/* \brief Helper function that read a pointcloud file (returns false if pbl)
* Also initialize the octree
*
*/
bool loadCloud(std::string &filename)
{
std::cout << "Loading file " << filename.c_str() << std::endl;
//read cloud
if (pcl::io::loadPCDFile(filename, *cloud))
{
std::cerr << "ERROR: Cannot open file " << filename << "! Aborting..." << std::endl;
return false;
}
//remove NaN Points
std::vector<int> nanIndexes;
pcl::removeNaNFromPointCloud(*cloud, *cloud, nanIndexes);
std::cout << "Loaded " << cloud->points.size() << " points" << std::endl;
//create octree structure
octree.setInputCloud(cloud);
//update bounding box automatically
octree.defineBoundingBox();
//add points in the tree
octree.addPointsFromInputCloud();
return true;
}
