ply2pcd.cpp
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00001 /*
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00039 
00040 #include <pcl/io/pcd_io.h>
00041 #include <pcl/io/ply_io.h>
00042 #include <pcl/console/print.h>
00043 #include <pcl/console/parse.h>
00044 #include <pcl/console/time.h>
00045 
00046 using namespace pcl;
00047 using namespace pcl::io;
00048 using namespace pcl::console;
00049 
00050 void
00051 printHelp (int, char **argv)
00052 {
00053   print_error ("Syntax is: %s input.ply output.pcd\n", argv[0]);
00054 }
00055 
00056 bool
00057 loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
00058 {
00059   TicToc tt;
00060   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00061 
00062   pcl::PLYReader reader;
00063   tt.tic ();
00064   if (reader.read (filename, cloud) < 0)
00065     return (false);
00066   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00067   print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
00068 
00069   return (true);
00070 }
00071 
00072 void
00073 saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &cloud, bool format)
00074 {
00075   TicToc tt;
00076   tt.tic ();
00077 
00078   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00079   
00080   pcl::PCDWriter writer;
00081   writer.write (filename, cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), format);
00082   
00083   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00084 }
00085 
00086 /* ---[ */
00087 int
00088 main (int argc, char** argv)
00089 {
00090   print_info ("Convert a PLY file to PCD format. For more information, use: %s -h\n", argv[0]);
00091 
00092   if (argc < 3)
00093   {
00094     printHelp (argc, argv);
00095     return (-1);
00096   }
00097 
00098   // Parse the command line arguments for .pcd and .ply files
00099   std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00100   std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
00101   if (pcd_file_indices.size () != 1 || ply_file_indices.size () != 1)
00102   {
00103     print_error ("Need one input PLY file and one output PCD file.\n");
00104     return (-1);
00105   }
00106 
00107   // Command line parsing
00108   bool format = 1;
00109   parse_argument (argc, argv, "-format", format);
00110   print_info ("PCD output format: "); print_value ("%s\n", (format ? "binary" : "ascii"));
00111 
00112   // Load the first file
00113   pcl::PCLPointCloud2 cloud;
00114   if (!loadCloud (argv[ply_file_indices[0]], cloud)) 
00115     return (-1);
00116 
00117   // Convert to PLY and save
00118   saveCloud (argv[pcd_file_indices[0]], cloud, format);
00119 
00120   return (0);
00121 }
00122 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:28:18