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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011-2012, 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 the copyright holder(s) 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.
*
* $Id$
*
*/
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s [-format 0|1] [-use_camera 0|1] input.pcd output.ply\n", argv[0]);
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud) < 0)
return (false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &cloud, bool binary, bool use_camera)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
pcl::PLYWriter writer;
writer.write (filename, cloud, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), binary, use_camera);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Convert a PCD file to PLY format. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse the command line arguments for .pcd and .ply files
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
if (pcd_file_indices.size () != 1 || ply_file_indices.size () != 1)
{
print_error ("Need one input PCD file and one output PLY file.\n");
return (-1);
}
// Command line parsing
bool format = true;
bool use_camera = true;
parse_argument (argc, argv, "-format", format);
parse_argument (argc, argv, "-use_camera", use_camera);
print_info ("PLY output format: "); print_value ("%s, ", (format ? "binary" : "ascii"));
print_value ("%s\n", (use_camera ? "using camera" : "no camera"));
// Load the first file
pcl::PCLPointCloud2 cloud;
if (!loadCloud (argv[pcd_file_indices[0]], cloud))
return (-1);
// Convert to PLY and save
saveCloud (argv[ply_file_indices[0]], cloud, format, use_camera);
return (0);
}
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