FileXYZI.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include <FileSystem.h>
#include <Logging.h>
#include <ProgressReporters.h>
 
#include <cstdio>
 
#include "core/Dtype.h"
#include "core/Tensor.h"
#include "core/TensorList.h"
#include "io/FileFormatIO.h"
#include "t/io/PointCloudIO.h"
 
namespace cloudViewer {
namespace t {
namespace io {
 
cloudViewer::io::FileGeometry ReadFileGeometryTypeXYZI(
        const std::string &path) {
    return cloudViewer::io::CONTAINS_POINTS;
}
 
bool ReadPointCloudFromXYZI(
        const std::string &filename,
        geometry::PointCloud &pointcloud,
        const cloudViewer::io::ReadPointCloudOption &params) {
    try {
        cloudViewer::utility::filesystem::CFile file;
        if (!file.Open(filename, "r")) {
            cloudViewer::utility::LogWarning(
                    "Read XYZI failed: unable to open file: {}", filename);
            return false;
        }
        cloudViewer::utility::CountingProgressReporter reporter(
                params.update_progress);
        reporter.SetTotal(file.GetFileSize());
        int64_t num_points = file.GetNumLines();
 
        pointcloud.Clear();
        core::Tensor points({num_points, 3}, core::Float64);
        core::Tensor intensities({num_points, 1}, core::Float64);
        double *points_ptr = points.GetDataPtr<double>();
        double *intensities_ptr = intensities.GetDataPtr<double>();
 
        int i = 0;
        double x, y, z, I;
        const char *line_buffer;
        while ((line_buffer = file.ReadLine())) {
            if (sscanf(line_buffer, "%lf %lf %lf %lf", &x, &y, &z, &I) == 4) {
                points_ptr[3 * i + 0] = x;
                points_ptr[3 * i + 1] = y;
                points_ptr[3 * i + 2] = z;
                intensities_ptr[i] = I;
            }
            if (++i % 1000 == 0) {
                reporter.Update(file.CurPos());
            }
        }
        pointcloud.SetPoints(points);
        pointcloud.SetPointAttr("intensities", intensities);
        reporter.Finish();
 
        return true;
    } catch (const std::exception &e) {
        cloudViewer::utility::LogWarning("Read XYZ failed with exception: {}",
                                         e.what());
        return false;
    }
}
 
bool WritePointCloudToXYZI(
        const std::string &filename,
        const geometry::PointCloud &pointcloud,
        const cloudViewer::io::WritePointCloudOption &params) {
    if (!pointcloud.HasPointAttr("intensities")) {
        return false;
    }
 
    try {
        cloudViewer::utility::filesystem::CFile file;
        if (!file.Open(filename, "w")) {
            cloudViewer::utility::LogWarning(
                    "Write XYZI failed: unable to open file: {}", filename);
            return false;
        }
        cloudViewer::utility::CountingProgressReporter reporter(
                params.update_progress);
        const core::Tensor &points = pointcloud.GetPoints();
        if (!points.GetShape().IsCompatible(
                    {cloudViewer::utility::nullopt, 3})) {
            cloudViewer::utility::LogWarning(
                    "Write XYZI failed: Shape of points is {}, but it should "
                    "be Nx3.",
                    points.GetShape());
            return false;
        }
        const core::Tensor &intensities =
                pointcloud.GetPointAttr("intensities");
        if (points.GetShape(0) != intensities.GetShape(0)) {
            cloudViewer::utility::LogWarning(
                    "Write XYZI failed: Points ({}) and intensities ({}) have "
                    "different lengths.",
                    points.GetShape(0), intensities.GetShape(0));
            return false;
        }
        reporter.SetTotal(points.GetShape(0));
 
        for (int i = 0; i < points.GetShape(0); i++) {
            if (fprintf(file.GetFILE(), "%.10f %.10f %.10f %.10f\n",
                        points[i][0].Item<double>(),
                        points[i][1].Item<double>(),
                        points[i][2].Item<double>(),
                        intensities[i][0].Item<double>()) < 0) {
                cloudViewer::utility::LogWarning(
                        "Write XYZI failed: unable to write file: {}",
                        filename);
                return false;  // error happened during writing.
            }
            if (i % 1000 == 0) {
                reporter.Update(i);
            }
        }
        reporter.Finish();
        return true;
    } catch (const std::exception &e) {
        cloudViewer::utility::LogWarning("Write XYZI failed with exception: {}",
                                         e.what());
        return false;
    }
}
 
}  // namespace io
}  // namespace t
}  // namespace cloudViewer