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

Reader for KITTI pose files. More...

#include <kitti_pose_reader.hpp>

Public Member Functions
	kitti_pose_reader_t ()=default
	Default constructor.
bool	load (const std::string &poses_file)
	Load poses from file.
std::size_t	size () const noexcept
	Get the number of poses.
bool	empty () const noexcept
	Check if any poses are loaded.
Eigen::Matrix< DataType, 4, 4 >	get_pose (std::size_t index) const
	Get pose at specific index.
std::optional< Eigen::Matrix< DataType, 4, 4 > >	try_get_pose (std::size_t index) const
	Get pose at specific index (safe version)
Eigen::Matrix< DataType, 4, 4 >	get_relative_transform (std::size_t from_index, std::size_t to_index) const
	Compute relative transformation between two frames.
bool	is_valid_index (std::size_t index) const noexcept
	Check if index is valid.
void	clear () noexcept
	Clear all loaded poses.
const std::vector< Eigen::Matrix< DataType, 4, 4 > > &	get_all_poses () const noexcept
	Get all poses.
DataType	compute_trajectory_length () const
	Compute trajectory length.
std::pair< Eigen::Vector3< DataType >, Eigen::Vector3< DataType > >	get_trajectory_bounds () const
	Get trajectory bounds.

Detailed Description

template<typename DataType>
class toolbox::io::kitti_pose_reader_t< DataType >

Reader for KITTI pose files.

Template Parameters

DataType

The floating point type (float or double)

Constructor & Destructor Documentation

kitti_pose_reader_t()

template<typename DataType >

toolbox::io::kitti_pose_reader_t< DataType >::kitti_pose_reader_t ( )

default

Default constructor.

Member Function Documentation

clear()

template<typename DataType >

void toolbox::io::kitti_pose_reader_t< DataType >::clear ( )

inlinenoexcept

Clear all loaded poses.

compute_trajectory_length()

template<typename DataType >

DataType toolbox::io::kitti_pose_reader_t< DataType >::compute_trajectory_length

(

)

const

Compute trajectory length.

Returns

Total distance traveled

empty()

template<typename DataType >

bool toolbox::io::kitti_pose_reader_t< DataType >::empty ( ) const

inlinenoexcept

Check if any poses are loaded.

Returns

True if no poses are loaded

get_all_poses()

template<typename DataType >

const std::vector< Eigen::Matrix< DataType, 4, 4 > > & toolbox::io::kitti_pose_reader_t< DataType >::get_all_poses ( ) const

inlinenoexcept

Get all poses.

Returns

Vector of all pose matrices

get_pose()

template<typename DataType >

Eigen::Matrix< DataType, 4, 4 > toolbox::io::kitti_pose_reader_t< DataType >::get_pose

(

std::size_t

index

)

const

Get pose at specific index.

Parameters

index

Frame index

Returns

4x4 transformation matrix

Exceptions

kitti_index_out_of_range

if index is invalid

get_relative_transform()

template<typename DataType >

Eigen::Matrix< DataType, 4, 4 > toolbox::io::kitti_pose_reader_t< DataType >::get_relative_transform	(	std::size_t	from_index,
		std::size_t	to_index
	)		const

Compute relative transformation between two frames.

Parameters

from_index	Source frame index
to_index	Target frame index

Returns

Relative transformation T_to_from

Exceptions

kitti_index_out_of_range

if indices are invalid

get_trajectory_bounds()

template<typename DataType >

std::pair< Eigen::Vector3< DataType >, Eigen::Vector3< DataType > > toolbox::io::kitti_pose_reader_t< DataType >::get_trajectory_bounds

(

)

const

Get trajectory bounds.

Returns

Min and max points of the trajectory

is_valid_index()

template<typename DataType >

bool toolbox::io::kitti_pose_reader_t< DataType >::is_valid_index ( std::size_t  index ) const

inlinenoexcept

Check if index is valid.

Parameters

index

Frame index to check

Returns

True if index is in range

load()

template<typename DataType >

bool toolbox::io::kitti_pose_reader_t< DataType >::load

(

const std::string &

poses_file

)

Load poses from file.

Parameters

poses_file

Path to poses file (e.g., "00.txt")

Returns

True if successful

size()

template<typename DataType >

std::size_t toolbox::io::kitti_pose_reader_t< DataType >::size ( ) const

inlinenoexcept

Get the number of poses.

Returns

Number of loaded poses

try_get_pose()

template<typename DataType >

std::optional< Eigen::Matrix< DataType, 4, 4 > > toolbox::io::kitti_pose_reader_t< DataType >::try_get_pose

(

std::size_t

index

)

const

Get pose at specific index (safe version)

Parameters

index

Frame index

Returns

Optional pose matrix

---

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

• src/include/cpp-toolbox/io/dataset/kitti_pose_reader.hpp
• src/include/cpp-toolbox/io/dataset/impl/kitti_pose_reader_impl.hpp