boost/filesystem.hpp> // for path
 
namespace pcl
{
  namespace io
  {
    template<typename PointT> int
    load (const std::string& file_name, pcl::PointCloud<PointT>& cloud)
    {
      boost::filesystem::path p (file_name.c_str ());
      std::string extension = p.extension ().string ();
      int result = -1;
      if (extension == ".pcd")
        result = pcl::io::loadPCDFile (file_name, cloud);
      else if (extension == ".ply")
        result = pcl::io::loadPLYFile (file_name, cloud);
      else if (extension == ".ifs")
        result = pcl::io::loadIFSFile (file_name, cloud);
      else if (extension == ".obj")
        result = pcl::io::loadOBJFile (file_name, cloud);
      else
      {
        PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s\n", extension.c_str ());
        result = -1;
      }
      return (result);
    }
 
    template<typename PointT> int
    save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud)
    {
      boost::filesystem::path p (file_name.c_str ());
      std::string extension = p.extension ().string ();
      int result = -1;
      if (extension == ".pcd")
        result = pcl::io::savePCDFile (file_name, cloud, true);
      else if (extension == ".ply")
        result = pcl::io::savePLYFile (file_name, cloud, true);
      else if (extension == ".ifs")
        result = pcl::io::saveIFSFile (file_name, cloud);
      else
      {
        PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s\n", extension.c_str ());
        result = -1;
      }
      return (result);
    }
  }
}
 
#endif //PCL_IO_AUTO_IO_IMPL_H_