pcd2vtk.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  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the copyright holder(s) nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  * $Id$
00036  *
00037  */
00038 
00039 #include <pcl/io/pcd_io.h>
00040 #include <pcl/io/vtk_io.h>
00041 #include <pcl/console/print.h>
00042 #include <pcl/console/parse.h>
00043 #include <pcl/console/time.h>
00044 
00045 using namespace pcl;
00046 using namespace pcl::io;
00047 using namespace pcl::console;
00048 
00049 void
00050 printHelp (int, char **argv)
00051 {
00052   print_error ("Syntax is: %s input.pcd output.vtk\n", argv[0]);
00053 }
00054 
00055 bool
00056 loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
00057 {
00058   TicToc tt;
00059   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00060 
00061   tt.tic ();
00062   if (loadPCDFile (filename, cloud) < 0)
00063     return (false);
00064   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00065   print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
00066 
00067   return (true);
00068 }
00069 
00070 void
00071 saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &cloud)
00072 {
00073   TicToc tt;
00074   tt.tic ();
00075 
00076   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00077   
00078   saveVTKFile (filename, cloud);
00079   
00080   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00081 }
00082 
00083 /* ---[ */
00084 int
00085 main (int argc, char** argv)
00086 {
00087   print_info ("Convert a PCD file to VTK format. For more information, use: %s -h\n", argv[0]);
00088 
00089   if (argc < 3)
00090   {
00091     printHelp (argc, argv);
00092     return (-1);
00093   }
00094 
00095   // Parse the command line arguments for .pcd and .vtk files
00096   std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00097   std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");
00098   if (pcd_file_indices.size () != 1 || vtk_file_indices.size () != 1)
00099   {
00100     print_error ("Need one input PCD file and one output VTK file.\n");
00101     return (-1);
00102   }
00103 
00104   // Load the first file
00105   pcl::PCLPointCloud2 cloud;
00106   if (!loadCloud (argv[pcd_file_indices[0]], cloud)) 
00107     return (-1);
00108 
00109   // Convert to vtk and save
00110   saveCloud (argv[vtk_file_indices[0]], cloud);
00111 
00112   return (0);
00113 }
00114 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:27:52