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pclzf2pcd.cpp
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171 lines (144 loc) · 5.77 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/lzf_image_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s depth.pclzf rgb.pclzf parameters.xml output.pcd\n", argv[0]);
}
bool
loadPCLZF (const std::string &filename_rgb,
const std::string &filename_depth,
const std::string &filename_params,
pcl::PointCloud<pcl::PointXYZRGBA> &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename_rgb.c_str ());
tt.tic ();
pcl::io::LZFRGB24ImageReader rgb;
pcl::io::LZFBayer8ImageReader bayer;
pcl::io::LZFYUV422ImageReader yuv;
pcl::io::LZFDepth16ImageReader depth;
rgb.readParameters (filename_params);
bayer.readParameters (filename_params);
depth.readParameters (filename_params);
yuv.readParameters (filename_params);
if (!rgb.read (filename_rgb, cloud))
if (!yuv.read (filename_rgb, cloud))
bayer.read (filename_rgb, cloud);
depth.read (filename_depth, cloud);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
bool
loadPCLZF (const std::string &filename_depth,
const std::string &filename_params,
pcl::PointCloud<pcl::PointXYZ> &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename_depth.c_str ());
tt.tic ();
pcl::io::LZFDepth16ImageReader depth;
depth.readParameters (filename_params);
depth.read (filename_depth, cloud);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
template <typename T> void
saveCloud (const std::string &filename, const pcl::PointCloud<T> &cloud)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
pcl::PCDWriter writer;
writer.writeBinaryCompressed (filename, cloud);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Convert a pair of PCLZF files (depth, rgb) to PCD format. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
bool debug = false;
pcl::console::parse_argument (argc, argv, "-debug", debug);
if (debug)
pcl::console::setVerbosityLevel (pcl::console::L_DEBUG);
// Parse the command line arguments for .pcd and .ply files
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
std::vector<int> pclzf_file_indices = parse_file_extension_argument (argc, argv, ".pclzf");
std::vector<int> xml_file_indices = parse_file_extension_argument (argc, argv, ".xml");
if (pcd_file_indices.size () != 1 || pclzf_file_indices.empty () || xml_file_indices.size () != 1)
{
print_error ("Need at least 1 input PCLZF file, one input XML file, and one output PCD file.\n");
return (-1);
}
std::string filename_depth (argv[pclzf_file_indices[0]]);
if (pclzf_file_indices.size () > 1)
{
std::string filename_rgb (argv[pclzf_file_indices[1]]);
// Load the data
pcl::PointCloud<pcl::PointXYZRGBA> cloud;
if (!loadPCLZF (filename_rgb, filename_depth, argv[xml_file_indices[0]], cloud))
return (-1);
// Convert to PCD and save
saveCloud (argv[pcd_file_indices[0]], cloud);
}
else
{
// Load the data
pcl::PointCloud<pcl::PointXYZ> cloud;
if (!loadPCLZF (filename_depth, argv[xml_file_indices[0]], cloud))
return (-1);
// Convert to PCD and save
saveCloud (argv[pcd_file_indices[0]], cloud);
}
}