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

KITTI Odometry frame pair dataset loader. More...

#include <kitti_odometry_pair_dataset.hpp>

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

Public Types
using	pair_type = kitti_odometry_frame_pair_t< DataType >
using	base_type = dataset_t< kitti_odometry_pair_dataset_t< DataType >, pair_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_pair_dataset_t (const std::string &sequence_path, std::size_t skip=1)
	Constructor.
void	set_skip (std::size_t skip)
	Set skip parameter.
std::size_t	get_skip () const
	Get current skip value.
void	enable_overlap_computation (bool enable)
	Set whether to compute overlap ratio between frames.
void	set_cache_size (std::size_t size)
	Set maximum pair cache size.
std::size_t	size_impl () const
	Get number of frame pairs.
std::optional< pair_type >	at_impl (std::size_t index) const
	Load frame pair at specific index.
const kitti_odometry_dataset_t< DataType > &	get_base_dataset () const
	Get the underlying base dataset.
std::size_t	get_source_frame_index (std::size_t pair_index) const
	Get source frame index for a pair.
std::size_t	get_target_frame_index (std::size_t pair_index) const
	Get target frame index for a pair.
void	clear_cache () const
	Clear pair cache.
std::vector< std::size_t >	get_pairs_with_motion (DataType min_translation=0.1, DataType min_rotation=0.01) const
	Get pairs with specific relative motion threshold.
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_pair_dataset_t< DataType >

KITTI Odometry frame pair dataset loader.

Template Parameters

DataType

The floating point type (float or double)

This dataset provides access to pairs of frames from KITTI sequences, useful for registration, odometry, and SLAM applications.

// Load pairs with skip=1 (consecutive frames)
kitti_odometry_pair_dataset_t<float> dataset("/path/to/kitti/sequences/00", 1);
 
for (const auto& pair : dataset) {
    // Use relative transform as initial guess for ICP
    icp.set_initial_transform(pair.relative_transform);
    auto result = icp.align(pair.source_cloud, pair.target_cloud);
}

Member Typedef Documentation

base_type

template<typename DataType = float>

using toolbox::io::kitti_odometry_pair_dataset_t< DataType >::base_type = dataset_t<kitti_odometry_pair_dataset_t<DataType>, pair_type>

pair_type

template<typename DataType = float>

using toolbox::io::kitti_odometry_pair_dataset_t< DataType >::pair_type = kitti_odometry_frame_pair_t<DataType>

Constructor & Destructor Documentation

kitti_odometry_pair_dataset_t()

template<typename DataType >

toolbox::io::kitti_odometry_pair_dataset_t< DataType >::kitti_odometry_pair_dataset_t ( const std::string &  sequence_path, std::size_t  skip = 1  )

explicit

Constructor.

Parameters

sequence_path	Path to sequence directory
skip	Number of frames to skip between source and target (default 1)

Exceptions

kitti_invalid_sequence

if directory structure is invalid

Member Function Documentation

at_impl()

template<typename DataType >

std::optional< kitti_odometry_frame_pair_t< DataType > > toolbox::io::kitti_odometry_pair_dataset_t< DataType >::at_impl

(

std::size_t

index

)

const

Load frame pair at specific index.

Parameters

index

Pair index (0-based)

Returns

Frame pair data or nullopt on error

clear_cache()

template<typename DataType = float>

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

inline

Clear pair cache.

enable_overlap_computation()

template<typename DataType = float>

void toolbox::io::kitti_odometry_pair_dataset_t< DataType >::enable_overlap_computation ( bool  enable )

inline

Set whether to compute overlap ratio between frames.

Parameters

enable

Enable overlap computation (can be slow)

get_base_dataset()

template<typename DataType = float>

const kitti_odometry_dataset_t< DataType > & toolbox::io::kitti_odometry_pair_dataset_t< DataType >::get_base_dataset ( ) const

inline

Get the underlying base dataset.

Returns

Reference to base dataset

get_pairs_with_motion()

template<typename DataType >

std::vector< std::size_t > toolbox::io::kitti_odometry_pair_dataset_t< DataType >::get_pairs_with_motion	(	DataType	min_translation = 0.1,
		DataType	min_rotation = 0.01
	)		const

Get pairs with specific relative motion threshold.

Parameters

min_translation	Minimum translation between frames (meters)
min_rotation	Minimum rotation between frames (radians)

Returns

Indices of pairs meeting the criteria

get_skip()

template<typename DataType = float>

std::size_t toolbox::io::kitti_odometry_pair_dataset_t< DataType >::get_skip ( ) const

inline

Get current skip value.

Returns

Number of frames between source and target

get_source_frame_index()

template<typename DataType = float>

std::size_t toolbox::io::kitti_odometry_pair_dataset_t< DataType >::get_source_frame_index ( std::size_t  pair_index ) const

inline

Get source frame index for a pair.

Parameters

pair_index

Index of the pair

Returns

Source frame index in the sequence

get_target_frame_index()

template<typename DataType = float>

std::size_t toolbox::io::kitti_odometry_pair_dataset_t< DataType >::get_target_frame_index ( std::size_t  pair_index ) const

inline

Get target frame index for a pair.

Parameters

pair_index

Index of the pair

Returns

Target frame index in the sequence

set_cache_size()

template<typename DataType = float>

void toolbox::io::kitti_odometry_pair_dataset_t< DataType >::set_cache_size ( std::size_t  size )

inline

Set maximum pair cache size.

Parameters

size	Maximum number of pairs to cache

set_skip()

template<typename DataType = float>

void toolbox::io::kitti_odometry_pair_dataset_t< DataType >::set_skip ( std::size_t  skip )

inline

Set skip parameter.

Parameters

skip	Number of frames between source and target

size_impl()

template<typename DataType = float>

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

inline

Get number of frame pairs.

Returns

Number of available pairs

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

• src/include/cpp-toolbox/io/dataloader/kitti_odometry_pair_dataset.hpp
• src/include/cpp-toolbox/io/dataloader/impl/kitti_odometry_pair_dataset_impl.hpp