diff --git a/main.cpp b/main.cpp
index c05c0c4bdf591a68fe5b426769f73581d0836909..6b69233cf309806254cf978f8a3dbfaa3bac09c2 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,4 +1,59 @@
-int main(int argc, char **argv)
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <pcl/io/pcd_io.h>
+
+void txt2pcd( std::filesystem::path input, std::filesystem::path output )
 {
+    std::ifstream inputFile{input.c_str()};
+
+    if ( inputFile )
+    {
+        pcl::PointCloud<pcl::PointXYZRGB> cloud;
+
+        while ( !inputFile.eof() )
+        {
+            pcl::PointXYZRGB point;
+
+            inputFile >> point.x;
+            inputFile >> point.y;
+            inputFile >> point.z;
+
+            inputFile >> point.r;
+            inputFile >> point.g;
+            inputFile >> point.b;
+
+            cloud.push_back( point );
+        }
+
+        pcl::PCDWriter pcdWriter{};
+
+        pcdWriter.writeBinaryCompressed( output.string(), cloud );
+    }
+}
+
+void printHelp()
+{
+    std::cout << "Usage: txt2pcd inputCloud.txt outputCloud.pcd\n";
+}
+
+int main( int argc, char** argv )
+{
+    if ( argc == 3 )
+    {
+        try
+        {
+            txt2pcd( argv[ 1 ], argv[ 2 ] );
+        }
+        catch ( std::exception const& e )
+        {
+            std::cerr << e.what() << "\n";
+        }
+    }
+    else
+    {
+        printHelp();
+    }
+
     return 0;
 }
diff --git a/meson.build b/meson.build
index 33e23a3de07ad0f8104f40c0b3febee48121bb9b..7327966f1b199b8b30ff7f2839c71747ba6c8c09 100644
--- a/meson.build
+++ b/meson.build
@@ -5,6 +5,8 @@ pcl_version = get_option('pcl_version')
 pcl_io_dep = dependency('pcl_io-@0@'.format(pcl_version),
                         required: true)
 
+boost_dep = dependency('boost')
+
 executable('txt2pcd', sources: files(['main.cpp']),
-           dependencies: [pcl_io_dep])
+           dependencies: [pcl_io_dep, boost_dep])