Qt Load and Save PCL/PLY 加载和保存点云

void QMainWindow::on_pb_load_clicked() {
    QString filename = QFileDialog::getOpenFileName (this, tr ("Open point cloud"), "", 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;
    }
}

void QMainWindow::on_pb_save_clicked() {
    QString filename = QFileDialog::getSaveFileName(this, tr ("Open point cloud"), "", 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;
    }
}