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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: convert_pcd_ascii_binary.cpp 33162 2010-03-10 07:41:56Z rusu $
*
*/
/**
\author Radu Bogdan Rusu
@b convert_pcd_ascii_binary converts PCD (Point Cloud Data) files from ascii to binary and viceversa.
**/
#include <iostream>
#include <pcl/common/io.h>
#include <pcl/io/pcd_io.h>
#include <string>
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 4)
{
std::cerr << "Syntax is: " << argv[0] << " <file_in.pcd> <file_out.pcd> 0/1/2 (ascii/binary/binary_compressed) [precision (ASCII)]" << std::endl;
return (-1);
}
pcl::PCLPointCloud2 cloud;
Eigen::Vector4f origin; Eigen::Quaternionf orientation;
if (pcl::io::loadPCDFile (std::string (argv[1]), cloud, origin, orientation) < 0)
{
std::cerr << "Unable to load " << argv[1] << std::endl;
return (-1);
}
int type = atoi (argv[3]);
std::cerr << "Loaded a point cloud with " << cloud.width * cloud.height <<
" points (total size is " << cloud.data.size () <<
") and the following channels: " << pcl::getFieldsList (cloud) << std::endl;
pcl::PCDWriter w;
if (type == 0)
{
std::cerr << "Saving file " << argv[2] << " as ASCII." << std::endl;
w.writeASCII (std::string (argv[2]), cloud, origin, orientation, (argc == 5) ? atoi (argv[4]) : 7);
}
else if (type == 1)
{
std::cerr << "Saving file " << argv[2] << " as binary." << std::endl;
w.writeBinary (std::string (argv[2]), cloud, origin, orientation);
}
else if (type == 2)
{
std::cerr << "Saving file " << argv[2] << " as binary_compressed." << std::endl;
w.writeBinaryCompressed (std::string (argv[2]), cloud, origin, orientation);
}
}
/* ]--- */
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