fixes

source/assets/data_loaders/kitti_pose_loader.cpp

@@ -0,0 +1,163 @@
+#include "assets/data_loaders/kitti_pose_loader.hpp"
+
+#include "assets/dynamic_read_buffers/dynamic_pose_buffer.hpp"
+#include <fstream>
+#include <glm/ext/matrix_transform.hpp>
+#include "util/logger.hpp"
+
+inline std::error_code kitti_pose_loader::parse_pose(
+	std::ifstream& in,
+	dynamic_pose_buffer& pose
+) {
+	for (dynamic_pose_buffer::length_type row{}; row != 3; ++row)
+	{
+		for (dynamic_pose_buffer::length_type col{}; col != 4; ++col)
+		{
+			if (not (in >> pose[row][col]))
+			{
+				return std::make_error_code(std::errc::result_out_of_range);
+			}
+		}
+	}
+
+	return {};
+}
+
+
+std::error_code kitti_pose_loader::prefetch(
+	const file_dir_list& paths,
+	prefetch_queue& queue
+) {
+	// Nothing to be done here
+}
+
+std::error_code kitti_pose_loader::load(
+	dynamic_pose_buffer& buffer,
+	const file_dir_list& paths,
+	prefetch_lookup& id_lookup,
+	dynamic_data_store& store,
+	bool pedantic
+) {
+	namespace fs = std::filesystem;
+
+	auto path_buffer = fs::path{};
+	auto in = std::ifstream{}; // TODO disable exceptions (for other loaders as well)
+	auto pose_buffer = dynamic_pose_buffer{};
+
+	pose_buffer = glm::identity<glm::mat4>();
+
+	auto processed_filenames = ztu::string_list{};
+
+	processed_filenames.reserve(
+	paths.files.character_count() +
+		paths.directories.character_count() +
+		paths.directories.size() * pose_filename.size(),
+	paths.files.size() + paths.directories.size()
+	);
+
+	const auto preprocess_file = [&]()
+	{
+		if (not fs::is_regular_file(path_buffer))
+		{
+			ztu::logger::error("Kitti pose file does not exist: %", path_buffer);
+			return;
+		}
+
+		processed_filenames.push_back(path_buffer.c_str());
+	};
+
+	for (const auto directory : paths.directories) {
+		path_buffer.assign(directory.begin(), directory.end());
+		path_buffer /= "pose.txt";
+		preprocess_file();
+	}
+
+	for (const auto file : paths.files) {
+		path_buffer.assign(file.begin(), file.end());
+		preprocess_file();
+	}
+
+	for (const auto filename : processed_filenames)
+	{
+		in.open(filename.data()); // Safe because string list adds null terminator
+		if (not in.is_open())
+		{
+			ztu::logger::error("Cannot open kitti pose file %", path_buffer);
+			continue;
+		}
+
+		in >> std::skipws;
+
+		for (auto i = pose_prefetch_lookup::index_type{}; in.peek() != std::ifstream::traits_type::eof(); ++i)
+		{
+			if (const auto error = parse_pose(in, pose_buffer))
+			{
+				ztu::logger::error(
+					"Error occurred while parsing kitti pose % in file %: [%] %",
+					i,
+					path_buffer,
+					error.category().name(),
+					error.message()
+				);
+				continue;
+			}
+
+			const auto id = store.poses.add(pose_buffer);
+
+			// TODO if (not) removing the path separator creates issues.
+			const auto directory = filename.substr(0, filename.length() - pose_filename.length());
+
+			id_lookup.poses.emplace(directory, i, id);
+		}
+
+		in.close();
+	}
+}
+
+void kitti_pose_loader::load(
+	const ztu::string_list& directories,
+	dynamic_pose_store& store,
+	pose_prefetch_lookup& id_lookup
+) {
+
+	auto filename_buffer = std::filesystem::path{};
+	auto in = std::ifstream{}; // TODO disable exceptions (for other loaders as well)
+	auto pose_buffer = dynamic_pose_buffer{};
+
+	pose_buffer = glm::identity<glm::mat4>();
+
+	for (const auto directory : directories)
+	{
+		filename_buffer = directory;
+		filename_buffer /= "pose.txt";
+
+		in.open(filename_buffer);
+		if (not in.is_open())
+		{
+			ztu::logger::error("Cannot open kitti pose file %", filename_buffer);
+			continue;
+		}
+
+		in >> std::skipws;
+
+		for (auto i = pose_prefetch_lookup::index_type{}; in.peek() != std::ifstream::traits_type::eof(); ++i)
+		{
+			if (const auto error = parse_pose(in, pose_buffer))
+			{
+				ztu::logger::error(
+					"Error occurred while parsing kitti pose % in file %: [%] %",
+					i,
+					filename_buffer,
+					error.category().name(),
+					error.message()
+				);
+				continue;
+			}
+
+			const auto id = store.add(pose_buffer);
+			id_lookup.emplace(directory, i, id);
+		}
+
+		in.close();
+	}
+}