Semantic KITTI frame pair dataset loader. More...

#include <semantic_kitti_pair_dataset.hpp>

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

Public Types
using	pair_type = semantic_kitti_frame_pair_t< DataType >

using	base_type = dataset_t< semantic_kitti_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
	semantic_kitti_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	set_cache_size (std::size_t size)
	Set maximum pair cache size.

void	enable_motion_filter (bool enable)
	Enable/disable motion filtering.

void	set_motion_thresholds (DataType min_translation, DataType min_rotation)
	Set motion thresholds for filtering.

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 semantic_kitti_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 all caches.

std::vector< std::size_t >	get_pairs_with_labels (const std::vector< uint16_t > &require_labels, std::size_t min_points=100) const
	Get pairs with specific semantic constraints.

std::map< std::string, DataType >	compute_motion_statistics () const
	Compute motion statistics for the dataset.

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_pair_dataset_t< DataType >

Semantic KITTI frame pair dataset loader.

Template Parameters

DataType The floating point type (float or double)

This dataset provides pairs of frames with semantic labels, useful for semantic SLAM and scene flow estimation.

semantic_kitti_pair_dataset_t<float> dataset("/path/to/semantic_kitti/sequences/08", 5);
 
for (const auto& pair : dataset) {
    // Extract static points for registration
    auto [src_static, tgt_static] = pair.extract_static_points();
    
    // Register static points
    icp.set_initial_transform(pair.relative_transform);
    auto result = icp.align(src_static, tgt_static);
    
    // Extract dynamic objects for tracking
    auto [src_dynamic, tgt_dynamic] = pair.extract_dynamic_points();
}

Member Typedef Documentation

◆ base_type

template<typename DataType = float>

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

◆ pair_type

template<typename DataType = float>

using toolbox::io::semantic_kitti_pair_dataset_t< DataType >::pair_type = semantic_kitti_frame_pair_t<DataType>

Constructor & Destructor Documentation

◆ semantic_kitti_pair_dataset_t()

template<typename DataType >

toolbox::io::semantic_kitti_pair_dataset_t< DataType >::semantic_kitti_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

Exceptions

kitti_invalid_sequence if directory structure is invalid

Member Function Documentation

◆ at_impl()

template<typename DataType >

std::optional< semantic_kitti_frame_pair_t< DataType > > toolbox::io::semantic_kitti_pair_dataset_t< DataType >::at_impl ( std::size_t index ) const

Load frame pair at specific index.

Parameters

index Pair index

Returns: Frame pair data with labels or nullopt on error

◆ clear_cache()

template<typename DataType = float>

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

inline

Clear all caches.

◆ compute_motion_statistics()

template<typename DataType >

std::map< std::string, DataType > toolbox::io::semantic_kitti_pair_dataset_t< DataType >::compute_motion_statistics ( ) const

Compute motion statistics for the dataset.

Returns: Map with statistics (mean/std translation, rotation, etc.)

◆ enable_motion_filter()

template<typename DataType = float>

void toolbox::io::semantic_kitti_pair_dataset_t< DataType >::enable_motion_filter ( bool enable )

inline

Enable/disable motion filtering.

Parameters

enable Enable filtering of pairs with insufficient motion

◆ get_base_dataset()

template<typename DataType = float>

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

inline

Get the underlying base dataset.

Returns: Reference to semantic KITTI dataset

◆ get_pairs_with_labels()

template<typename DataType >

std::vector< std::size_t > toolbox::io::semantic_kitti_pair_dataset_t< DataType >::get_pairs_with_labels	(	const std::vector< uint16_t > &	require_labels,
		std::size_t	min_points = `100`
	)		const

Get pairs with specific semantic constraints.

Parameters

require_labels	Labels that must be present in both frames
min_points	Minimum points per label

Returns: Indices of pairs meeting criteria

◆ get_skip()

template<typename DataType = float>

std::size_t toolbox::io::semantic_kitti_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::semantic_kitti_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::semantic_kitti_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::semantic_kitti_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_motion_thresholds()

template<typename DataType = float>

void toolbox::io::semantic_kitti_pair_dataset_t< DataType >::set_motion_thresholds	(	DataType	min_translation,
		DataType	min_rotation
	)

inline

Set motion thresholds for filtering.

Parameters

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

◆ set_skip()

template<typename DataType = float>

void toolbox::io::semantic_kitti_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::semantic_kitti_pair_dataset_t< DataType >::size_impl ( ) const

inline

Get number of frame pairs.

Returns: Number of available pairs

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

src/include/cpp-toolbox/io/dataloader/semantic_kitti_pair_dataset.hpp
src/include/cpp-toolbox/io/dataloader/impl/semantic_kitti_pair_dataset_impl.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ base_type

◆ pair_type

Constructor & Destructor Documentation

◆ semantic_kitti_pair_dataset_t()

Member Function Documentation

◆ at_impl()

◆ clear_cache()

◆ compute_motion_statistics()

◆ enable_motion_filter()

◆ get_base_dataset()

◆ get_pairs_with_labels()

◆ get_skip()

◆ get_source_frame_index()

◆ get_target_frame_index()

◆ set_cache_size()

◆ set_motion_thresholds()

◆ set_skip()

◆ size_impl()