Ported the obj parser.

source/assets/file_parsers/generic/generic_3dtk_loader.ipp

@@ -9,6 +9,141 @@
 #include "glm/gtx/euler_angles.hpp"
 #include <charconv>
 #include <fstream>
+#include <execution>
+#include <queue>
+
+
+template<bool Normal, bool Color, bool Reflectance>
+std::error_code assets::generic_3dtk_loader<Normal, Color, Reflectance>::prefetch(
+	path_id_lookups& lookups
+) {
+	m_path_buffer.clear();
+	lookups.meshes.by_extension(".3d", m_path_buffer);
+
+	auto path_buffer = std::filesystem::path{};
+
+	for (const auto entry : m_path_buffer)
+	{
+		path_buffer = entry->first;
+		path_buffer.replace_extension(".pose");
+		lookups.poses.try_emplace(path_buffer);
+	}
+
+	return {};
+}
+
+template<bool Normal, bool Color, bool Reflectance>
+std::error_code assets::generic_3dtk_loader<Normal, Color, Reflectance>::load(
+	path_id_lookups& lookups,
+	data_stores& stores,
+	bool pedantic
+) {
+	m_path_buffer.clear();
+	lookups.point_clouds.by_extension(".3d", m_path_buffer);
+
+	std::for_each(
+		std::execution::parallel_unsequenced_policy{},
+		m_path_buffer.begin(),
+		m_path_buffer.end(),
+		parser_context{
+			lookups,
+			stores,
+		}
+	);
+
+	return {};
+}
+
+template<bool Normal, bool Color, bool Reflectance>
+assets::generic_3dtk_loader<Normal, Color, Reflectance>::parser_context::parser_context(
+	path_id_lookups& m_id_lookups,
+	data_stores& m_stores
+) :
+	m_id_lookups{ &m_id_lookups },
+	m_stores{ &m_stores }
+{
+	constexpr auto expected_vertex_count = 8192;
+	m_mesh.positions().reserve(expected_vertex_count);
+	m_mesh.normals().reserve(expected_vertex_count);
+	m_mesh.colors().reserve(expected_vertex_count);
+	m_mesh.reflectances().reserve(expected_vertex_count);
+	m_mesh.tex_coords().reserve(expected_vertex_count);
+	m_mesh.triangles().reserve(2 * expected_vertex_count);
+
+	m_position_buffer.reserve(expected_vertex_count);
+	m_normal_buffer.reserve(expected_vertex_count);
+	m_tex_coord_buffer.reserve(expected_vertex_count);
+}
+
+template<bool Normal, bool Color, bool Reflectance>
+void assets::generic_3dtk_loader<Normal, Color, Reflectance>::parser_context::reset()
+{
+	m_mesh.clear();
+	m_position_buffer.clear();
+	m_normal_buffer.clear();
+	m_tex_coord_buffer.clear();
+	m_vertex_comp_indices_to_vertex_index.clear();
+}
+
+template<bool Normal, bool Color, bool Reflectance>
+void assets::generic_3dtk_loader<Normal, Color, Reflectance>::parser_context::operator()(lookup_type::const_pointer entry) noexcept
+{
+	// TODO look up pose
+	const auto& [ filename, id ] = *entry;
+
+	auto in = std::ifstream{ filename };
+	if (not in.is_open())
+	{
+		ztu::logger::warn("Cannot open obj file %.", filename);
+		return;
+	}
+
+
+	std::size_t scan_index;
+
+	if (auto res = parse_index(filename))
+	{
+		scan_index = *res;
+	}
+	else [[unlikely]]
+	{
+		const auto error = res.error();
+		ztu::logger::error(
+			"Error occurred while parsing scan index in filename %: [%] %",
+			error.category().name(),
+			error.message()
+		);
+	}
+
+	auto pose = asset_lookup.poses.find();
+
+
+	const auto id_it = id_lookup.find(filename);
+
+	if (id_it != id_lookup.end()) [[unlikely]]
+	{
+		return;
+	}
+
+	in.open(filename);
+	if (in.is_open())
+	{
+		if ((error = this->read_point_file(filename, buffer))) {
+			return error;
+		}
+
+		this->transform_point_cloud(buffer.positions(), pose);
+
+		const auto id = store.add(std::move(buffer));
+		id_lookup.emplace_hint(id_it, filename, id);
+	}
+	else
+	{
+		ztu::logger::error("Cannot open 3dtk file %", filename);
+	}
+
+	in.close();
+}
 
 template<bool Normal, bool Color, bool Reflectance>
 ztu::result<pose_prefetch_lookup::index_type> generic_3dtk_loader<Normal, Color, Reflectance>::parse_index(
@@ -37,35 +172,12 @@ ztu::result<pose_prefetch_lookup::index_type> generic_3dtk_loader<Normal, Color,
 	return index;
 }
 
-template<bool Normal, bool Color, bool Reflectance>
-std::error_code generic_3dtk_loader<Normal, Color, Reflectance>::prefetch(
-	const file_dir_list& paths,
-	prefetch_queue& queue
-) {
-
-	auto path_buffer = std::filesystem::path{};
-
-	for (const auto filename : paths.files)
-	{
-		path_buffer.assign(filename.begin(), filename.end());
-		path_buffer.replace_extension(".pose");
-		queue.uos_queue.files.push_back(path_buffer.c_str());
-	}
-
-	// TODO optimize
-	for (const auto directory : paths.directories)
-	{
-		queue.uos_queue.directories.push_back(directory);
-	}
-}
 
 template<bool Normal, bool Color, bool Reflectance>
-std::error_code generic_3dtk_loader<Normal, Color, Reflectance>::load(
-	dynamic_point_cloud_buffer& buffer,
-	const file_dir_list& paths,
-	prefetch_lookup& asset_lookup,
-	dynamic_point_cloud_store& store,
-	const bool pedantic
+std::error_code assets::generic_3dtk_loader<Normal, Color, Reflectance>::load(
+	path_id_lookups& lookups,
+	data_stores& stores,
+	bool pedantic = false
 ) {
 	namespace fs = std::filesystem;
 
@@ -127,8 +239,6 @@ std::error_code generic_3dtk_loader<Normal, Color, Reflectance>::load(
 		load_file(filename.data());
 	}
 
-
-
 	for (const auto directory : paths.directories)
 	{
 		directory_buffer.assign(directory.begin(), directory.end());