Point Cloud Library (PCL)  1.13.1-dev
load_clouds.h
1 #pragma once
2 
3 #include "typedefs.h"
4 
5 #include <pcl/io/pcd_io.h>
6 
7 template <typename PointT>
8 typename pcl::PointCloud<PointT>::Ptr
9 loadPointCloud (std::string filename, std::string suffix)
10 {
11  typename pcl::PointCloud<PointT>::Ptr output (new pcl::PointCloud<PointT>);
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 
18 PointCloudPtr
19 loadPoints (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 
28 SurfaceNormalsPtr
29 loadSurfaceNormals(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 
38 PointCloudPtr
39 loadKeypoints (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 
48 LocalDescriptorsPtr
49 loadLocalDescriptors (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 
58 GlobalDescriptorsPtr
59 loadGlobalDescriptors (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 }
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::io::loadPCDFile
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:633
pcl::console::print_info
PCL_EXPORTS void print_info(const char *format,...)
Print an info message on stream with colors.