Fix to pcl::io::load and pcl::io::save

io/CMakeLists.txt

@@ -234,6 +234,7 @@ if(build)
         src/hdl_grabber.cpp
         src/robot_eye_grabber.cpp
         src/file_io.cpp
+        src/auto_io.cpp
         src/io_exception.cpp
         ${VTK_IO_SOURCE}
         ${OPENNI_GRABBER_SOURCES}
@@ -262,6 +263,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/eigen.h"
         "include/pcl/${SUBSYS_NAME}/debayer.h"
         "include/pcl/${SUBSYS_NAME}/file_io.h"
+        "include/pcl/${SUBSYS_NAME}/auto_io.h"
         "include/pcl/${SUBSYS_NAME}/lzf.h"
         "include/pcl/${SUBSYS_NAME}/lzf_image_io.h"
         "include/pcl/${SUBSYS_NAME}/io.h"
@@ -312,6 +314,7 @@ if(build)
 
     set(impl_incs
         "include/pcl/${SUBSYS_NAME}/impl/pcd_io.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/auto_io.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/lzf_image_io.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/synchronized_queue.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/point_cloud_image_extractors.hpp"

io/include/pcl/io/auto_io.h

@@ -0,0 +1,126 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_IO_AUTO_IO_H_
+#define PCL_IO_AUTO_IO_H_
+
+#include <pcl/pcl_macros.h>
+#include <pcl/common/io.h>
+#include <pcl/io/boost.h>
+#include <cmath>
+#include <sstream>
+#include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
+
+namespace pcl
+{
+
+  namespace io
+  {
+    /** \brief Load a file into a PointCloud2 according to extension.
+      * \param[in] file_name the name of the file to load
+      * \param[out] blob the resultant pcl::PointCloud2 blob
+      * \ingroup io
+      */
+    PCL_EXPORTS int
+    load (const std::string& file_name, pcl::PCLPointCloud2& blob);
+
+    /** \brief Load a file into a template PointCloud type according to extension.
+      * \param[in] file_name the name of the file to load
+      * \param[out] cloud the resultant templated point cloud
+      * \ingroup io
+      */
+    template<typename PointT> int
+    load (const std::string& file_name, pcl::PointCloud<PointT>& cloud);
+
+    /** \brief Load a file into a PolygonMesh according to extension.
+      * \param[in] file_name the name of the file to load
+      * \param[out] mesh the resultant pcl::PolygonMesh
+      * \ingroup io
+      */
+    PCL_EXPORTS int
+    load (const std::string& file_name, pcl::PolygonMesh& mesh);
+
+    /** \brief Load a file into a TextureMesh according to extension.
+      * \param[in] file_name the name of the file to load
+      * \param[out] mesh the resultant pcl::TextureMesh
+      * \ingroup io
+      */
+    PCL_EXPORTS int
+    load (const std::string& file_name, pcl::TextureMesh& mesh);
+
+    /** \brief Save point cloud data to a binary file when available else to ASCII.
+      * \param[in] file_name the output file name
+      * \param[in] blob the point cloud data message
+      * \param[in] precision float precision when saving to ASCII files
+      * \ingroup io
+      */
+    PCL_EXPORTS int
+    save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision = 5);
+
+    /** \brief Save point cloud to a binary file when available else to ASCII.
+      * \param[in] file_name the output file name
+      * \param[in] cloud the point cloud
+      * \param[in] precision float precision when saving to ASCII files
+      * \ingroup io
+      */
+    template<typename PointT> int
+    save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud, unsigned precision = 5);
+
+    /** \brief Saves a TextureMesh to a binary file when available else to ASCII.
+      * \param[in] file_name the name of the file to write to disk
+      * \param[in] tex_mesh the texture mesh to save
+      * \param[in] precision float precision when saving to ASCII files
+      * \ingroup io
+      */
+    PCL_EXPORTS int
+    save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision = 5);
+
+    /** \brief Saves a PolygonMesh to a binary file when available else to ASCII.
+      * \param[in] file_name the name of the file to write to disk
+      * \param[in] mesh the polygonal mesh to save
+      * \param[in] precision float precision when saving to ASCII files
+      * \ingroup io
+      */
+    PCL_EXPORTS int
+    save (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision = 5);
+  }
+}
+
+#include <pcl/io/impl/auto_io.hpp>
+
+#endif  //#ifndef PCL_IO_AUTO_IO_H_

io/include/pcl/io/file_io.h

@@ -390,76 +390,6 @@ namespace pcl
                         fields_count * sizeof (uint8_t)], reinterpret_cast<char*> (&value), sizeof (uint8_t));
   }
 
