pcd2ply.cpp
#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);
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcd2ply)
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (pcd2ply pcd2ply.cpp)
target_link_libraries (pcd2ply ${PCL_LIBRARIES})
