From bfadafe0a9d1f0d8c5a8d70f2001d5b2ac30f2e3 Mon Sep 17 00:00:00 2001
From: Thibault Payet <monwarez@gmail.com>
Date: Wed, 6 May 2020 14:51:45 +0200
Subject: [PATCH] add support to convert: x y z and x y z color
---
main.cpp | 75 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 file changed, 61 insertions(+), 14 deletions(-)
diff --git a/main.cpp b/main.cpp
index 1f3e1da..ccf9284 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,6 +1,10 @@
#include <filesystem>
#include <fstream>
+#include <ios>
#include <iostream>
+#include <string>
+
+#include <pcl/io/ascii_io.h>
#include <pcl/io/pcd_io.h>
void txt2pcd( std::filesystem::path input, std::filesystem::path output )
@@ -11,28 +15,71 @@ void txt2pcd( std::filesystem::path input, std::filesystem::path output )
{
pcl::PointCloud<pcl::PointXYZRGB> cloud;
- while ( !inputFile.eof() )
+ // Read header
+ std::string line;
+ auto len = inputFile.tellg();
+
+ char buf{'\0'};
+
+ do
+ {
+ inputFile.get( buf );
+ if ( buf != '\0' && buf != '\n' )
+ {
+ line.push_back( buf );
+ }
+ } while ( buf != '\0' && buf != '\n' );
+
+ auto numberOfSpace = std::count( std::begin( line ), std::end( line ), ' ' );
+
+ if ( line.back() == ' ' )
+ {
+ if ( numberOfSpace > 0 )
+ {
+ --numberOfSpace;
+ }
+ }
+
+ auto const numArgument = numberOfSpace + 1;
+
+ inputFile.seekg( len, std::ios_base::beg );
+
+ pcl::PCDWriter pcdWriter{};
+ if ( numArgument == 6 )
{
- pcl::PointXYZRGB point;
+ while ( !inputFile.eof() )
+ {
+ pcl::PointXYZRGB point;
- inputFile >> point.x;
- inputFile >> point.y;
- inputFile >> point.z;
+ inputFile >> point.x;
+ inputFile >> point.y;
+ inputFile >> point.z;
- int r, g, b;
+ int r, g, b;
- inputFile >> r;
- inputFile >> g;
- inputFile >> b;
+ inputFile >> r;
+ inputFile >> g;
+ inputFile >> b;
- point.r = static_cast<char>( r );
- point.g = static_cast<char>( g );
- point.b = static_cast<char>( b );
+ point.r = static_cast<char>( r );
+ point.g = static_cast<char>( g );
+ point.b = static_cast<char>( b );
- cloud.push_back( point );
+ cloud.push_back( point );
+ }
}
+ else
+ {
+ inputFile.close();
+ pcl::ASCIIReader reader;
- pcl::PCDWriter pcdWriter{};
+ auto ext = input.extension().string();
+
+ reader.setExtension( ext );
+
+
+ reader.read( input.string(), cloud );
+ }
pcdWriter.writeBinaryCompressed( output.string(), cloud );
}
--
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