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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, 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.
*
*/
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <boost/algorithm/string/split.hpp> // for split
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.xyz output.pcd\n", argv[0]);
}
bool
loadCloud (const std::string &filename, PointCloud<PointXYZ> &cloud)
{
std::ifstream fs;
fs.open (filename.c_str (), std::ios::binary);
if (!fs.is_open () || fs.fail ())
{
PCL_ERROR ("Could not open file '%s'! Error : %s\n", filename.c_str (), strerror (errno));
fs.close ();
return (false);
}
std::string line;
std::vector<std::string> st;
while (!fs.eof ())
{
std::getline (fs, line);
// Ignore empty lines
if (line.empty())
continue;
// Tokenize the line
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
if (st.size () != 3)
continue;
cloud.push_back (PointXYZ (float (atof (st[0].c_str ())), float (atof (st[1].c_str ())), float (atof (st[2].c_str ()))));
}
fs.close ();
cloud.width = cloud.size (); cloud.height = 1; cloud.is_dense = true;
return (true);
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Convert a simple XYZ file to PCD 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> xyz_file_indices = parse_file_extension_argument (argc, argv, ".xyz");
if (pcd_file_indices.size () != 1 || xyz_file_indices.size () != 1)
{
print_error ("Need one input XYZ file and one output PCD file.\n");
return (-1);
}
// Load the first file
PointCloud<PointXYZ> cloud;
if (!loadCloud (argv[xyz_file_indices[0]], cloud))
return (-1);
// Convert to PCD and save
PCDWriter w;
w.writeBinaryCompressed (argv[pcd_file_indices[0]], cloud);
}
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