text: #!/usr/bin/python
  import sys
  import os
  
  def main(argv):
      assert len(argv) <= 2, "The number of input parameter should be empty or only one"
      pcd_dir = "/apollo/data/pcd"   # default PCD file directory
      if len(argv) == 2:
          pcd_dir = argv[1]
  
      pose_dir = os.path.join(os.path.dirname(pcd_dir), "pose")   # Pose file directory
      if not os.path.exists(pose_dir):
          os.mkdir(pose_dir)
  
      pose_info_file = os.path.join(pcd_dir, "pose.txt")
      assert os.path.exists(pose_info_file), "The file of pose info does not exist"
      with open(pose_info_file, 'r') as f_in:
          for line in f_in:
              out_pose_file = os.path.join(pose_dir, line.split()[0] + ".pose")
              with open(out_pose_file, 'w') as f_out:
                  print >> f_out, line
  
  if __name__ == "__main__":
      main(sys.argv)