Support file formats in g2o_viewer

g2o/apps/g2o_viewer/main_window.cpp

@@ -25,14 +25,17 @@
 #include <cassert>
 #include <fstream>
 #include <iostream>
+#include <string>
 
 #include "g2o/core/estimate_propagator.h"
+#include "g2o/core/io/io_format.h"
 #include "g2o/core/optimization_algorithm.h"
 #include "g2o/core/optimization_algorithm_factory.h"
 #include "g2o/core/optimization_algorithm_property.h"
 #include "g2o/core/robust_kernel.h"
 #include "g2o/core/robust_kernel_factory.h"
 #include "g2o/core/sparse_optimizer.h"
+#include "g2o/stuff/filesys_tools.h"
 #include "g2o/stuff/logger.h"
 #include "properties_widget.h"
 #include "viewer_properties_widget.h"
@@ -221,9 +224,16 @@ bool MainWindow::load(const QString& filename) {
     std::cerr << "reading stdin\n";
     loadStatus = viewer->graph->load(std::cin);
   } else {
-    std::ifstream ifs(filename.toStdString().c_str());
+    const std::string filename_as_std = filename.toStdString();
+    const std::string filename_extension =
+        g2o::getFileExtension(filename_as_std);
+    std::optional<g2o::io::Format> file_format =
+        g2o::io::formatForFileExtension(filename_extension);
+    std::ifstream ifs(filename_as_std);
     if (!ifs) return false;
-    loadStatus = viewer->graph->load(ifs);
+    loadStatus = file_format.has_value()
+                     ? viewer->graph->load(ifs, file_format.value())
+                     : viewer->graph->load(ifs);
   }
   if (!loadStatus) return false;
   lastSolver_ = -1;

g2o/core/CMakeLists.txt

@@ -40,6 +40,7 @@ robust_kernel_factory.cpp robust_kernel_factory.h
 g2o_core_api.h
 # IO
 abstract_graph.cpp abstract_graph.h
+io/io_format.cpp
 io/io_binary.cpp io/io_binary.h
 io/io_json.cpp io/io_json.h
 io/io_g2o.cpp io/io_g2o.h

g2o/core/io/io_format.cpp

@@ -0,0 +1,42 @@
+// g2o - General Graph Optimization
+// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+//   this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright
+//   notice, this list of conditions and the following disclaimer in the
+//   documentation and/or other materials provided with the distribution.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
+// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
+// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+#include "io_format.h"
+
+#include <optional>
+#include <string_view>
+
+namespace g2o::io {
+
+std::optional<Format> formatForFileExtension(std::string_view extension) {
+  if (extension == "g2o" || extension == "G2O") return Format::kG2O;
+  if (extension == "json" || extension == "JSON") return Format::kJson;
+  if (extension == "xml" || extension == "XML") return Format::kXML;
+  if (extension == "bin" || extension == "BIN") return Format::kBinary;
+  return std::nullopt;
+}
+
+}  // namespace g2o::io

g2o/core/io/io_format.h

@@ -27,11 +27,24 @@
 #ifndef G2O_CORE_IO_FORMAT_H
 #define G2O_CORE_IO_FORMAT_H
 
+#include <optional>
+#include <string_view>
+
 #include "g2o/core/g2o_core_api.h"
 namespace g2o::io {
 
 enum class G2O_CORE_API Format { kG2O = 0, kBinary = 1, kJson = 2, kXML = 3 };
 
+/**
+ * @brief Maps a file extension to a format value
+ *
+ * @param extension Filename extension, e.g., json, g2o, xml, bin
+ * @return std::optional<Format> of the corresponding format, nullopt if cannot
+ * match
+ */
+G2O_CORE_API std::optional<Format> formatForFileExtension(
+    std::string_view extension);
+
 }  // namespace g2o::io
 
 #endif