KITTI点云对数据集类/KITTI point cloud pair dataset class. More...

#include <kitti_pcd.hpp>

Inheritance diagram for toolbox::io::kitti_pcd_pair_t:

Public Member Functions
	kitti_pcd_pair_t (const std::string &velodye_dir, std::size_t skip=0)
	构造函数，加载指定目录下的KITTI点云对/Constructor, loads KITTI point cloud pairs from the given directory

std::size_t	size_impl () const
	获取点云对的数量/Get the number of point cloud pairs

std::optional< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >	at_impl (std::size_t index) const
	按索引访问点云对/Access a point cloud pair by index

Public Member Functions inherited from toolbox::io::dataset_t< kitti_pcd_pair_t, std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >
std::size_t	size () const
	获取数据集大小/Get the size of the dataset

std::optional< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >	operator[] (std::size_t index) const
	通过下标访问数据/Access data by index

std::optional< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >	at (std::size_t index) const
	通过下标访问数据/Access data by index

std::optional< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >	get_item (std::size_t index) const
	获取指定索引的数据/Get data at the specified index

std::optional< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >	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< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >	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 (dataset_t &&)=delete
	禁用移动构造/Move constructor is disabled

dataset_t &	operator= (const dataset_t &)=delete
	禁用拷贝赋值/Copy assignment is disabled

dataset_t &	operator= (dataset_t &&)=delete
	禁用移动赋值/Move assignment is disabled

Additional Inherited Members
Public Types inherited from toolbox::io::dataset_t< kitti_pcd_pair_t, std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >
using	data_type = std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > >
	数据类型别名/Type alias for data type

Protected Member Functions inherited from toolbox::io::dataset_t< kitti_pcd_pair_t, std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > >
	dataset_t ()=default
	构造函数/Constructor

	~dataset_t ()=default
	析构函数/Destructor

Detailed Description

KITTI点云对数据集类/KITTI point cloud pair dataset class.

用于按指定间隔成对加载KITTI点云数据/Used to load KITTI point cloud pairs with a specified skip interval

// 示例：加载KITTI点云对数据集并访问点云对
toolbox::io::kitti_pcd_pair_t pair_dataset("/path/to/velodyne", 1);
std::size_t n = pair_dataset.size();
auto pair_opt = pair_dataset.at(0);
if (pair_opt && pair_opt->first && pair_opt->second) {
  // 处理点云对/Process the point cloud pair
}

Constructor & Destructor Documentation

◆ kitti_pcd_pair_t()

toolbox::io::kitti_pcd_pair_t::kitti_pcd_pair_t	(	const std::string &	velodye_dir,
		std::size_t	skip = `0`
	)

explicit

构造函数，加载指定目录下的KITTI点云对/Constructor, loads KITTI point cloud pairs from the given directory

Parameters

velodye_dir	KITTI点云文件所在目录/Directory containing KITTI point cloud files
skip	点云对之间的间隔/Skip interval between point cloud pairs

toolbox::io::kitti_pcd_pair_t pair_dataset("/path/to/velodyne", 2);

Member Function Documentation

◆ at_impl()

std::optional< std::pair< std::unique_ptr< toolbox::types::point_cloud_t< float > >, std::unique_ptr< toolbox::types::point_cloud_t< float > > > > toolbox::io::kitti_pcd_pair_t::at_impl ( std::size_t index ) const

按索引访问点云对/Access a point cloud pair by index

Parameters

index 点云对索引/Index of the point cloud pair

Returns: 对应索引的点云对的unique_ptr对（可选）/Optional pair of unique_ptrs to the point clouds at the given index

auto pair_opt = pair_dataset.at_impl(0);
if (pair_opt && pair_opt->first && pair_opt->second) {
  // 处理点云对/Process the point cloud pair
}

◆ size_impl()

std::size_t toolbox::io::kitti_pcd_pair_t::size_impl ( ) const

获取点云对的数量/Get the number of point cloud pairs

Returns: 点云对数量/Number of point cloud pairs

std::size_t n = pair_dataset.size_impl();

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

src/include/cpp-toolbox/io/dataset/kitti_pcd.hpp