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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > PCDFileFormat [filename] [ascii|binary|compressed]");
utility::LogInfo(" The program will :");
utility::LogInfo(" 1. load the pointcloud in [filename].");
utility::LogInfo(" 2. visualize the point cloud.");
utility::LogInfo(" 3. if a save method is specified, write the point cloud into data.pcd.");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char* argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (!(argc == 2 || argc == 3) ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
auto cloud_ptr = io::CreatePointCloudFromFile(argv[1]);
visualization::DrawGeometries({cloud_ptr}, "TestPCDFileFormat", 1920, 1080);
if (argc >= 3) {
std::string method(argv[2]);
if (method == "ascii") {
io::WritePointCloud("data.pcd", *cloud_ptr, {true});
} else if (method == "binary") {
io::WritePointCloud("data.pcd", *cloud_ptr, {false, false});
} else if (method == "compressed") {
io::WritePointCloud("data.pcd", *cloud_ptr, {false, true});
}
}
return 0;
}
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