00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: convert_pcd_ascii_binary.cpp 33162 2010-03-10 07:41:56Z rusu $ 00035 * 00036 */ 00037 00046 #include <iostream> 00047 #include "pcl/io/io.h" 00048 #include "pcl/io/pcd_io.h" 00049 00050 using namespace std; 00051 00052 /* ---[ */ 00053 int 00054 main (int argc, char** argv) 00055 { 00056 if (argc < 4) 00057 { 00058 std::cerr << "Syntax is: " << argv[0] << " <file_in.pcd> <file_out.pcd> 0/1 (ascii/binary) [precision (ASCII)]" << std::endl; 00059 return (-1); 00060 } 00061 00062 sensor_msgs::PointCloud2 cloud; 00063 Eigen::Vector4f origin; Eigen::Quaternionf orientation; 00064 00065 if (pcl::io::loadPCDFile (string (argv[1]), cloud, origin, orientation) < 0) 00066 { 00067 std::cerr << "Unable to load " << argv[1] << std::endl; 00068 return (-1); 00069 } 00070 00071 int type = atoi (argv[3]); 00072 00073 std::cerr << "Loaded a point cloud with " << cloud.width * cloud.height << 00074 " points (total size is " << cloud.data.size () << 00075 ") and the following channels: " << pcl::getFieldsList (cloud) << std::endl; 00076 00077 pcl::PCDWriter w; 00078 if (type == 0) 00079 { 00080 std::cerr << "Saving file " << argv[2] << " as ASCII." << std::endl; 00081 w.writeASCII (string (argv[2]), cloud, origin, orientation, (argc == 5) ? atoi (argv[4]) : 7); 00082 } 00083 else 00084 { 00085 std::cerr << "Saving file " << argv[2] << " as binary." << std::endl; 00086 w.writeBinary (string (argv[2]), cloud, origin, orientation); 00087 } 00088 } 00089 /* ]--- */