xyz2pcd

#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)
{
        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);
        }


        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 );

        }


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

        return 0;
}