Improve tensor point cloud io

cpp/open3d/t/io/CMakeLists.txt

@@ -14,7 +14,7 @@ target_sources(tio PRIVATE
     file_format/FilePLY.cpp
     file_format/FilePNG.cpp
     file_format/FilePTS.cpp
-    file_format/FileXYZI.cpp
+    file_format/FileTXT.cpp
 )
 
 target_sources(tio PRIVATE

cpp/open3d/t/io/PointCloudIO.cpp

@@ -47,7 +47,10 @@ static const std::unordered_map<
                            const open3d::io::ReadPointCloudOption &)>>
         file_extension_to_pointcloud_read_function{
                 {"npz", ReadPointCloudFromNPZ},
-                {"xyzi", ReadPointCloudFromXYZI},
+                {"xyz", ReadPointCloudFromTXT},
+                {"xyzi", ReadPointCloudFromTXT},
+                {"xyzn", ReadPointCloudFromTXT},
+                {"xyzrgb", ReadPointCloudFromTXT},
                 {"pcd", ReadPointCloudFromPCD},
                 {"ply", ReadPointCloudFromPLY},
                 {"pts", ReadPointCloudFromPTS},
@@ -59,8 +62,13 @@ static const std::unordered_map<
                            const geometry::PointCloud &,
                            const open3d::io::WritePointCloudOption &)>>
         file_extension_to_pointcloud_write_function{
-                {"npz", WritePointCloudToNPZ}, {"xyzi", WritePointCloudToXYZI},
-                {"pcd", WritePointCloudToPCD}, {"ply", WritePointCloudToPLY},
+                {"npz", WritePointCloudToNPZ},
+                {"xyz", WritePointCloudToTXT},
+                {"xyzi", WritePointCloudToTXT},
+                {"xyzn", WritePointCloudToTXT},
+                {"xyzrgb", WritePointCloudToTXT},
+                {"pcd", WritePointCloudToPCD},
+                {"ply", WritePointCloudToPLY},
                 {"pts", WritePointCloudToPTS},
         };
 

cpp/open3d/t/io/PointCloudIO.h

@@ -69,13 +69,13 @@ bool WritePointCloudToNPZ(const std::string &filename,
                           const geometry::PointCloud &pointcloud,
                           const WritePointCloudOption &params);
 
-bool ReadPointCloudFromXYZI(const std::string &filename,
-                            geometry::PointCloud &pointcloud,
-                            const ReadPointCloudOption &params);
+bool ReadPointCloudFromTXT(const std::string &filename,
+                           geometry::PointCloud &pointcloud,
+                           const ReadPointCloudOption &params);
 
-bool WritePointCloudToXYZI(const std::string &filename,
-                           const geometry::PointCloud &pointcloud,
-                           const WritePointCloudOption &params);
+bool WritePointCloudToTXT(const std::string &filename,
+                          const geometry::PointCloud &pointcloud,
+                          const WritePointCloudOption &params);
 
 bool ReadPointCloudFromPCD(const std::string &filename,
                            geometry::PointCloud &pointcloud,

