arkitscenes.hpp

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// SPDX-FileCopyrightText: 2025 Povl Filip Sonne-Frederiksen
//
// SPDX-License-Identifier: GPL-3.0-or-later
 
#pragma once
 
#include <array>
#include <cstddef>
#include <filesystem>
#include <optional>
#include <string>
#include <vector>
 
namespace reusex {
class ProjectDB;
}
 
namespace reusex::io {

struct ArkitPincam {
  double width = 0, height = 0;
  double fx = 0, fy = 0, cx = 0, cy = 0;
};

ArkitPincam parse_pincam(const std::string &line);

std::array<double, 16> arkit_traj_to_optical_world(double rx, double ry,
                                                   double rz, double tx,
                                                   double ty, double tz);

struct ArkitPoseSample {
  double ts = 0;
  std::array<double, 16> pose{};
};

using ArkitTrajectory = std::vector<ArkitPoseSample>;

constexpr double kArkitMaxPoseGap = 0.5; // seconds

ArkitTrajectory load_arkit_trajectory(const std::filesystem::path &traj_path);

std::optional<std::array<double, 16>>
interpolate_pose(const ArkitTrajectory &traj, double ts,
                 double max_gap = kArkitMaxPoseGap);

bool parse_frame_timestamp(const std::filesystem::path &file, double &ts);

std::size_t import_arkitscenes(ProjectDB &db,
                               const std::filesystem::path &scene_dir);
 
} // namespace reusex::io