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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2013-, Open Perception, Inc.
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 *     with the distribution.
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#include <pcl/io/auto_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/ifs_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/io/vtk_io.h>


int
pcl::io::load (const std::string& file_name, pcl::PCLPointCloud2& blob)
{
  pcl_fs::path p (file_name.c_str ());
  std::string extension = p.extension ().string ();
  int result = -1;
  if (extension == ".pcd")
    result = pcl::io::loadPCDFile (file_name, blob);
  else if (extension == ".ply")
    result = pcl::io::loadPLYFile (file_name, blob);
  else if (extension == ".ifs")
    result = pcl::io::loadIFSFile (file_name, blob);
  else if (extension == ".obj")
    result = pcl::io::loadOBJFile (file_name, blob);
  else
  {
    PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s\n", extension.c_str ());
    result = -1;
  }
  return (result);
}

int
pcl::io::load (const std::string& file_name, pcl::PolygonMesh& mesh)
{
  pcl_fs::path p (file_name.c_str ());
  std::string extension = p.extension ().string ();
  int result = -1;
  if (extension == ".ply")
    result = pcl::io::loadPLYFile (file_name, mesh);
  else if (extension == ".ifs")
    result = pcl::io::loadIFSFile (file_name, mesh);
  else if (extension == ".obj")
    result = pcl::io::loadOBJFile (file_name, mesh);
  else
  {
    PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s\n", extension.c_str ());
    result = -1;
  }
  return (result);
}

int
pcl::io::load (const std::string& file_name, pcl::TextureMesh& mesh)
{
  pcl_fs::path p (file_name.c_str ());
  std::string extension = p.extension ().string ();
  int result = -1;
  if (extension == ".obj")
    result = pcl::io::loadOBJFile (file_name, mesh);
  else
  {
    PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s\n", extension.c_str ());
    result = -1;
  }
  return (result);
}

int
pcl::io::save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision)
{
  pcl_fs::path p (file_name.c_str ());
  std::string extension = p.extension ().string ();
  int result = -1;
  if (extension == ".pcd")
  {
    Eigen::Vector4f origin = Eigen::Vector4f::Zero ();
    Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity ();
    result = pcl::io::savePCDFile (file_name, blob, origin, orientation, true);
  }
  else if (extension == ".ply")
  {
    Eigen::Vector4f origin = Eigen::Vector4f::Zero ();
    Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity ();
    result = pcl::io::savePLYFile (file_name, blob, origin, orientation, true);
  }
  else if (extension == ".ifs")
    result = pcl::io::saveIFSFile (file_name, blob);
  else if (extension == ".vtk")
    result = pcl::io::saveVTKFile (file_name, blob, precision);
  else
  {
    PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s\n", extension.c_str ());
    result = -1;
  }
  return (result);
}

int
pcl::io::save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision)
{
  pcl_fs::path p (file_name.c_str ());
  std::string extension = p.extension ().string ();
  int result = -1;
  if (extension == ".obj")
    result = pcl::io::saveOBJFile (file_name, tex_mesh, precision);
  else
  {
    PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s\n", extension.c_str ());
    result = -1;
  }
  return (result);
}

int
pcl::io::save (const std::string &file_name, const pcl::PolygonMesh &poly_mesh, unsigned precision)
{
  pcl_fs::path p (file_name.c_str ());
  std::string extension = p.extension ().string ();
  int result = -1;
  if (extension == ".ply")
    result = pcl::io::savePLYFileBinary (file_name, poly_mesh);
  else if (extension == ".obj")
    result = pcl::io::saveOBJFile (file_name, poly_mesh, precision);
  else if (extension == ".vtk")
    result = pcl::io::saveVTKFile (file_name, poly_mesh, precision);
  else
  {
    PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s\n", extension.c_str ());
    result = -1;
  }
  return (result);
}
