FeatureIO.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "FeatureIO.h"
 
#include <FileSystem.h>
#include <Logging.h>
 
namespace cloudViewer {
namespace {
using namespace io;
 
bool ReadMatrixXdFromBINFile(FILE *file, Eigen::MatrixXd &mat) {
    uint32_t rows, cols;
    if (fread(&rows, sizeof(uint32_t), 1, file) < 1) {
        cloudViewer::utility::LogWarning("Read BIN failed: unexpected EOF.");
        return false;
    }
    if (fread(&cols, sizeof(uint32_t), 1, file) < 1) {
        cloudViewer::utility::LogWarning("Read BIN failed: unexpected EOF.");
        return false;
    }
    mat.resize(rows, cols);
    if (fread(mat.data(), sizeof(double), rows * cols, file) < rows * cols) {
        cloudViewer::utility::LogWarning("Read BIN failed: unexpected EOF.");
        return false;
    }
    return true;
}
 
bool WriteMatrixXdToBINFile(FILE *file, const Eigen::MatrixXd &mat) {
    uint32_t rows = (uint32_t)mat.rows();
    uint32_t cols = (uint32_t)mat.cols();
    if (fwrite(&rows, sizeof(uint32_t), 1, file) < 1) {
        cloudViewer::utility::LogWarning("Write BIN failed: unexpected error.");
        return false;
    }
    if (fwrite(&cols, sizeof(uint32_t), 1, file) < 1) {
        cloudViewer::utility::LogWarning("Write BIN failed: unexpected error.");
        return false;
    }
    if (fwrite(mat.data(), sizeof(double), rows * cols, file) < rows * cols) {
        cloudViewer::utility::LogWarning("Write BIN failed: unexpected error.");
        return false;
    }
    return true;
}
 
}  // unnamed namespace
 
namespace io {
 
bool ReadFeature(const std::string &filename, utility::Feature &feature) {
    return ReadFeatureFromBIN(filename, feature);
}
 
bool WriteFeature(const std::string &filename,
                  const utility::Feature &feature) {
    return WriteFeatureToBIN(filename, feature);
}
 
bool ReadFeatureFromBIN(const std::string &filename,
                        utility::Feature &feature) {
    FILE *fid = cloudViewer::utility::filesystem::FOpen(filename, "rb");
    if (fid == NULL) {
        cloudViewer::utility::LogWarning(
                "Read BIN failed: unable to open file: {}", filename);
        return false;
    }
    bool success = ReadMatrixXdFromBINFile(fid, feature.data_);
    fclose(fid);
    return success;
}
 
bool WriteFeatureToBIN(const std::string &filename,
                       const utility::Feature &feature) {
    FILE *fid = cloudViewer::utility::filesystem::FOpen(filename, "wb");
    if (fid == NULL) {
        cloudViewer::utility::LogWarning(
                "Write BIN failed: unable to open file: {}", filename);
        return false;
    }
    bool success = WriteMatrixXdToBINFile(fid, feature.data_);
    fclose(fid);
    return success;
}
 
}  // namespace io
}  // namespace cloudViewer