|
|
@@ -0,0 +1,154 @@
|
|
|
+#include <QCoreApplication>
|
|
|
+
|
|
|
+#include <iostream>
|
|
|
+//#include <pcl/io/io.h>
|
|
|
+#include <pcl/io/pcd_io.h>
|
|
|
+#include <pcl/common/io.h>
|
|
|
+
|
|
|
+#include <QFile>
|
|
|
+
|
|
|
+#include <getopt.h>
|
|
|
+
|
|
|
+
|
|
|
+static char gstrpcdpath[256];
|
|
|
+static char gstrbinpath[256];
|
|
|
+
|
|
|
+void print_useage()
|
|
|
+{
|
|
|
+ std::cout<<" -i --input $pcdpath : map path. eq. -i /home/nvidia/input.pcd"<<std::endl;
|
|
|
+ std::cout<<" -o --output $binpath : bin path. eq. -o /home/nvidia/output.bin"<<std::endl;
|
|
|
+ std::cout<<" -h --help print help"<<std::endl;
|
|
|
+}
|
|
|
+
|
|
|
+int GetOptLong(int argc, char *argv[]) {
|
|
|
+ int nRtn = 0;
|
|
|
+ int opt; // getopt_long() 的返回值
|
|
|
+ int digit_optind = 0; // 设置短参数类型及是否需要参数
|
|
|
+
|
|
|
+
|
|
|
+ // 如果option_index非空，它指向的变量将记录当前找到参数符合long_opts里的
|
|
|
+ // 第几个元素的描述，即是long_opts的下标值
|
|
|
+ int option_index = 0;
|
|
|
+ // 设置短参数类型及是否需要参数
|
|
|
+ const char *optstring = "i:o:h";
|
|
|
+
|
|
|
+ // 设置长参数类型及其简写，比如 --reqarg <==>-r
|
|
|
+ /*
|
|
|
+ struct option {
|
|
|
+ const char * name; // 参数的名称
|
|
|
+ int has_arg; // 是否带参数值，有三种：no_argument， required_argument，optional_argument
|
|
|
+ int * flag; // 为空时，函数直接将 val 的数值从getopt_long的返回值返回出去，
|
|
|
+ // 当非空时，val的值会被赋到 flag 指向的整型数中，而函数返回值为0
|
|
|
+ int val; // 用于指定函数找到该选项时的返回值，或者当flag非空时指定flag指向的数据的值
|
|
|
+ };
|
|
|
+ 其中：
|
|
|
+ no_argument(即0)，表明这个长参数不带参数（即不带数值，如：--name）
|
|
|
+ required_argument(即1)，表明这个长参数必须带参数（即必须带数值，如：--name Bob）
|
|
|
+ optional_argument(即2)，表明这个长参数后面带的参数是可选的，（即--name和--name Bob均可）
|
|
|
+ */
|
|
|
+ static struct option long_options[] = {
|
|
|
+ {"input", required_argument, NULL, 'i'},
|
|
|
+ {"output", required_argument, NULL, 'o'},
|
|
|
+ {"help", no_argument, NULL, 'h'},
|
|
|
+ // {"optarg", optional_argument, NULL, 'o'},
|
|
|
+ {0, 0, 0, 0} // 添加 {0, 0, 0, 0} 是为了防止输入空值
|
|
|
+ };
|
|
|
+
|
|
|
+ while ( (opt = getopt_long(argc,
|
|
|
+ argv,
|
|
|
+ optstring,
|
|
|
+ long_options,
|
|
|
+ &option_index)) != -1) {
|
|
|
+// printf("opt = %c\n", opt); // 命令参数，亦即 -a -b -n -r
|
|
|
+// printf("optarg = %s\n", optarg); // 参数内容
|
|
|
+// printf("optind = %d\n", optind); // 下一个被处理的下标值
|
|
|
+// printf("argv[optind - 1] = %s\n", argv[optind - 1]); // 参数内容
|
|
|
+// printf("option_index = %d\n", option_index); // 当前打印参数的下标值
|
|
|
+// printf("\n");
|
|
|
+ switch(opt)
|
|
|
+ {
|
|
|
+ case 'i':
|
|
|
+ strncpy(gstrpcdpath,optarg,255);
|
|
|
+ break;
|
|
|
+ case 'o':
|
|
|
+ strncpy(gstrbinpath,optarg,255);
|
|
|
+ break;
|
|
|
+ case 'h':
|
|
|
+ print_useage();
|
|
|
+ nRtn = 1; //because use -h
|
|
|
+ break;
|
|
|
+ default:
|
|
|
+ break;
|
|
|
+ }
|
|
|
+
|
|
|
+ }
|
|
|
+
|
|
|
+ return nRtn;
|
|
|
+}
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+int main(int argc, char *argv[])
|
|
|
+{
|
|
|
+ QCoreApplication a(argc, argv);
|
|
|
+
|
|
|
+ snprintf(gstrpcdpath,255,"");
|
|
|
+ snprintf(gstrbinpath,255,"");
|
|
|
+
|
|
|
+ int nRtn = GetOptLong(argc,argv);
|
|
|
+ if(nRtn == 1) //show help,so exit.
|
|
|
+ {
|
|
|
+ return 0;
|
|
|
+ }
|
|
|
+
|
|
|
+ if(strnlen(gstrpcdpath,256) < 1)
|
|
|
+ {
|
|
|
+ std::cout<<" no input."<<std::endl;
|
|
|
+ print_useage();
|
|
|
+ return -1;
|
|
|
+ }
|
|
|
+
|
|
|
+ if(strnlen(gstrbinpath,256) < 1)
|
|
|
+ {
|
|
|
+ std::cout<<" no output."<<std::endl;
|
|
|
+ print_useage();
|
|
|
+ return -2;
|
|
|
+ }
|
|
|
+
|
|
|
+ pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud(
|
|
|
+ new pcl::PointCloud<pcl::PointXYZI>());
|
|
|
+
|
|
|
+ pcl::io::loadPCDFile<pcl::PointXYZI>(gstrpcdpath,*point_cloud);
|
|
|
+
|
|
|
+
|
|
|
+ QFile xFile;
|
|
|
+ xFile.setFileName(gstrbinpath);
|
|
|
+ if(!xFile.open(QIODevice::ReadWrite))
|
|
|
+ {
|
|
|
+ std::cout<<" Open Save bin File Fail."<<std::endl;
|
|
|
+ return -3;
|
|
|
+ }
|
|
|
+
|
|
|
+ int i;
|
|
|
+ int nPCount = static_cast<int>(point_cloud->width);
|
|
|
+ for(i=0;i<nPCount;i++)
|
|
|
+ {
|
|
|
+ pcl::PointXYZI xp = point_cloud->points[i];
|
|
|
+ double x,y,z,intesi;
|
|
|
+ x = xp.x;
|
|
|
+ y = xp.y;
|
|
|
+ z = xp.z;
|
|
|
+ intesi = xp.intensity;
|
|
|
+ xFile.write((char *)&x,sizeof(double));
|
|
|
+ xFile.write((char *)&y,sizeof(double));
|
|
|
+ xFile.write((char *)&z,sizeof(double));
|
|
|
+ xFile.write((char *)&intesi,sizeof(double));
|
|
|
+
|
|
|
+ }
|
|
|
+ xFile.close();
|
|
|
+ return 0;
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+// return a.exec();
|
|
|
+}
|
