From 7bf29d5a2c7a310a8f90cc99d4340b65a3250e13 Mon Sep 17 00:00:00 2001
From: Thibault Payet <monwarez@gmail.com>
Date: Thu, 30 Apr 2020 22:13:58 +0200
Subject: [PATCH] add txt2pcd code
---
main.cpp | 57 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
meson.build | 4 +++-
2 files changed, 59 insertions(+), 2 deletions(-)
diff --git a/main.cpp b/main.cpp
index c05c0c4..6b69233 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 33e23a3..7327966 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])
--
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