rgb_to_rgba.cpp

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#include <boost/program_options.hpp>

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

using namespace pcl;
using namespace std;

string in_, out_;

void readOptions(int argc, char* argv[])
{
  using namespace boost::program_options;
  options_description options("Options");
  options.add_options()
    ("help", "produce help message")
    ("in", value<string>(&in_), "input file rgb")
    ("out",value<string>(&out_),"output file rgba")
    ;

  positional_options_description p_opt;
  p_opt.add("in", 1).add("out",1);
  variables_map vm;
  store(command_line_parser(argc, argv).options(options).positional(p_opt).run(), vm);
  notify(vm);

  if (vm.count("help") || !vm.count("in") || !vm.count("in"))
  {
    cout << options << endl;
    exit(0);
  }
}

int main (int argc, char** argv)
{
  readOptions(argc, argv);
  PointCloud<PointXYZRGB>::Ptr p(new PointCloud<PointXYZRGB>);
  PointCloud<PointXYZRGBA>::Ptr p2(new PointCloud<PointXYZRGBA>);

  io::loadPCDFile<PointXYZRGB>(in_, *p);
  p2->width = p->width;
  p2->height = p->height;
  p2->points.resize(p2->width * p2->height);
  for (size_t i = 0; i < p->points.size(); i++)
  {
    p2->points[i].x = p->points[i].x;
    p2->points[i].y = p->points[i].y;
    p2->points[i].z = p->points[i].z;
    p2->points[i].rgba = *reinterpret_cast<int*>(&p->points[i].rgb);
  }
  io::savePCDFileASCII<PointXYZRGBA>(out_, *p2);

  return 0;
}