| 58 | } |
| 59 | |
| 60 | bool |
| 61 | loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud) |
| 62 | { |
| 63 | TicToc tt; |
| 64 | print_highlight ("Loading "); print_value ("%s ", filename.c_str ()); |
| 65 | |
| 66 | tt.tic (); |
| 67 | if (loadPCDFile (filename, cloud, translation, orientation) < 0) |
| 68 | return (false); |
| 69 | print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n"); |
| 70 | print_info ("Available dimensions: "); print_value ("%s\n", getFieldsList (cloud).c_str ()); |
| 71 | |
| 72 | return (true); |
| 73 | } |
| 74 | |
| 75 | void |
| 76 | transform (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output) |
no test coverage detected