将点数据和Mesh数据转换为OBJ, PCD, PLY, STL, VTK文件包含点云或网格到每一种其他格式。
允许指定文件输出类型在ASCII，二进制和二进制压缩之间。
例如可以将点数据存储在pcd文件中，将Mesh数据存储在VTK文件中。（保存点数据到OBJ，PLY和VTK格式时，是通过Mesh进行中转的；Mesh数据保存为PCD格式时，只保存点信息）
在转换过程中颜色/alpha的损失
// STL不支持颜色
// OBJ在PCL中不支持颜色(格式does support color)
代码如下：
#include <vector>
#include <pcl/console/parse.h>
#include <pcl/io/auto_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/io/vtk_lib_io.h>
#include <boost/make_shared.hpp>
#define ASCII 0
#define BINARY 1
#define BINARY_COMPRESSED 2
/**
* Display help for this program
* @param argc[in]
* @param argv[in]
*/
void
displayHelp (int argc,
char** argv)
{
PCL_INFO ("\nUsage: %s [OPTION] SOURCE DEST\n", argv[0]);
PCL_INFO ("Convert SOURCE point cloud or mesh to DEST.\n\n");
PCL_INFO ("Available formats types for SOURCE and DEST:\n"
"\tOBJ (Wavefront)\n"
"\tPCD (Point Cloud Library)\n"
"\tPLY (Polygon File Format)\n"
"\tSTL (STereoLithography)\n"
"\tVTK (The Visualization Toolkit)\n\n");
PCL_INFO ("Available options:\n"
"\t-f, --format Specify DEST output type, available formats are ascii, binary and binary_compressed.\n"
"\t When not specified, binary is used as default.\n"
"\t OBJ only supports ascii format.\n"
"\t binary_compressed is only supported by the PCD file format.\n\n"
"\t-c --cloud Output DEST as a point cloud, delete all faces.\n\n");
}
bool
saveMesh (pcl::PolygonMesh& input,
std::string output_file,
int output_type);
/**
* Saves a cloud into the specified file and output type. The file format is automatically parsed.
* @param input[in] The cloud to be saved
* @param output_file[out] The output file to be written
* @param output_type[in] The output file type
* @return True on success, false otherwise.
*/
bool
savePointCloud (pcl::PCLPointCloud2::Ptr input,
std::string output_file,
int output_type)
{
if (boost::filesystem::path (output_file).extension () == ".pcd")
{
//TODO Support precision, origin, orientation
pcl::PCDWriter w;
if (output_type == ASCII)
{
PCL_INFO ("Saving file %s as ASCII.\n", output_file.c_str ());
if (w.writeASCII (output_file, *input) != 0)
return (false);
}
else if (output_type == BINARY)
{
PCL_INFO ("Saving file %s as binary.\n", output_file.c_str ());
if (w.writeBinary (output_file, *input) != 0)
return (false);
}
else if (output_type == BINARY_COMPRESSED)
{
PCL_INFO ("Saving file %s as binary compressed.\n", output_file.c_str ());
if (w.writeBinaryCompressed (output_file, *input) != 0)
return (false);
}
}
else if (boost::filesystem::path (output_file).extension () == ".stl")
{
PCL_ERROR ("STL file format does not support point clouds! Aborting.\n");
return (false);
}
else // OBJ, PLY and VTK
{
//TODO: Support precision
//FIXME: Color is lost during OBJ conversion (OBJ supports color)
pcl::PolygonMesh mesh;
mesh.cloud = *input;
if (!saveMesh (mesh, output_file, output_type))
return (false);
}
return (true);
}
/**
* Saves a mesh into the specified file and output type. The file format is automatically parsed.
* @param input[in] The mesh to be saved
* @param output_file[out] The output file to be written
* @param output_type[in] The output file type
* @return True on success, false otherwise.
