convert_ply_to_pcd.py

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#!/usr/bin/env python
import os, sys

header = "# .PCD v.7 - Point Cloud Data file format\n\
FIELDS x y z\n\
SIZE 4 4 4\n\
TYPE F F F\n\
COUNT 1 1 1\n\
WIDTH XXXX\n\
HEIGHT 1\n\
VIEWPOINT 0 0 0 1 0 0 0\n\
POINTS XXXX\n\
DATA ascii"

def convertPLYToPCD(mesh_file, pcd_file):
    input = open(mesh_file)
    out = pcd_file
    output = open(out, 'w')
    write_points = False
    points_counter = 0
    nr_points = 0
    for s in input.xreadlines():
        if s.find("element vertex") != -1:
            nr_points = int(s.split(" ")[2].rstrip().lstrip())
            new_header = header.replace("XXXX", str(nr_points))
            output.write(new_header)
            output.write("\n")
        if s.find("end_header") != -1:
            write_points = True
            continue
        if write_points and points_counter < nr_points:
            points_counter = points_counter + 1
            output.write(" ".join(s.split(" ", 3)[:3]))
#            output.write("\n")
    input.close()
    output.close()

def usage():
     print "\nUsage: python ", sys.argv[0], "<input_mesh.ply> <output_cloud.pcd> \n"

if __name__ == "__main__":
    if sys.argv.__len__() != 3:
        usage()
        sys.exit(2)
    mesh_file = sys.argv[1]
    pcd_file = sys.argv[2]
    convertPLYToPCD(mesh_file, pcd_file)