xyzrgbnormal2pcd

/***********************************************************************************************
Read file
Output File : PCD file format

XYZRGBNormal 2 PCD

*************************************************************************************************/


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

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


int main (int argc, char** argv)
{
    if(argc!=3)
        {
                fprintf(stderr,"Usage: %s\n(1)Input_XYZRGBNormal_filename\n(2)Output_Text_Filename\n",argv[0]);
                exit(1);
        }

    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);

    //XYZRGBNormalファイルの読み込み

    //std::ifstream ifs(input_fname);
    //std:ifstream Input file stream class
    std::ifstream ifs(argv[1]);

    //std:strings Strings are objects that represent sequences of characters.
    std::string buf;

    for(size_t i=0; ifs && getline(ifs, buf); i++)
    {

        std::cout << buf << std::endl;
        std::istringstream is(buf);
        pcl::PointXYZRGBNormal pnt;
        is >> pnt.x
           >> pnt.y
           >> pnt.z
           >> r
           >> g
           >> b
           >> pnt.normal_x
           >> pnt.normal_y
           >> pnt.normal_z
           >> pnt.curvature;
        pnt.r= (uint8_t)r;
                pnt.g= (uint8_t)g;
                pnt.b= (uint8_t)b;
        cloud->push_back ( pnt );

    }

    //pcdファイルに書き出し
    //std::cout << "Output file name:";
    //std::cin >> output_fname;

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

    //pcl::io::savePCDFileASCII(output_fname, *cloud);

    return 0;
}