Function main

tools/xyz2pcd.cpp:91–119

---[ */

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Convert a simple XYZ 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 .ply files
  std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  std::vector<int> xyz_file_indices = parse_file_extension_argument (argc, argv, ".xyz");
  if (pcd_file_indices.size () != 1 || xyz_file_indices.size () != 1)
  {
    print_error ("Need one input XYZ file and one output PCD file.\n");
    return (-1);
  }

  // Load the first file
  PointCloud<PointXYZ> cloud;
  if (!loadCloud (argv[xyz_file_indices[0]], cloud)) 
    return (-1);

  // Convert to PCD and save
  PCDWriter w;
  w.writeBinaryCompressed (argv[pcd_file_indices[0]], cloud);
}