Cunnilingus

#include <iostream>
#include <iomanip>
#include <fstream>
#include <sstream>

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

using namespace std;

int main (int argc, char** argv)
{
        int r,g,b;

        //if(argc!=3)
        //{
                        //fprintf(stderr,"Usage: %s\n(1)Input_XYZ_filename\n(2)Output_PCD_filename\n",argv[0]);
                        //exit(1);
        //}

        if(argc != 3)
        {
                cout << "You need to supply one argument to this program."<<endl;
                cout << "(1)Input_XYZRGB.pcd_filename"<<endl;
                cout << "(2)Output_XYZRGB.xyz_filename"<<endl;
                return -1;
        }

        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
        pcl::io::loadPCDFile (argv[1], *cloud);

        ofstream ofs;
        ofs.open(argv[2]);
        //pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);

        //Open XYZ file

        //std::ifstream ifs(argv[1]);
        //std::string buf;

        ////Load XYZ file
        //for(size_t i=0; ifs && getline(ifs, buf); i++)
        //{

                //std::cout << buf << std::endl;
                //std::istringstream is(buf);

                //pcl::PointXYZRGB pnt;
                //is >> pnt.x
                //>> pnt.y
                //>> pnt.z;
                //cloud->push_back ( pnt );

        //}

        for(size_t i=0; i < cloud->points.size() ; i++)
        {
                ofs << setprecision(3)
                << fixed << cloud->points[i].x << " "
                << fixed << cloud->points[i].y << " "
                << fixed << cloud->points[i].z << " "
                << (int)cloud->points[i].r << " "
                << (int)cloud->points[i].g << " "
                << (int)cloud->points[i].b << endl;
                //<< fixed << normals->points[i].normal_x << " "
                //<< fixed << normals->points[i].normal_y << " "
                //<< fixed << normals->points[i].normal_z << endl;
        }

        //ofs.close();


        //pcl::io::savePCDFileASCII(argv[2], *cloud);

        return 0;
}