1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#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;
}
|
