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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#ifndef PCL_IO_AUTO_IO_IMPL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#define PCL_IO_AUTO_IO_IMPL_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment">// #include <pcl/io/file_io.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment">// #include <pcl/io/boost.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <pcl/io/pcd_io.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <pcl/io/ply_io.h></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <pcl/io/ifs_io.h></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">// #include <pcl/io/vtk_io.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="group__io.html#ga81c8bb6bf8c94fd68301f2b8e863e56f"> 55</a></span>  <a class="code" href="group__io.html#ga1c50482462b3780f06821aab7cc48760">load</a> (<span class="keyword">const</span> std::string& file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>& cloud)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  boost::filesystem::path p (file_name.c_str ());</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  std::string extension = p.extension ().string ();</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">int</span> result = -1;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">if</span> (extension == <span class="stringliteral">".pcd"</span>)</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  result = <a class="code" href="group__io.html#gadf2a5a513509e2008a7d6c5d55a65706">pcl::io::loadPCDFile</a> (file_name, cloud);</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (extension == <span class="stringliteral">".ply"</span>)</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  result = <a class="code" href="group__io.html#gaabd8b779b0be30eec7c2c7af8fa6f3c8">pcl::io::loadPLYFile</a> (file_name, cloud);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (extension == <span class="stringliteral">".ifs"</span>)</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  result = <a class="code" href="group__io.html#ga13ebbf7f490b1f46712200aa15d0b636">pcl::io::loadIFSFile</a> (file_name, cloud);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  PCL_ERROR (<span class="stringliteral">"[pcl::io::load] Don't know how to handle file with extension %s\n"</span>, extension.c_str ());</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  result = -1;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="group__io.html#ga16618953e35319016437a0587db07a31"> 75</a></span>  <a class="code" href="group__io.html#ga7628b0ac832725c706b0ab1bb23ab1ae">save</a> (<span class="keyword">const</span> std::string& file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointT></a>& cloud)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  {</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  boost::filesystem::path p (file_name.c_str ());</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  std::string extension = p.extension ().string ();</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">int</span> result = -1;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">if</span> (extension == <span class="stringliteral">".pcd"</span>)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  result = <a class="code" href="group__io.html#ga3f4feebc5cb057ef23bb53a105e3d5a7">pcl::io::savePCDFile</a> (file_name, cloud, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (extension == <span class="stringliteral">".ply"</span>)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  result = <a class="code" href="group__io.html#gacca22ef033a190dfbbb2d355a43bf317">pcl::io::savePLYFile</a> (file_name, cloud, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (extension == <span class="stringliteral">".ifs"</span>)</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  result = <a class="code" href="group__io.html#ga16fb4920c18c31345345936d702bd333">pcl::io::saveIFSFile</a> (file_name, cloud);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  PCL_ERROR (<span class="stringliteral">"[pcl::io::save] Don't know how to handle file with extension %s\n"</span>, extension.c_str ());</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  result = -1;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">return</span> (result);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> }</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="preprocessor">#endif //PCL_IO_AUTO_IO_IMPL_H_</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="agroup__io_html_ga13ebbf7f490b1f46712200aa15d0b636"><div class="ttname"><a href="group__io.html#ga13ebbf7f490b1f46712200aa15d0b636">pcl::io::loadIFSFile</a></div><div class="ttdeci">int loadIFSFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)</div><div class="ttdoc">Load an IFS file into a PCLPointCloud2 blob type.</div><div class="ttdef"><b>Definition:</b> <a href="ifs__io_8h_source.html#l00190">ifs_io.h:190</a></div></div>
<div class="ttc" id="agroup__io_html_gacca22ef033a190dfbbb2d355a43bf317"><div class="ttname"><a href="group__io.html#gacca22ef033a190dfbbb2d355a43bf317">pcl::io::savePLYFile</a></div><div class="ttdeci">int savePLYFile(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), bool binary_mode=false, bool use_camera=true)</div><div class="ttdoc">Save point cloud data to a PLY file containing n-D points.</div><div class="ttdef"><b>Definition:</b> <a href="ply__io_8h_source.html#l00810">ply_io.h:810</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2distances_8h_source.html#l00055">distances.h:55</a></div></div>
<div class="ttc" id="agroup__io_html_ga3f4feebc5cb057ef23bb53a105e3d5a7"><div class="ttname"><a href="group__io.html#ga3f4feebc5cb057ef23bb53a105e3d5a7">pcl::io::savePCDFile</a></div><div class="ttdeci">int savePCDFile(const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const Eigen::Vector4f &origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &orientation=Eigen::Quaternionf::Identity(), const bool binary_mode=false)</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points.</div><div class="ttdef"><b>Definition:</b> <a href="pcd__io_8h_source.html#l00671">pcd_io.h:671</a></div></div>
<div class="ttc" id="agroup__io_html_gaabd8b779b0be30eec7c2c7af8fa6f3c8"><div class="ttname"><a href="group__io.html#gaabd8b779b0be30eec7c2c7af8fa6f3c8">pcl::io::loadPLYFile</a></div><div class="ttdeci">int loadPLYFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)</div><div class="ttdoc">Load a PLY v.6 file into a templated PointCloud type.</div><div class="ttdef"><b>Definition:</b> <a href="ply__io_8h_source.html#l00749">ply_io.h:749</a></div></div>
<div class="ttc" id="agroup__io_html_gadf2a5a513509e2008a7d6c5d55a65706"><div class="ttname"><a href="group__io.html#gadf2a5a513509e2008a7d6c5d55a65706">pcl::io::loadPCDFile</a></div><div class="ttdeci">int loadPCDFile(const std::string &file_name, pcl::PCLPointCloud2 &cloud)</div><div class="ttdoc">Load a PCD v.6 file into a templated PointCloud type.</div><div class="ttdef"><b>Definition:</b> <a href="pcd__io_8h_source.html#l00620">pcd_io.h:620</a></div></div>
<div class="ttc" id="agroup__io_html_ga7628b0ac832725c706b0ab1bb23ab1ae"><div class="ttname"><a href="group__io.html#ga7628b0ac832725c706b0ab1bb23ab1ae">pcl::io::save</a></div><div class="ttdeci">PCL_EXPORTS int save(const std::string &file_name, const pcl::PCLPointCloud2 &blob, unsigned precision=5)</div><div class="ttdoc">Save point cloud data to a binary file when available else to ASCII.</div></div>
<div class="ttc" id="agroup__io_html_ga16fb4920c18c31345345936d702bd333"><div class="ttname"><a href="group__io.html#ga16fb4920c18c31345345936d702bd333">pcl::io::saveIFSFile</a></div><div class="ttdeci">int saveIFSFile(const std::string &file_name, const pcl::PCLPointCloud2 &cloud)</div><div class="ttdoc">Save point cloud data to an IFS file containing 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="ifs__io_8h_source.html#l00234">ifs_io.h:234</a></div></div>
<div class="ttc" id="agroup__io_html_ga1c50482462b3780f06821aab7cc48760"><div class="ttname"><a href="group__io.html#ga1c50482462b3780f06821aab7cc48760">pcl::io::load</a></div><div class="ttdeci">PCL_EXPORTS int load(const std::string &file_name, pcl::PCLPointCloud2 &blob)</div><div class="ttdoc">Load a file into a PointCloud2 according to extension.</div></div>
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