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26 
27 #include <IO/ClassIO/PointCloudIO.h>
28 
29 #include <cstdio>
30 #include <Core/Utility/Console.h>
31 
32 namespace three{
33 
ReadPointCloudFromXYZ(const std::string & filename,PointCloud & pointcloud)34 bool ReadPointCloudFromXYZ(const std::string &filename, PointCloud &pointcloud)
35 {
36     FILE *file = fopen(filename.c_str(), "r");
37     if (file == NULL) {
38         PrintWarning("Read XYZ failed: unable to open file: %s\n", filename.c_str());
39         return false;
40     }
41 
42     char line_buffer[DEFAULT_IO_BUFFER_SIZE];
43     double x, y, z;
44     pointcloud.Clear();
45 
46     while (fgets(line_buffer, DEFAULT_IO_BUFFER_SIZE, file)) {
47         if (sscanf(line_buffer, "%lf %lf %lf", &x, &y, &z) == 3) {
48             pointcloud.points_.push_back(Eigen::Vector3d(x, y, z));
49         }
50     }
51 
52     fclose(file);
53     return true;
54 }
55 
WritePointCloudToXYZ(const std::string & filename,const PointCloud & pointcloud,bool write_ascii,bool compressed)56 bool WritePointCloudToXYZ(const std::string &filename,
57         const PointCloud &pointcloud, bool write_ascii/* = false*/,
58         bool compressed/* = false*/)
59 {
60     FILE *file = fopen(filename.c_str(), "w");
61     if (file == NULL) {
62         PrintWarning("Write XYZ failed: unable to open file: %s\n", filename.c_str());
63         return false;
64     }
65 
66     for (size_t i = 0; i < pointcloud.points_.size(); i++) {
67         const Eigen::Vector3d &point = pointcloud.points_[i];
68         if (fprintf(file, "%.10f %.10f %.10f\n",
69                 point(0), point(1), point(2)) < 0)
70         {
71             PrintWarning("Write XYZ failed: unable to write file: %s\n", filename.c_str());
72             fclose(file);
73             return false;    // error happens during writing.
74         }
75     }
76 
77     fclose(file);
78     return true;
79 }
80 
81 }    // namespace three
82