Allow the pcl_uniform_sampling tool to deal with several formats (PCD, PLY and VTK) as input or output point cloud
#2348
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frozar
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tools/uniform_sampling.cpp
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| Eigen::Vector4f translation; | ||
| Eigen::Quaternionf orientation; | ||
| /** \brief File type for saving and loading files. */ | ||
| typedef enum FileType |
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In C++ you don't need to typedef enumerations. You can safely remove typedef and the second FileType.
tools/uniform_sampling.cpp
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| // Convert data back | ||
| toPCLPointCloud2 (output_, output); | ||
| } | ||
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| void | ||
| saveCloud (const string &filename, const pcl::PCLPointCloud2 &output) | ||
| saveCloud (const string &filename, const pcl::PCLPointCloud2 &output, | ||
| const FileType &output_file_type) |
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enum is an integral type, so better passed by value.
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You're right, the The logic I had in mind when I do it is that I don't want to launch any computation without a minimal checking of the argument:
So this is done in the beginning of the main function and will save time with a try/error approach around this tool. The |
| extension.push_back (".ply"); | ||
| extension.push_back (".vtk"); | ||
| p_file_indices = parse_file_extension_argument (argc, argv, extension); | ||
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| if (p_file_indices.size () != 2) |
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if the ouput format at least is supported.
This line effectively checks that. If the format of the output file is not supported, then we won't have two file names parsed.
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You're right. So I'll make a proposition soon.
tools/uniform_sampling.cpp
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| std::string input_filename = argv[p_file_indices[0]]; | ||
| ifstream ifile (input_filename.c_str ()); | ||
| if (!ifile) { | ||
| print_error ("Cannot found input file name (%s).\n", input_filename.c_str ()); |
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We can move this to line 75, where pcl::io::load returns read status. Otherwise we are opening input file two times.
SergioRAgostinho
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pcl_uniform_sampling tool to deal with several formats (PCD, PLY and VTK) as input or output point cloud
SergioRAgostinho
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changelog: enhancement
Warning: this PR is based onto #2347
Allow the
pcl_uniform_samplingtool to deal with several formats (PCD, PLY and VTK) as input or output point cloud.