lidar_file_source_impl.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2021-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
 */
 
#ifndef _DS3D_DATALOADER_LIDARSOURCE_LIDAR_FILE_SOURCE_IMPL_H
#define _DS3D_DATALOADER_LIDARSOURCE_LIDAR_FILE_SOURCE_IMPL_H
 
#include "lidar_file_source.h"
#include "lidar_file_config.h"
#include "ds3d/common/hpp/profiling.hpp"
#include "ds3d/common/impl/impl_frames.h"
#include "ds3d/common/helper/memdata.h"
#include "ds3d/common/helper/cuda_utils.h"
 
namespace ds3d { namespace impl { namespace lidarsource {
 
using MemPtr = std::unique_ptr<MemData>;
 
class LidarFileSourceImpl : public SyncImplDataLoader {
public:
    LidarFileSourceImpl() = default;
    ~LidarFileSourceImpl() override = default;
 
protected:
    ErrCode startImpl(const std::string& content, const std::string& path) override;
    ErrCode readDataImpl(GuardDataMap& datamap) override;
    ErrCode flushImpl() final { return ErrCode::kGood; }
    ErrCode stopImpl() override;
 
private:
    ErrCode reserveMem(
        Ptr<BufferPool<MemPtr>>& pool, size_t memSize, uint32_t count, const std::string& name);
 
    Ptr<BufferPool<MemPtr>> _bufMem;
    std::vector<uint8_t> _tmpStrideBuf;
    Ptr<MemData> _cpuSwapBuf;
    Config _config;
    profiling::FileReader _dataReader;
    uint32_t _bytesPerFrame = 0;
    uint32_t _bytesStrideFrame = 0;
    uint32_t _totalNumFrames = 0;
    uint32_t _totalFrameDuration = 0;
    uint32_t _readFrameCount = 0;
    bool _isFirstFrame = true;
};
 
}}}
 
#endif