xyz(rgb).pcd2xyzrgb

#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;
}