Method load

apps/in_hand_scanner/src/offline_integration.cpp:250–293

////////////////////////////////////////////////////////////////////////////////

bool
pcl::ihs::OfflineIntegration::load(const std::string& filename,
                                   CloudXYZRGBNormalPtr& cloud,
                                   Eigen::Matrix4f& T) const
{
  if (!cloud) {
    cloud = CloudXYZRGBNormalPtr(new CloudXYZRGBNormal());
  }

  // Load the cloud.
  CloudXYZRGBAPtr cloud_input(new CloudXYZRGBA());

  pcl::PCDReader reader;
  if (reader.read(filename, *cloud_input) < 0) {
    std::cerr << "ERROR in offline_integration.cpp: Could not read the pcd file.\n";
    return (false);
  }

  // Normal estimation.
  normal_estimation_->setInputCloud(cloud_input);
  normal_estimation_->compute(*cloud);

  pcl::copyPointCloud(*cloud_input, *cloud);

  // Change the file extension of the file.
  // Load the transformation.
  std::string fn_transform = filename;

  std::size_t pos = fn_transform.find_last_of('.');
  if (pos == std::string::npos || pos == (fn_transform.size() - 1)) {
    std::cerr << "ERROR in offline_integration.cpp: No file extension\n";
    return (false);
  }

  fn_transform.replace(pos, std::string::npos, ".transform");

  if (!this->loadTransform(fn_transform, T)) {
    std::cerr
        << "ERROR in offline_integration.cpp: Could not load the transformation.\n";
    return (false);
  }

  return (true);
}

////////////////////////////////////////////////////////////////////////////////