convert_pcd_ascii_binary.cpp
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00001 /*
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00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
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00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034  * $Id: convert_pcd_ascii_binary.cpp 33162 2010-03-10 07:41:56Z rusu $
00035  *
00036  */
00037 
00046 #include <iostream>
00047 #include <pcl/common/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> 0/1/2 (ascii/binary/binary_compressed) [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 if (type == 1)
00084   {
00085     std::cerr << "Saving file " << argv[2] << " as binary." << std::endl;
00086     w.writeBinary (string (argv[2]), cloud, origin, orientation);
00087   }
00088   else if (type == 2)
00089   {
00090     std::cerr << "Saving file " << argv[2] << " as binary_compressed." << std::endl;
00091     w.writeBinaryCompressed (string (argv[2]), cloud, origin, orientation);
00092   }
00093 }
00094 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:43