ply2pcd.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2011-2012, Willow Garage, Inc.
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Willow Garage, Inc. nor the names of its
00020  *     contributors may be used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  * $Id: ply2pcd.cpp 4963 2012-03-08 00:20:12Z svn $
00037  *
00038  */
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, sensor_msgs::PointCloud2 &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 sensor_msgs::PointCloud2 &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 = 0;
00109   parse_argument (argc, argv, "-format", format);
00110   print_info ("PCD output format: "); print_value ("%s\n", (format ? "binary" : "asci"));
00111 
00112   // Load the first file
00113   sensor_msgs::PointCloud2 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 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:32