text: //
  // Created by sc on 1/13/21.
  //
  
  #ifndef LIBSURFELRECONSTRUCTION_DATALOADER_3RSCAN_H
  #define LIBSURFELRECONSTRUCTION_DATALOADER_3RSCAN_H
  #include "dataset_loader.h"
  namespace PSLAM {
      class DatasetLoader_3RScan : public DatasetLoader_base {
      public:
          DatasetLoader_3RScan(std::shared_ptr<DatasetDefinitionBase> dataset);
          void Reset() override;
          bool Retrieve() override;
  
          EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
      protected:
          Eigen::Matrix<float, 4, 4> rotation_matrix_Z(const float rot = M_PI);
  
          const std::string GetFileName(const std::string &folder,
                                        const std::string &subfolder,
                                        const std::string &prefix,
                                        const std::string &suffix,
                                        int number_length) const;
  
          bool IsV2() const;
  
      private:
          std::string pose_file_name_ = "";
  
          Eigen::Matrix4f m_poseTransform;
      };
  }
  
  #endif //LIBSURFELRECONSTRUCTION_DATALOADER_3RSCAN_H
  