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