fixes

include/assets/data_loaders/kitti_loader.hpp

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <filesystem>
+#include <vector>
+#include <span>
+
+#include "assets/dynamic_data_store.hpp"
+#include "assets/components/point_cloud_vertex_components.hpp"
+#include "assets/dynamic_read_buffers/dynamic_point_cloud_buffer.hpp"
+#include "assets/dynamic_data_stores/dynamic_point_cloud_store.hpp"
+#include "assets/prefetch_lookup.hpp"
+#include "assets/prefetch_queue.hpp"
+#include "glm/mat4x4.hpp"
+#include "util/result.hpp"
+
+struct kitti_loader
+{
+	static constexpr auto name = std::string_view("kitti");
+
+	[[nodiscard]] static std::error_code prefetch(
+		const file_dir_list& paths,
+		prefetch_queue& queue
+	);
+
+	[[nodiscard]] static std::error_code load(
+		dynamic_point_cloud_buffer& buffer,
+		const file_dir_list& paths,
+		prefetch_lookup& id_lookup,
+		dynamic_data_store& store,
+		bool pedantic = false
+	);
+
+private:
+	inline static constexpr auto frame_folder = "frames";
+
+	[[nodiscard]] static ztu::result<std::size_t> frame_id_from_filename(
+		std::string_view filename
+	);
+
+	[[nodiscard]] static std::error_code load_point_file(
+		const std::filesystem::path& filename,
+		dynamic_point_cloud_buffer& point_cloud
+	);
+
+	static void transform_point_cloud(
+		std::span<components::point_cloud_vertex::position> points,
+		const glm::mat4& pose
+	);
+
+	[[nodiscard]] static ztu::result<std::string_view> parent_directory(std::string_view path);
+
+
+};