PCD及PLY文件的加载和保存

//打开PCD文件或者PLY文件代码
void
MainWindow::loadFileButtonPressed ()
{
    // You might want to change "/home/" if you're not on an *nix platform
    QString filename = QFileDialog::getOpenFileName (this, tr ("Open point cloud"), "/home/", tr ("Point cloud data (*.pcd *.ply)"));

    PCL_INFO("File chosen: %s\n", filename.toStdString ().c_str ());
    PointCloudT::Ptr cloud_tmp (new PointCloudT);

    if (filename.isEmpty ())
        return;

    int return_status;
    if (filename.endsWith (".pcd", Qt::CaseInsensitive))
        return_status = pcl::io::loadPCDFile (filename.toStdString (), *cloud_tmp);
    else
        return_status = pcl::io::loadPLYFile (filename.toStdString (), *cloud_tmp);

    if (return_status != 0)
    {
        PCL_ERROR("Error reading point cloud %s\n", filename.toStdString ().c_str ());
        return;
    }
    PCL_WARN("file has loaded\n");
    // If point cloud contains NaN values, remove them before updating the visualizer point cloud
    if (cloud_tmp->is_dense)
        pcl::copyPointCloud (*cloud_tmp, *cloud_);
    else
    {
        PCL_WARN("Cloud is not dense! Non finite points will be removed\n");
        std::vector<int> vec;
        pcl::removeNaNFromPointCloud (*cloud_tmp, *cloud_, vec);
    }

    colorCloudDistances ();
    viewer_->updatePointCloud (cloud_, "cloud");
    viewer_->resetCamera ();
    ui->qvtkWidget->update ();
}

//保存PCD文件或者PLY代码
void
MainWindow::saveFileButtonPressed ()
{
    // You might want to change "/home/" if you're not on an *nix platform
    QString filename = QFileDialog::getSaveFileName(this, tr ("Open point cloud"), "/home/", tr ("Point cloud data (*.pcd *.ply)"));

    PCL_INFO("File chosen: %s\n", filename.toStdString ().c_str ());

    if (filename.isEmpty ())
        return;

    int return_status;
    if (filename.endsWith (".pcd", Qt::CaseInsensitive))
        return_status = pcl::io::savePCDFileBinary (filename.toStdString (), *cloud_);
    else if (filename.endsWith (".ply", Qt::CaseInsensitive))
        return_status = pcl::io::savePLYFileBinary (filename.toStdString (), *cloud_);
    else
    {
        filename.append(".ply");
        return_status = pcl::io::savePLYFileBinary (filename.toStdString (), *cloud_);
    }

    if (return_status != 0)
    {
        PCL_ERROR("Error writing point cloud %s\n", filename.toStdString ().c_str ());
        return;
    }
}