Function main

tools/vtk2pcd.cpp:76–133

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Convert a VTK file to PCD format. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd and .vtk files
  std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");
  if (pcd_file_indices.size () != 1 || vtk_file_indices.size () != 1)
  {
    print_error ("Need one input VTK file and one output PCD file.\n");
    return (-1);
  }

  // Load the VTK file
  TicToc tt;
  print_highlight ("Loading "); print_value ("%s ", argv[vtk_file_indices[0]]);

  vtkSmartPointer<vtkPolyDataReader> reader = vtkSmartPointer<vtkPolyDataReader>::New ();
  reader->SetFileName (argv[vtk_file_indices[0]]);
  reader->Update ();
  vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput ();
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", polydata->GetNumberOfPoints ()); print_info (" points]\n");

  bool copy_normals = false;
  parse_argument (argc, argv, "-copy_normals", copy_normals);
  PCL_INFO ("Copy normals: %s.\n", copy_normals ? "true" : "false");

  if (copy_normals)
  {
    vtkSmartPointer<vtkPolyDataNormals> ng = vtkSmartPointer<vtkPolyDataNormals>::New ();
    ng->SetInputData (polydata);
    ng->ComputePointNormalsOn ();
    ng->ComputeCellNormalsOff ();
    ng->Update ();
    polydata = ng->GetOutput ();

    pcl::PointCloud<pcl::PointNormal> cloud;
    vtkPolyDataToPointCloud (polydata, cloud);
    // Convert to pcd and save
    saveCloud (argv[pcd_file_indices[0]], cloud);
  }
  else
  { 
    pcl::PointCloud<pcl::PointXYZ> cloud;
    vtkPolyDataToPointCloud (polydata, cloud);
    // Convert to pcd and save
    saveCloud (argv[pcd_file_indices[0]], cloud);
  }

  return (0);
}