-  namespace io
-  {
-    /** \brief Load a file into a PointCloud2 according to extension.
-      * \param[in] file_name the name of the file to load
-      * \param[out] blob the resultant pcl::PointCloud2 blob
-      * \ingroup io
-      */
-    PCL_EXPORTS int
-    load (const std::string& file_name, pcl::PCLPointCloud2& blob);
-
-    /** \brief Load a file into a template PointCloud type according to extension.
-      * \param[in] file_name the name of the file to load
-      * \param[out] cloud the resultant templated point cloud
-      * \ingroup io
-      */
-    template<typename PointT> int
-    load (const std::string& file_name, pcl::PointCloud<PointT>& cloud);
-
-    /** \brief Load a file into a PolygonMesh according to extension.
-      * \param[in] file_name the name of the file to load
-      * \param[out] mesh the resultant pcl::PolygonMesh
-      * \ingroup io
-      */
-    PCL_EXPORTS int
-    load (const std::string& file_name, pcl::PolygonMesh& mesh);
-
-    /** \brief Load a file into a TextureMesh according to extension.
-      * \param[in] file_name the name of the file to load
-      * \param[out] mesh the resultant pcl::TextureMesh
-      * \ingroup io
-      */
-    PCL_EXPORTS int
-    load (const std::string& file_name, pcl::TextureMesh& mesh);
-
-    /** \brief Save point cloud data to a binary file when available else to ASCII.
-      * \param[in] file_name the output file name
-      * \param[in] blob the point cloud data message
-      * \param[in] precision float precision when saving to ASCII files
-      * \ingroup io
-      */
-    PCL_EXPORTS int
-    save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision = 5);
-
-    /** \brief Save point cloud to a binary file when available else to ASCII.
-      * \param[in] file_name the output file name
-      * \param[in] cloud the point cloud
-      * \param[in] precision float precision when saving to ASCII files
-      * \ingroup io
-      */
-    template<typename PointT> int
-    save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud, unsigned precision = 5);
-
-    /** \brief Saves a TextureMesh to a binary file when available else to ASCII.
-      * \param[in] file_name the name of the file to write to disk
-      * \param[in] tex_mesh the texture mesh to save
-      * \param[in] precision float precision when saving to ASCII files
-      * \ingroup io
-      */
-    PCL_EXPORTS int
-    save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision = 5);
-
-    /** \brief Saves a PolygonMesh to a binary file when available else to ASCII.
-      * \param[in] file_name the name of the file to write to disk
-      * \param[in] mesh the polygonal mesh to save
-      * \param[in] precision float precision when saving to ASCII files
-      * \ingroup io
-      */
-    PCL_EXPORTS int
-    save (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision = 5);
-  }
 }
 
 #endif  //#ifndef PCL_IO_FILE_IO_H_

io/include/pcl/io/impl/auto_io.hpp

@@ -0,0 +1,96 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2010-2011, Willow Garage, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_IO_AUTO_IO_IMPL_H_
+#define PCL_IO_AUTO_IO_IMPL_H_
+
+// #include <pcl/io/file_io.h>
+// #include <pcl/io/boost.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+#include <pcl/io/ifs_io.h>
+// #include <pcl/io/vtk_io.h>
+
+namespace pcl
+{
+  namespace io
+  {
+    template<typename PointT> int
+    load (const std::string& file_name, pcl::PointCloud<PointT>& cloud)
+    {
+      boost::filesystem::path p (file_name.c_str ());
+      std::string extension = p.extension ().string ();
+      int result = -1;
+      if (extension == ".pcd")
+        result = pcl::io::loadPCDFile (file_name, cloud);
+      else if (extension == ".ply")
+        result = pcl::io::loadPLYFile (file_name, cloud);
+      else if (extension == ".ifs")
+        result = pcl::io::loadIFSFile (file_name, cloud);
+      else
+      {
+        PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s", extension.c_str ());
+        result = -1;
+      }
+      return (result);
+    }
+
+    template<typename PointT> int
+    save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud)
+    {
+      boost::filesystem::path p (file_name.c_str ());
+      std::string extension = p.extension ().string ();
+      int result = -1;
+      if (extension == ".pcd")
+        result = pcl::io::savePCDFile (file_name, cloud, true);
+      else if (extension == ".ply")
+        result = pcl::io::savePLYFile (file_name, cloud, true);
+      else if (extension == ".ifs")
+        result = pcl::io::saveIFSFile (file_name, cloud);
+      else
+      {
+        PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s", extension.c_str ());
+        result = -1;
+      }
+      return (result);
+    }
+  }
+}
+
+#endif //PCL_IO_AUTO_IO_IMPL_H_