/*
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2009, Willow Garage, Inc.
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 *     disclaimer in the documentation and/or other materials provided
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 * $Id$
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 */

#pragma once

#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
      * \ingroup io
      */
    template<typename PointT> int
    save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud);

    /** \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>
