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<li class="navelem"><a class="el" href="dir_6c35451b89deaece78a478af78a55034.html">pcl</a></li><li class="navelem"><a class="el" href="dir_3fbee88df0a174bff38464c7c69fa75f.html">io</a></li> </ul>
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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"> * Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</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"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</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">#include <<a class="code" href="pcl__macros_8h.html">pcl/pcl_macros.h</a>></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <pcl/point_cloud.h></span> <span class="comment">// for PointCloud</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/PolygonMesh.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/TextureMesh.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {<span class="comment"></span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> /** \brief Load a file into a PointCloud2 according to extension.</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * \param[in] file_name the name of the file to load</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * \param[out] blob the resultant pcl::PointCloud2 blob</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="group__io.html#ga1c50482462b3780f06821aab7cc48760"> 56</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="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>& blob);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"></span> </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> /** \brief Load a file into a template PointCloud type according to extension.</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> * \param[in] file_name the name of the file to load</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> * \param[out] cloud the resultant templated point cloud</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</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="l00064"></a><span class="lineno"> 64</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="l00065"></a><span class="lineno"> 65</span> <span class="comment"></span> </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> /** \brief Load a file into a PolygonMesh according to extension.</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> * \param[in] file_name the name of the file to load</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> * \param[out] mesh the resultant pcl::PolygonMesh</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="group__io.html#ga3c5d88dbcd766a748832161f1aede422"> 72</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="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a>& mesh);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="comment"></span> </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> /** \brief Load a file into a TextureMesh according to extension.</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> * \param[in] file_name the name of the file to load</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> * \param[out] mesh the resultant pcl::TextureMesh</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="group__io.html#ga8382b39bb66ababde45053f67d3c5da3"> 80</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="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a>& mesh);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="comment"></span> </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"> /** \brief Save point cloud data to a binary file when available else to ASCII.</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> * \param[in] file_name the output file name</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> * \param[in] blob the point cloud data message</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> * \param[in] precision float precision when saving to ASCII files</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="group__io.html#ga7628b0ac832725c706b0ab1bb23ab1ae"> 89</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="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>& blob, <span class="keywordtype">unsigned</span> precision = 5);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"></span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> /** \brief Save point cloud to a binary file when available else to ASCII.</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * \param[in] file_name the output file name</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> * \param[in] cloud the point cloud</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</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="l00097"></a><span class="lineno"> 97</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="l00098"></a><span class="lineno"> 98</span> <span class="comment"></span> </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> /** \brief Saves a TextureMesh to a binary file when available else to ASCII.</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> * \param[in] file_name the name of the file to write to disk</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> * \param[in] tex_mesh the texture mesh to save</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> * \param[in] precision float precision when saving to ASCII files</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="group__io.html#gadda05eea830d3d7109e16d8ba499236f"> 106</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="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a> &tex_mesh, <span class="keywordtype">unsigned</span> precision = 5);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"></span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> /** \brief Saves a PolygonMesh to a binary file when available else to ASCII.</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> * \param[in] file_name the name of the file to write to disk</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> * \param[in] mesh the polygonal mesh to save</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> * \param[in] precision float precision when saving to ASCII files</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> * \ingroup io</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="group__io.html#ga2ee7878a5a77cdb50e25e2df2f14c49d"> 115</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="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &mesh, <span class="keywordtype">unsigned</span> precision = 5);</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="preprocessor">#include <pcl/io/impl/auto_io.hpp></span></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_2point__cloud_8h_source.html#l00172">point_cloud.h:173</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>
<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="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="apcl__macros_8h_html"><div class="ttname"><a href="pcl__macros_8h.html">pcl_macros.h</a></div><div class="ttdoc">Defines all the PCL and non-PCL macros used.</div></div>
<div class="ttc" id="apcl__macros_8h_html_a2b443b7908f11aed38b620b570e5ebce"><div class="ttname"><a href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a></div><div class="ttdeci">#define PCL_EXPORTS</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00325">pcl_macros.h:325</a></div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> <a href="_p_c_l_point_cloud2_8h_source.html#l00016">PCLPointCloud2.h:17</a></div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> <a href="_polygon_mesh_8h_source.html#l00014">PolygonMesh.h:15</a></div></div>
<div class="ttc" id="astructpcl_1_1_texture_mesh_html"><div class="ttname"><a href="structpcl_1_1_texture_mesh.html">pcl::TextureMesh</a></div><div class="ttdef"><b>Definition:</b> <a href="_texture_mesh_8h_source.html#l00088">TextureMesh.h:89</a></div></div>
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