merge_pcds.cpp

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#include <boost/program_options.hpp>

#include <pcl/io/pcd_io.h>
#include <pcl/common/file_io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

using namespace std;
using namespace pcl;

string out, in_f;
vector<string> in_pcds;


void readOptions(int argc, char* argv[])
{
  using namespace boost::program_options;
  options_description options("Options");
  options.add_options()
    ("help", "produce help message")
    ("out,o", value<string> (&out), "output pcd file name")
    ("folder,f", value<string> (&in_f), "input folder containing all pcd files to merge")
    ("pcds,p", value<vector<string> > (&in_pcds), "list of input pcds to merge")
    ;

  positional_options_description p_opt;
  p_opt.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("out"))
  {
    cout << "\nTool to merge pcd files (of all types) specified by a folder "
         << "or given as a list to a single file\n\n";
    cout << options << endl;
    exit(0);
  }
}

int main(int argc, char** argv)
{
  readOptions(argc, argv);
  pcl::PCLPointCloud2 cloud_out;
  pcl::PCLPointCloud2 cloud_in;
  pcl::PCLPointCloud2 cloud_tmp;
  if (in_f != "") 
  {
    vector<string> tmp_in;
    getAllPcdFilesInDirectory(in_f, tmp_in);
    for(size_t i=0; i<tmp_in.size(); i++)
    {
      in_pcds.push_back(in_f + tmp_in[i]);
    }
  }
  cout << "PCD files to merge: " << in_pcds.size() << endl;
  io::loadPCDFile(in_pcds[0], cloud_out);
  for (size_t i=1; i<in_pcds.size(); i++)
  {
    io::loadPCDFile(in_pcds[i], cloud_in);
    cout << "loaded " << cloud_in.width * cloud_in.height << " points..." << endl;
    concatenatePointCloud (cloud_in,cloud_out,cloud_tmp);
    cout << "copied " << cloud_tmp.width * cloud_tmp.height << " points..." << endl;
    cloud_out = cloud_tmp;

  }
  io::savePCDFile(out, cloud_out);
  cout << "saved " << cloud_out.width * cloud_out.height << " points!" << endl;

  return 0;
}