toolbox::io::kitti_odometry_dataset_t< DataType > Class Template Reference

KITTI Odometry dataset loader. More...

#include <kitti_odometry_dataset.hpp>

Inheritance diagram for toolbox::io::kitti_odometry_dataset_t< DataType >:

Public Types
using	frame_type = kitti_odometry_frame_t< DataType >
using	base_type = dataset_t< kitti_odometry_dataset_t< DataType >, frame_type >
Public Types inherited from toolbox::io::dataset_t< Derived, DataType >
using	data_type = DataType
	数据类型别名/Type alias for data type

Public Member Functions
	kitti_odometry_dataset_t (const std::string &sequence_path)
	Constructor.
void	set_cache_size (std::size_t max_cached_frames)
	Set cache size for loaded frames.
void	enable_intensity (bool enable)
	Enable/disable intensity loading.
void	set_error_policy (error_recovery_policy_t policy)
	Set error recovery policy.
std::size_t	size_impl () const
	Get number of frames in the sequence.
std::optional< frame_type >	at_impl (std::size_t index) const
	Load frame at specific index.
std::string	get_cloud_file (std::size_t index) const
	Get cloud file path for specific frame.
Eigen::Matrix< DataType, 4, 4 >	get_pose (std::size_t index) const
	Get pose for specific frame.
bool	has_calibration () const
	Check if calibration data is available.
const kitti_calibration_t< DataType > &	get_calibration () const
	Get calibration data.
const std::string &	get_sequence_name () const
	Get sequence name.
const std::string &	get_sequence_path () const
	Get sequence path.
void	clear_cache () const
	Clear frame cache.
Public Member Functions inherited from toolbox::io::dataset_t< Derived, DataType >
std::size_t	size () const
	获取数据集大小/Get the size of the dataset
std::optional< DataType >	operator[] (std::size_t index) const
	通过下标访问数据/Access data by index
std::optional< DataType >	at (std::size_t index) const
	通过下标访问数据/Access data by index
std::optional< DataType >	get_item (std::size_t index) const
	获取指定索引的数据/Get data at the specified index
std::optional< DataType >	get_next ()
	获取下一个元素并推进内部索引/Get the next element and advance the internal index
std::optional< DataType >	peek_next () const
	查看下一个元素但不推进索引/Peek the next element without advancing the index
void	reset_iterator ()
	重置内部迭代器索引/Reset the internal iterator index
std::size_t	current_index () const
	获取当前迭代器索引/Get the current iterator index
	dataset_t (const dataset_t &)=delete
	禁用拷贝构造/Copy constructor is disabled
dataset_t &	operator= (const dataset_t &)=delete
	禁用拷贝赋值/Copy assignment is disabled
	dataset_t (dataset_t &&)=delete
	禁用移动构造/Move constructor is disabled
dataset_t &	operator= (dataset_t &&)=delete
	禁用移动赋值/Move assignment is disabled

Additional Inherited Members
Protected Member Functions inherited from toolbox::io::dataset_t< Derived, DataType >
	dataset_t ()=default
	构造函数/Constructor
	~dataset_t ()=default
	析构函数/Destructor

Detailed Description

template<typename DataType = float>
class toolbox::io::kitti_odometry_dataset_t< DataType >

KITTI Odometry dataset loader.

Template Parameters

DataType

The floating point type (float or double)

This dataset provides access to KITTI odometry sequences, including:

• Point cloud data from Velodyne lidar
• Global poses for each frame
• Optional calibration data

kitti_odometry_dataset_t<float> dataset("/path/to/kitti/sequences/00");
 
// Access frames
for (size_t i = 0; i < dataset.size(); ++i) {
    auto frame = dataset[i];
    if (frame) {
        auto& cloud = frame->cloud;
        auto& pose = frame->pose;
        // Process frame...
    }
}

Member Typedef Documentation

base_type

template<typename DataType = float>

using toolbox::io::kitti_odometry_dataset_t< DataType >::base_type = dataset_t<kitti_odometry_dataset_t<DataType>, frame_type>

frame_type

template<typename DataType = float>

using toolbox::io::kitti_odometry_dataset_t< DataType >::frame_type = kitti_odometry_frame_t<DataType>

Constructor & Destructor Documentation

kitti_odometry_dataset_t()

template<typename DataType >

toolbox::io::kitti_odometry_dataset_t< DataType >::kitti_odometry_dataset_t ( const std::string &  sequence_path )

explicit

Constructor.

