text: /**
     @file
     @author Shin'ichiro Nakaoka
  */
  
  #ifndef CNOID_UTIL_POINT_SET_UTIL_H
  #define CNOID_UTIL_POINT_SET_UTIL_H
  
  #include <cnoid/SceneDrawables>
  #include "exportdecl.h"
  
  namespace cnoid {
  
  CNOID_EXPORT void loadPCD(SgPointSet* out_pointSet, const std::string& filename);
  CNOID_EXPORT void savePCD(SgPointSet* pointSet, const std::string& filename, const Isometry3& viewpoint = Isometry3::Identity());
  
  }
  
  #endif
  