Very simple converter from Wavefront obj to Point Cloud Data(PCD) format

pcd_converter.cpp

#include <iostream>
#include <fstream>
#include <sstream>
#include <string>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>

using std::string;
using std::vector;
using std::fstream;
using std::cerr;
using std::endl;
using std::cout;
using std::stringstream;
using Eigen::Vector4f;
using Eigen::Vector3f;
using Eigen::Vector2f;
using Eigen::Matrix3f;
using Eigen::Matrix4f;
using Eigen::MatrixXf;

vector<Vector3f > vertData, colData, normData;
vector<Vector2f > texData;

void objLoader(const string& fname, vector<Vector3f >& vertices, vector<Vector3f >& color,
	vector<Vector2f >& tex, vector<Vector3f >& normals)
{
	fstream file;
	const unsigned int len = 256;
	char line[len];
	file.open(fname.c_str());
	if (!file.is_open())
	{
		cerr << "Cannot open File" << endl;
		exit(0);
	}
	while (file.getline(line, len))
	{
		if (line[0] == 'v')
		{
			stringstream ss(line + 2);
			switch (line[1])
			{
			case 't':
			{
				Vector2f t;
				ss >> t[0] >> t[1];
				tex.push_back(t);
			}
			break;

			case 'n':
			{
				Vector3f n;
				ss >> n[0] >> n[1] >> n[2];
				normals.push_back(n);
			}
			break;

			case ' ':
			{
				Vector3f v;
				ss >> v[0] >> v[1] >> v[2];
				vertices.push_back(v);
				Vector3f c;
				ss >> c[0] >> c[1] >> c[2];
				color.push_back(c);
			}

			break;
			}
		}
	}
}

void objWriter(const string& fname, const vector<Vector3f >& points)
{
	std::ofstream file;
	file.open(fname.c_str());
	if (!file.is_open())
	{
		cerr << "Writing obj: file open error" << endl;
		return;
	}
	// pcd format header
	// version
	// fields
	// size
	// type
	// count
	// width
	// height
	// viewpoint
	// points
	file << "VERSION " << .7 << endl
		<< "FIELDS x y z" << endl
		<< "SIZE 4 4 4" << endl
		<< "TYPE F F F" << endl
		<< "COUNT 1 1 1" << endl
		<< "WIDTH " << points.size() << endl
		<< "HEIGHT 1" << endl
		<< "VIEWPOINT 0 0 0 1 0 0 0 " << endl
		<< "POINTS " << points.size() << endl
		<< "DATA ascii" << endl;


	for (size_t i = 0; i < points.size(); i++)
		file << points[i](0) << " " << points[i](1) << " " << points[i](2) << endl;

	file.close();
}

int main(int argc, char* argv[])
{
	if (argc != 2)
	{
		cerr << "Invalid arguments" << endl;
		exit(EXIT_FAILURE);
	}

	objLoader(argv[1], vertData, colData, texData, normData);

	string outFileName(argv[1]);
	size_t p = outFileName.find_last_of(".");
	outFileName.replace(p + 1,3, "pcd");
	
	objWriter(outFileName, vertData);

	return 0;
}