pcd2vtk.cpp
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00001 /*
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00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00035  * $Id: voxel_grid.cpp 1032 2011-05-18 22:43:27Z marton $
00036  *
00037  */
00038 
00039 #include <pcl/io/pcd_io.h>
00040 #include <pcl/io/vtk_io.h>
00041 #include <pcl/console/print.h>
00042 #include <pcl/console/parse.h>
00043 #include <pcl/console/time.h>
00044 
00045 using namespace pcl;
00046 using namespace pcl::io;
00047 using namespace pcl::console;
00048 
00049 void
00050 printHelp (int, char **argv)
00051 {
00052   print_error ("Syntax is: %s input.pcd output.vtk\n", argv[0]);
00053 }
00054 
00055 bool
00056 loadCloud (const std::string &filename, sensor_msgs::PointCloud2 &cloud)
00057 {
00058   TicToc tt;
00059   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00060 
00061   tt.tic ();
00062   if (loadPCDFile (filename, cloud) < 0)
00063     return (false);
00064   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00065   print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
00066 
00067   return (true);
00068 }
00069 
00070 void
00071 saveCloud (const std::string &filename, const sensor_msgs::PointCloud2 &cloud)
00072 {
00073   TicToc tt;
00074   tt.tic ();
00075 
00076   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00077   
00078   saveVTKFile (filename, cloud);
00079   
00080   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00081 }
00082 
00083 /* ---[ */
00084 int
00085 main (int argc, char** argv)
00086 {
00087   print_info ("Convert a PCD file to VTK format. For more information, use: %s -h\n", argv[0]);
00088 
00089   if (argc < 3)
00090   {
00091     printHelp (argc, argv);
00092     return (-1);
00093   }
00094 
00095   // Parse the command line arguments for .pcd and .vtk files
00096   std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00097   std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");
00098   if (pcd_file_indices.size () != 1 || vtk_file_indices.size () != 1)
00099   {
00100     print_error ("Need one input PCD file and one output VTK file.\n");
00101     return (-1);
00102   }
00103 
00104   // Load the first file
00105   sensor_msgs::PointCloud2 cloud;
00106   if (!loadCloud (argv[pcd_file_indices[0]], cloud)) 
00107     return (-1);
00108 
00109   // Convert to vtk and save
00110   saveCloud (argv[vtk_file_indices[0]], cloud);
00111 }
00112 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:23