cpp/open3d/t/io/file_format/FileTXT.cpp

@@ -0,0 +1,279 @@
+// ----------------------------------------------------------------------------
+// -                        Open3D: www.open3d.org                            -
+// ----------------------------------------------------------------------------
+// The MIT License (MIT)
+//
+// Copyright (c) 2018-2021 www.open3d.org
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+// ----------------------------------------------------------------------------
+
+#include <cstdio>
+
+#include "open3d/core/Dtype.h"
+#include "open3d/core/Tensor.h"
+#include "open3d/io/FileFormatIO.h"
+#include "open3d/t/io/PointCloudIO.h"
+#include "open3d/utility/FileSystem.h"
+#include "open3d/utility/Logging.h"
+#include "open3d/utility/ProgressReporters.h"
+
+namespace open3d {
+namespace t {
+namespace io {
+
+open3d::io::FileGeometry ReadFileGeometryTypeTXT(const std::string &path) {
+    return open3d::io::CONTAINS_POINTS;
+}
+
+bool ReadPointCloudFromTXT(const std::string &filename,
+                           geometry::PointCloud &pointcloud,
+                           const open3d::io::ReadPointCloudOption &params) {
+    try {
+        pointcloud.Clear();
+
+        utility::filesystem::CFile file;
+        if (!file.Open(filename, "r")) {
+            utility::LogWarning("Read TXT failed: unable to open file: {}",
+                                filename);
+            return false;
+        }
+        utility::CountingProgressReporter reporter(params.update_progress);
+        reporter.SetTotal(file.GetFileSize());
+
+        std::string format_txt =
+                utility::filesystem::GetFileExtensionInLowerCase(filename);
+
+        int64_t num_points = file.GetNumLines();
+        int64_t num_attrs;
+
+        if (format_txt == "xyz") {
+            num_attrs = 3;
+        } else if (format_txt == "xyzi") {
+            num_attrs = 4;
+        } else if (format_txt == "xyzn") {
+            num_attrs = 6;
+        } else if (format_txt == "xyzrgb") {
+            num_attrs = 6;
+        } else {
+            utility::LogWarning("The format of {} is not supported",
+                                format_txt);
+            return false;
+        }
+
+        core::Tensor pcd_buffer({num_points, num_attrs}, core::Float32);
+        float *pcd_buffer_ptr = pcd_buffer.GetDataPtr<float>();
+
+        int i = 0;
+        std::vector<float> line_attrs(num_attrs);
+        float *line_attr_ptr = line_attrs.data();
+        const char *line_buffer;
+
+        // Read TXT to buffer.
+        while ((line_buffer = file.ReadLine())) {
+            if (num_attrs == 3 &&
+                (sscanf(line_buffer, "%f %f %f", &line_attr_ptr[0],
+                        &line_attr_ptr[1], &line_attr_ptr[2]) == 3)) {
+                std::memcpy(&pcd_buffer_ptr[num_attrs * i], line_attr_ptr,
+                            num_attrs * sizeof(float));
+            } else if (num_attrs == 4 &&
+                       (sscanf(line_buffer, "%f %f %f %f", &line_attr_ptr[0],
+                               &line_attr_ptr[1], &line_attr_ptr[2],
+                               &line_attr_ptr[3]) == 4)) {
+                std::memcpy(&pcd_buffer_ptr[num_attrs * i], line_attr_ptr,
+                            num_attrs * sizeof(float));
+            } else if (num_attrs == 6 &&
+                       (sscanf(line_buffer, "%f %f %f %f %f %f",
+                               &line_attr_ptr[0], &line_attr_ptr[1],
+                               &line_attr_ptr[2], &line_attr_ptr[3],
+                               &line_attr_ptr[4], &line_attr_ptr[5]) == 6)) {
+                std::memcpy(&pcd_buffer_ptr[num_attrs * i], line_attr_ptr,
+                            num_attrs * sizeof(float));
+            } else {
+                utility::LogWarning("Read TXT failed at line: {}", line_buffer);
+                return false;
+            }
+            if (++i % 1000 == 0) {
+                reporter.Update(file.CurPos());
+            }
+        }
+
+        // Buffer to point cloud.
+        pointcloud.SetPointPositions(pcd_buffer.Slice(1, 0, 3, 1).Contiguous());
+        if (format_txt == "xyz") {
+            // No additional attributes.
+        } else if (format_txt == "xyzi") {
+            pointcloud.SetPointAttr("intensities",
+                                    pcd_buffer.Slice(1, 3, 4, 1).Contiguous());
+        } else if (format_txt == "xyzn") {
+            pointcloud.SetPointAttr("normals",
+                                    pcd_buffer.Slice(1, 3, 6, 1).Contiguous());
+        } else if (format_txt == "xyzrgb") {
+            pointcloud.SetPointAttr("colors",
+                                    pcd_buffer.Slice(1, 3, 6, 1).Contiguous());
+        } else {
+            utility::LogWarning("The format of {} is not supported",
+                                format_txt);
+            return false;
+        }
+        reporter.Finish();
+        return true;
+
+    } catch (const std::exception &e) {
+        utility::LogWarning("Read TXT failed with exception: {}", e.what());
+        return false;
+    }
+}
+
+bool WritePointCloudToTXT(const std::string &filename,
+                          const geometry::PointCloud &pointcloud,
+                          const open3d::io::WritePointCloudOption &params) {
+    try {
+        utility::filesystem::CFile file;
+        if (!file.Open(filename, "w")) {
+            utility::LogWarning("Write TXT failed: unable to open file: {}",
