/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012-, Open Perception, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *
 * $Id: ply2pcd.cpp 6459 2012-07-18 07:50:37Z dpb $
 *
 */

#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/io/vtk_lib_io.h>

#include <vtkPLYReader.h> // for vtkPLYReader
#include <vtkPolyDataWriter.h> // for vtkPolyDataWriter

using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;

void
printHelp (int, char **argv)
{
  print_error ("Syntax is: %s input.ply output.vtk\n", argv[0]);
}

/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Convert a PLY file to VTK format. For more information, use: %s -h\n", argv[0]);

  if (argc < 3)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .vtk and .ply files
  std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");
  std::vector<int> ply_file_indices = parse_file_extension_argument (argc, argv, ".ply");
  if (vtk_file_indices.size () != 1 || ply_file_indices.size () != 1)
  {
    print_error ("Need one input PLY file and one output VTK file.\n");
    return (-1);
  }

  // Load the input file
  vtkSmartPointer<vtkPolyData> polydata;
  vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
  reader->SetFileName (argv[ply_file_indices[0]]);
  reader->Update ();
  polydata = reader->GetOutput ();
  print_info ("Loaded %s with %lu points/vertices.\n", argv[ply_file_indices[0]], polydata->GetNumberOfPoints ());

  // Convert to VTK and save
  vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
  writer->SetInputData (polydata);
  writer->SetFileName (argv[vtk_file_indices[0]]);
  writer->SetFileTypeToBinary ();
  writer->Write ();

  return (0);
}

