load big binary point cloud (.ply) file

load_big_ply.cc

#include <iostream>
#include <iomanip>
#include <fstream>
#include <string>
#include <sstream>

int main(int argc, char **argv) {
  if (argc != 2) {
    std::cout << "Usage: ./load_big_ply <filename>\n";
    return 1;
  }
  std::string filename(argv[1]);
  std::ifstream ifs(filename, std::ios::in|std::ios::binary);
  if (!ifs.is_open()) {
    std::cout << "failed to open " << filename << "\n";
    return 1;
  }

  // skip header
  std::string line;
  while (std::getline(ifs, line, '\n')) {
    std::cout << "read: " << line << "\n";
    if (line == "end_header") {
      break;
    }
  }

  double x = 0.0;
  double y = 0.0;
  double z = 0.0;
  double intensity = 0.0;
  int point_cnt = 0;
  const double inflate_size = 50.0;
  const double xmin = 433233.2 - inflate_size;
  const double ymin = 4435156.9 - inflate_size;
  const double xmax = 433500.2 + inflate_size;
  const double ymax = 4436156.4 + inflate_size;

  std::ofstream ofs("out.pcd");
  // read point cloud data line by line
  while (!ifs.eof()) {
    ifs.read((char*)(&x), sizeof(x));
    ifs.read((char*)(&y), sizeof(y));
    ifs.read((char*)(&z), sizeof(z));
    ifs.read((char*)(&intensity), sizeof(intensity));

    if (x > xmin && x < xmax && y > ymin && y < ymax) {
      ++point_cnt;
      ofs << std::to_string(x) << " " << std::to_string(y)
          << " " << std::to_string(z) << "\n";
    }
  }
  std::cout << "point_cnt: " << point_cnt << std::endl;
  return 0;
}