Parameters

sequence_path

Path to sequence directory (e.g., "/path/to/sequences/00")

Exceptions

kitti_invalid_sequence

if directory structure is invalid

Member Function Documentation

at_impl()

template<typename DataType >

std::optional< kitti_odometry_frame_t< DataType > > toolbox::io::kitti_odometry_dataset_t< DataType >::at_impl

(

std::size_t

index

)

const

Load frame at specific index.

Parameters

index

Frame index

Returns

Frame data or nullopt on error

clear_cache()

template<typename DataType = float>

void toolbox::io::kitti_odometry_dataset_t< DataType >::clear_cache ( ) const

inline

Clear frame cache.

enable_intensity()

template<typename DataType = float>

void toolbox::io::kitti_odometry_dataset_t< DataType >::enable_intensity ( bool  enable )

inline

Enable/disable intensity loading.

Parameters

enable

Whether to load intensity values

get_calibration()

template<typename DataType = float>

const kitti_calibration_t< DataType > & toolbox::io::kitti_odometry_dataset_t< DataType >::get_calibration ( ) const

inline

Get calibration data.

Returns

Calibration data

Exceptions

std::runtime_error

if no calibration available

get_cloud_file()

template<typename DataType = float>

std::string toolbox::io::kitti_odometry_dataset_t< DataType >::get_cloud_file ( std::size_t  index ) const

inline

Get cloud file path for specific frame.

Parameters

index

Frame index

Returns

Full path to .bin file

get_pose()

template<typename DataType = float>

Eigen::Matrix< DataType, 4, 4 > toolbox::io::kitti_odometry_dataset_t< DataType >::get_pose ( std::size_t  index ) const

inline

Get pose for specific frame.

Parameters

index

Frame index

Returns

4x4 transformation matrix

get_sequence_name()

template<typename DataType = float>

const std::string & toolbox::io::kitti_odometry_dataset_t< DataType >::get_sequence_name ( ) const

inline

Get sequence name.

Returns

Sequence name (e.g., "00", "01")

get_sequence_path()

template<typename DataType = float>

const std::string & toolbox::io::kitti_odometry_dataset_t< DataType >::get_sequence_path ( ) const

inline

Get sequence path.

Returns

Full path to sequence directory

has_calibration()

template<typename DataType = float>

bool toolbox::io::kitti_odometry_dataset_t< DataType >::has_calibration ( ) const

inline

Check if calibration data is available.

Returns

True if calibration was loaded

set_cache_size()

template<typename DataType = float>

void toolbox::io::kitti_odometry_dataset_t< DataType >::set_cache_size ( std::size_t  max_cached_frames )

inline

Set cache size for loaded frames.

Parameters

max_cached_frames

Maximum number of frames to keep in memory

set_error_policy()

template<typename DataType = float>

void toolbox::io::kitti_odometry_dataset_t< DataType >::set_error_policy ( error_recovery_policy_t  policy )

inline

Set error recovery policy.

Parameters

policy

How to handle errors during loading

size_impl()

template<typename DataType = float>

std::size_t toolbox::io::kitti_odometry_dataset_t< DataType >::size_impl ( ) const

inline

Get number of frames in the sequence.

Returns

Number of available frames

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The documentation for this class was generated from the following files:

• src/include/cpp-toolbox/io/dataloader/kitti_odometry_dataset.hpp
• src/include/cpp-toolbox/io/dataloader/impl/kitti_odometry_dataset_impl.hpp