*/
bool
saveMesh (pcl::PolygonMesh& input,
std::string output_file,
int output_type)
{
if (boost::filesystem::path (output_file).extension () == ".obj")
{
if (output_type == BINARY || output_type == BINARY_COMPRESSED)
PCL_WARN ("OBJ file format only supports ASCII.\n");
//TODO: Support precision
//FIXME: Color is lost during conversion (OBJ supports color)
PCL_INFO ("Saving file %s as ASCII.\n", output_file.c_str ());
if (pcl::io::saveOBJFile (output_file, input) != 0)
return (false);
}
else if (boost::filesystem::path (output_file).extension () == ".pcd")
{
if (!input.polygons.empty ())
PCL_WARN ("PCD file format does not support meshes! Only points be saved.\n");
pcl::PCLPointCloud2::Ptr cloud = boost::make_shared<pcl::PCLPointCloud2> (input.cloud);
if (!savePointCloud (cloud, output_file, output_type))
return (false);
}
else // PLY, STL and VTK
{
if (output_type == BINARY_COMPRESSED)
PCL_WARN ("PLY, STL and VTK file formats only supports ASCII and binary output file types.\n");
if (input.polygons.empty() && boost::filesystem::path (output_file).extension () == ".stl")
{
PCL_ERROR ("STL file format does not support point clouds! Aborting.\n");
return (false);
}
PCL_INFO ("Saving file %s as %s.\n", output_file.c_str (), (output_type == ASCII) ? "ASCII" : "binary");
if (!pcl::io::savePolygonFile (output_file, input, (output_type == ASCII) ? false : true))
return (false);
}
return (true);
}
/**
* Parse input files and options. Calls the right conversion function.
* @param argc[in]
* @param argv[in]
* @return 0 on success, any other value on failure.
*/
int
main (int argc,
char** argv)
{
// Display help
if (pcl::console::find_switch (argc, argv, "-h") != 0 || pcl::console::find_switch (argc, argv, "--help") != 0)
{
displayHelp (argc, argv);
return (0);
}
// Parse all files and options
std::vector<std::string> supported_extensions;
supported_extensions.push_back("obj");
supported_extensions.push_back("pcd");
supported_extensions.push_back("ply");
supported_extensions.push_back("stl");
supported_extensions.push_back("vtk");
std::vector<int> file_args;
for (int i = 1; i < argc; ++i)
for (size_t j = 0; j < supported_extensions.size(); ++j)
if (boost::algorithm::ends_with(argv[i], supported_extensions[j]))
{
file_args.push_back(i);
break;
}
std::string parsed_output_type;
pcl::console::parse_argument (argc, argv, "-f", parsed_output_type);
pcl::console::parse_argument (argc, argv, "--format", parsed_output_type);
bool cloud_output (false);
if (pcl::console::find_switch (argc, argv, "-c") != 0 ||
pcl::console::find_switch (argc, argv, "--cloud") != 0)
cloud_output = true;
// Make sure that we have one input and one output file only
if (file_args.size() != 2)
{
PCL_ERROR ("Wrong input/output file count!\n");
displayHelp (argc, argv);
return (-1);
}
// Convert parsed output type to output type
int output_type (BINARY);
if (!parsed_output_type.empty ())
{
if (parsed_output_type == "ascii")
output_type = ASCII;
else if (parsed_output_type == "binary")
output_type = BINARY;
else if (parsed_output_type == "binary_compressed")
output_type = BINARY_COMPRESSED;
else
{
PCL_ERROR ("Wrong output type!\n");
displayHelp (argc, argv);
return (-1);
}
}
// Try to load as mesh
pcl::PolygonMesh mesh;
if (boost::filesystem::path (argv[file_args[0]]).extension () != ".pcd" &&
pcl::io::loadPolygonFile (argv[file_args[0]], mesh) != 0)
{
PCL_INFO ("Loaded a mesh with %d points (total size is %d) and the following channels:\n%s\n",
mesh.cloud.width * mesh.cloud.height, mesh.cloud.data.size (), pcl::getFieldsList (mesh.cloud).c_str ());
if (cloud_output)
mesh.polygons.clear();
if (!saveMesh (mesh, argv[file_args[1]], output_type))
return (-1);
}
else if (boost::filesystem::path (argv[file_args[0]]).extension () == ".stl")
{
PCL_ERROR ("Unable to load %s.\n", argv[file_args[0]]);
return (-1);
}
else
{
// PCD, OBJ, PLY or VTK
if (boost::filesystem::path (argv[file_args[0]]).extension () != ".pcd")
PCL_WARN ("Could not load %s as a mesh, trying as a point cloud instead.\n", argv[file_args[0]]);
//Eigen::Vector4f origin; // TODO: Support origin/orientation
//Eigen::Quaternionf orientation;
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
if (pcl::io::load (argv[file_args[0]], *cloud) < 0)
{
PCL_ERROR ("Unable to load %s.\n", argv[file_args[0]]);
return (-1);
}
PCL_INFO ("Loaded a point cloud with %d points (total size is %d) and the following channels:\n%s\n", cloud->width * cloud->height, cloud->data.size (),
pcl::getFieldsList (*cloud).c_str ());
if (!savePointCloud (cloud, argv[file_args[1]], output_type))
{
PCL_ERROR ("Failed to save %s.\n", argv[file_args[1]]);
return (-1);
}
}
return (0);
}
来源：PCL官方示例