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

Semantic KITTI dataset loader. More...

#include <semantic_kitti_dataset.hpp>

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

Public Types
using	frame_type = semantic_kitti_frame_t< DataType >
using	base_type = dataset_t< semantic_kitti_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
	semantic_kitti_dataset_t (const std::string &sequence_path)
	Constructor.
void	enable_label_validation (bool validate)
	Set whether to validate labels match point count.
void	set_cache_size (std::size_t max_cached_frames)
	Set cache size for loaded frames.
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::set< uint16_t >	get_unique_labels (bool scan_all=false) const
	Get all unique labels in the dataset.
std::map< uint16_t, std::string >	get_label_names () const
	Get label name mapping.
std::map< uint16_t, std::size_t >	compute_label_statistics (std::size_t max_frames=0) const
	Compute label statistics across all frames.
std::vector< std::size_t >	get_frames_with_label (uint16_t label, std::size_t min_points=1) const
	Get frames containing specific label.
bool	has_labels () const
	Check if labels are available.
std::string	get_label_file (std::size_t index) const
	Get label file path for specific frame.
const kitti_odometry_dataset_t< DataType > &	get_base_dataset () const
	Get the underlying base dataset.
void	clear_cache () const
	Clear all caches.
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::semantic_kitti_dataset_t< DataType >

Semantic KITTI dataset loader.

Template Parameters

DataType

The floating point type (float or double)

This dataset extends KITTI odometry with semantic labels for each point.

semantic_kitti_dataset_t<float> dataset("/path/to/semantic_kitti/sequences/08");
 
// Get label statistics
auto stats = dataset.compute_label_statistics();
for (const auto& [label, count] : stats) {
    std::cout << kitti_semantic_labels::get_label_name(label) 
              << ": " << count << " points\n";
}
 
// Process frames
for (const auto& frame : dataset) {
    // Extract road points
    auto road_cloud = frame.get_labeled_cloud(kitti_semantic_labels::ROAD);
    
    // Extract all static objects
    auto static_cloud = frame.get_labeled_cloud({
        kitti_semantic_labels::ROAD,
        kitti_semantic_labels::BUILDING,
        kitti_semantic_labels::VEGETATION
    });
}

Member Typedef Documentation

base_type

template<typename DataType = float>

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

frame_type

template<typename DataType = float>

using toolbox::io::semantic_kitti_dataset_t< DataType >::frame_type = semantic_kitti_frame_t<DataType>

Constructor & Destructor Documentation

semantic_kitti_dataset_t()

template<typename DataType >

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

explicit

Constructor.

Parameters

sequence_path

Path to sequence directory

Exceptions

kitti_invalid_sequence

if directory structure is invalid

Member Function Documentation

at_impl()

template<typename DataType >

std::optional< semantic_kitti_frame_t< DataType > > toolbox::io::semantic_kitti_dataset_t< DataType >::at_impl

(

std::size_t

index

)

const

Load frame at specific index.

Parameters

index

Frame index

Returns

Frame data with labels or nullopt on error

clear_cache()

template<typename DataType = float>

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

inline

Clear all caches.

compute_label_statistics()

template<typename DataType >

std::map< uint16_t, std::size_t > toolbox::io::semantic_kitti_dataset_t< DataType >::compute_label_statistics

(

std::size_t

max_frames = 0

)

const

Compute label statistics across all frames.

Parameters

max_frames

Maximum frames to scan (0 = all)

Returns

Map from label ID to total point count

enable_label_validation()

template<typename DataType = float>

void toolbox::io::semantic_kitti_dataset_t< DataType >::enable_label_validation ( bool  validate )

inline

Set whether to validate labels match point count.

Parameters

validate

Enable validation

get_base_dataset()

template<typename DataType = float>

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

inline

Get the underlying base dataset.

Returns

Reference to base KITTI odometry dataset

get_frames_with_label()

template<typename DataType >

std::vector< std::size_t > toolbox::io::semantic_kitti_dataset_t< DataType >::get_frames_with_label	(	uint16_t	label,
		std::size_t	min_points = 1
	)		const

Get frames containing specific label.

Parameters

label	Label ID to search for
min_points	Minimum number of points with this label

Returns

Frame indices containing the label

get_label_file()

template<typename DataType = float>

std::string toolbox::io::semantic_kitti_dataset_t< DataType >::get_label_file ( std::size_t  index ) const

inline

Get label file path for specific frame.

Parameters

index

Frame index

Returns

Path to .label file

get_label_names()

template<typename DataType = float>

std::map< uint16_t, std::string > toolbox::io::semantic_kitti_dataset_t< DataType >::get_label_names ( ) const

inline

Get label name mapping.

Returns

Map from label ID to human-readable name

get_unique_labels()

template<typename DataType >

std::set< uint16_t > toolbox::io::semantic_kitti_dataset_t< DataType >::get_unique_labels

(

bool

scan_all = false

)

const

Get all unique labels in the dataset.

Parameters

scan_all

If true, scan all frames (slow). If false, use cached info.

Returns

Set of unique label IDs

has_labels()

template<typename DataType = float>

bool toolbox::io::semantic_kitti_dataset_t< DataType >::has_labels ( ) const

inline

Check if labels are available.

Returns

True if label files exist

set_cache_size()

template<typename DataType = float>

void toolbox::io::semantic_kitti_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

size_impl()

template<typename DataType = float>

std::size_t toolbox::io::semantic_kitti_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/semantic_kitti_dataset.hpp
• src/include/cpp-toolbox/io/dataloader/impl/semantic_kitti_dataset_impl.hpp