load_xyz_file.cpp

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
 
#include <mp2p_icp/load_xyz_file.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/system/filesystem.h>
 
#include <fstream>
 
// Loads from XYZ file, possibly gz-compressed:
mrpt::maps::CSimplePointsMap::Ptr mp2p_icp::load_xyz_file(
    const std::string& fil)
{
    ASSERT_FILE_EXISTS_(fil);
 
    std::string fileToRead = fil;
 
    if (mrpt::system::extractFileExtension(fil) == "gz")
    {
        mrpt::io::CFileGZInputStream f(fil);
        std::string                  buf;
        while (!f.checkEOF())
        {
            const size_t N = 10000;
            std::string  tmp;
            tmp.resize(N);
            const auto n = f.Read(&tmp[0], N);
            tmp.resize(n);
            buf += tmp;
        }
 
        const auto tmpFil = mrpt::system::getTempFileName();
 
        std::ofstream fo;
        fo.open(tmpFil.c_str());
        ASSERT_(fo.is_open());
        fo << buf;
 
        fileToRead = tmpFil;
    }
 
    auto m = mrpt::maps::CSimplePointsMap::Create();
    m->load3D_from_text_file(fileToRead);
    ASSERTMSG_(
        m->size() > 1,
        mrpt::format(
            "Could not parse a valid point cloud from ASCII file '%s'",
            fileToRead.c_str()));
 
    return m;
}