+                                filename);
+            return false;
+        }
+        utility::CountingProgressReporter reporter(params.update_progress);
+
+        std::string format_txt =
+                utility::filesystem::GetFileExtensionInLowerCase(filename);
+        const core::Tensor &points = pointcloud.GetPointPositions();
+
+        if (!points.GetShape().IsCompatible({utility::nullopt, 3})) {
+            utility::LogWarning(
+                    "Write TXT failed: Shape of points is {}, but it should "
+                    "be Nx3.",
+                    points.GetShape());
+            return false;
+        }
+        reporter.SetTotal(points.GetShape(0));
+        int64_t num_points = points.GetShape(0);
+        int64_t len_attr;
+
+        // Check attribute length.
+        if (format_txt == "xyz") {
+            // No additional attributes.
+            len_attr = num_points;
+        } else if (format_txt == "xyzi") {
+            len_attr = pointcloud.GetPointAttr("intensities").GetLength();
+        } else if (format_txt == "xyzn") {
+            len_attr = pointcloud.GetPointAttr("normals").GetLength();
+        } else if (format_txt == "xyzrgb") {
+            len_attr = pointcloud.GetPointAttr("colors").GetLength();
+        } else {
+            utility::LogWarning("The format of {} is not supported",
+                                format_txt);
+            return false;
+        }
+
+        if (len_attr != num_points) {
+            utility::LogWarning(
+                    "Write TXT failed: Points ({}) and attributes ({}) have "
+                    "different lengths.",
+                    num_points, len_attr);
+            return false;
+        }
+
+        const float *points_ptr = points.GetDataPtr<float>();
+        const float *attr_ptr = nullptr;
+
+        if (format_txt == "xyz") {
+            for (int i = 0; i < num_points; i++) {
+                if (fprintf(file.GetFILE(), "%.10f %.10f %.10f\n",
+                            points_ptr[3 * i + 0], points_ptr[3 * i + 1],
+                            points_ptr[3 * i + 2]) < 0) {
+                    utility::LogWarning(
+                            "Write TXT failed: unable to write file: {}",
+                            filename);
+                    return false;  // error happened during writing.
+                }
+                if (i % 1000 == 0) {
+                    reporter.Update(i);
+                }
+            }
+        } else if (format_txt == "xyzi") {
+            attr_ptr =
+                    pointcloud.GetPointAttr("intensities").GetDataPtr<float>();
+            for (int i = 0; i < num_points; i++) {
+                if (fprintf(file.GetFILE(), "%.10f %.10f %.10f %.10f\n",
+                            points_ptr[3 * i + 0], points_ptr[3 * i + 1],
+                            points_ptr[3 * i + 2], attr_ptr[i]) < 0) {
+                    utility::LogWarning(
+                            "Write TXT failed: unable to write file: {}",
+                            filename);
+                    return false;  // error happened during writing.
+                }
+                if (i % 1000 == 0) {
+                    reporter.Update(i);
+                }
+            }
+        } else if (format_txt == "xyzn") {
+            attr_ptr = pointcloud.GetPointAttr("normals").GetDataPtr<float>();
+            for (int i = 0; i < num_points; i++) {
+                if (fprintf(file.GetFILE(),
+                            "%.10f %.10f %.10f %.10f %.10f %.10f\n",
+                            points_ptr[3 * i + 0], points_ptr[3 * i + 1],
+                            points_ptr[3 * i + 2], attr_ptr[3 * i + 0],
+                            attr_ptr[3 * i + 1], attr_ptr[3 * i + 2]) < 0) {
+                    utility::LogWarning(
+                            "Write TXT failed: unable to write file: {}",
+                            filename);
+                    return false;  // error happened during writing.
+                }
+                if (i % 1000 == 0) {
+                    reporter.Update(i);
+                }
+            }
+        } else if (format_txt == "xyzrgb") {
+            attr_ptr = pointcloud.GetPointAttr("colors").GetDataPtr<float>();
+            for (int i = 0; i < num_points; i++) {
+                if (fprintf(file.GetFILE(),
+                            "%.10f %.10f %.10f %.10f %.10f %.10f\n",
+                            points_ptr[3 * i + 0], points_ptr[3 * i + 1],
+                            points_ptr[3 * i + 2], attr_ptr[3 * i + 0],
+                            attr_ptr[3 * i + 1], attr_ptr[3 * i + 2]) < 0) {
+                    utility::LogWarning(
+                            "Write TXT failed: unable to write file: {}",
+                            filename);
+                    return false;  // error happened during writing.
+                }
+                if (i % 1000 == 0) {
+                    reporter.Update(i);
+                }
+            }
+        } else {
+            utility::LogWarning("The format of {} is not supported",
+                                format_txt);
+            return false;
+        }
+
+        reporter.Finish();
+        return true;
+
+    } catch (const std::exception &e) {
+        utility::LogWarning("Write TXT failed with exception: {}", e.what());
+        return false;
+    }
+}
+
+}  // namespace io
+}  // namespace t
+}  // namespace open3d