kitti_pcd.hpp

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#pragma once
 
#include <filesystem>
#include <optional>
 
#include <cpp-toolbox/core/export.hpp>
#include <cpp-toolbox/filesystem/file.hpp>  
#include <cpp-toolbox/io_datasets/dataset.hpp>
#include <cpp-toolbox/io_formats/kitti.hpp>  
 
namespace toolbox::io
{
 
class CPP_TOOLBOX_EXPORT kitti_pcd_dataset_t
    : public dataset_t<kitti_pcd_dataset_t,
                       std::unique_ptr<toolbox::types::point_cloud_t<float>>>
{
public:
  explicit kitti_pcd_dataset_t(const std::string& velodye_dir);
 
  [[nodiscard]] std::size_t size_impl() const;
 
  [[nodiscard]] std::optional<
      std::unique_ptr<toolbox::types::point_cloud_t<float>>>
  at_impl(std::size_t index) const;
 
private:
  std::vector<std::filesystem::path> m_binary_paths;
};
 
class CPP_TOOLBOX_EXPORT kitti_pcd_pair_t
    : public dataset_t<
          kitti_pcd_pair_t,
          std::pair<std::unique_ptr<toolbox::types::point_cloud_t<float>>,
                    std::unique_ptr<toolbox::types::point_cloud_t<float>>>>
{
public:
  explicit kitti_pcd_pair_t(const std::string& velodye_dir,
                            std::size_t skip = 0);
 
  [[nodiscard]] std::size_t size_impl() const;
 
  [[nodiscard]] std::optional<
      std::pair<std::unique_ptr<toolbox::types::point_cloud_t<float>>,
                std::unique_ptr<toolbox::types::point_cloud_t<float>>>>
  at_impl(std::size_t index) const;
 
private:
  std::vector<std::filesystem::path> m_binary_paths;
 
  std::size_t m_skip;
};
 
}  // namespace toolbox::io