#include <cpp-toolbox/io/formats/kitti.hpp>
#include <cpp-toolbox/types/point.hpp>
#include <Eigen/Dense>
#include <filesystem>
#include <string>
#include <vector>
#include <cstdint>
#include <optional>
#include <cpp-toolbox/io/formats/detail/kitti_extended_impl.hpp>

Include dependency graph for kitti_extended.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	toolbox::io::kitti_calibration_t< DataType >
	KITTI calibration data structure. More...

struct	toolbox::io::kitti_sequence_info_t
	Information about a KITTI sequence. More...

Namespaces
namespace	toolbox

namespace	toolbox::io
	< 用于列出目录下的文件/For listing files in a directory

namespace	toolbox::io::kitti_semantic_labels

Functions
std::vector< uint32_t >	toolbox::io::read_kitti_labels (const std::string &file_path)
	Read Semantic KITTI label file.

bool	toolbox::io::write_kitti_labels (const std::string &file_path, const std::vector< uint32_t > &labels)
	Write labels to Semantic KITTI format.

template<typename DataType >
Eigen::Matrix< DataType, 4, 4 >	toolbox::io::parse_kitti_pose_line (const std::string &line)
	Parse a single line from KITTI poses file.

template<typename DataType >
std::vector< Eigen::Matrix< DataType, 4, 4 > >	toolbox::io::read_kitti_poses (const std::string &file_path)
	Read all poses from KITTI poses file.

template<typename DataType >
std::string	toolbox::io::format_kitti_pose (const Eigen::Matrix< DataType, 4, 4 > &pose)
	Format pose matrix as KITTI string.

template<typename DataType >
bool	toolbox::io::write_kitti_poses (const std::string &file_path, const std::vector< Eigen::Matrix< DataType, 4, 4 > > &poses)
	Write poses to KITTI format file.

template<typename DataType >
kitti_calibration_t< DataType >	toolbox::io::read_kitti_calibration (const std::string &file_path)
	Read KITTI calibration file.

template<typename DataType >
bool	toolbox::io::write_kitti_calibration (const std::string &file_path, const kitti_calibration_t< DataType > &calib)
	Write KITTI calibration file.

template<typename DataType >
Eigen::Matrix< DataType, 4, 4 >	toolbox::io::compute_relative_transform (const Eigen::Matrix< DataType, 4, 4 > &from_pose, const Eigen::Matrix< DataType, 4, 4 > &to_pose)
	Compute relative transformation between two poses.

template<typename DataType >
std::unique_ptr< point_cloud_t< DataType > >	toolbox::io::transform_point_cloud (const point_cloud_t< DataType > &cloud, const Eigen::Matrix< DataType, 4, 4 > &transform)
	Transform point cloud using transformation matrix.

template<typename DataType >
std::unique_ptr< point_cloud_t< DataType > >	toolbox::io::read_kitti_with_labels (const std::string &bin_path, const std::string &label_path, std::vector< uint32_t > &labels)
	Read KITTI point cloud with semantic labels.

std::vector< std::string >	toolbox::io::list_kitti_cloud_files (const std::string &velodyne_path)
	List all KITTI point cloud files in a directory.

std::vector< std::string >	toolbox::io::list_kitti_label_files (const std::string &labels_path)
	List all KITTI label files in a directory.

int	toolbox::io::parse_kitti_frame_index (const std::string &filename)
	Get frame index from KITTI filename (e.g., "000123.bin" -> 123)

std::string	toolbox::io::format_kitti_frame_index (std::size_t index, int digits=6)
	Format frame index as KITTI filename (e.g., 123 -> "000123")

kitti_sequence_info_t	toolbox::io::get_kitti_sequence_info (const std::string &sequence_path)
	Get information about a KITTI sequence directory.

bool	toolbox::io::validate_kitti_sequence_directory (const std::string &sequence_path)
	Validate KITTI sequence directory structure.

bool	toolbox::io::kitti_semantic_labels::is_static (uint16_t label)
	Check if a label is static (non-moving)

bool	toolbox::io::kitti_semantic_labels::is_dynamic (uint16_t label)
	Check if a label is dynamic (moving)

std::string	toolbox::io::kitti_semantic_labels::get_label_name (uint16_t label)
	Get human-readable label name.

std::map< uint16_t, std::string >	toolbox::io::kitti_semantic_labels::get_label_map ()
	Get all label names mapping.

uint16_t	toolbox::io::get_kitti_label_id (uint32_t full_label)
	Extract label ID from full label (ignoring instance ID)

uint16_t	toolbox::io::get_kitti_instance_id (uint32_t full_label)
	Extract instance ID from full label.

uint32_t	toolbox::io::make_kitti_full_label (uint16_t label_id, uint16_t instance_id)
	Combine label and instance IDs.

Variables
constexpr uint16_t	toolbox::io::kitti_semantic_labels::UNLABELED = 0

constexpr uint16_t	toolbox::io::kitti_semantic_labels::OUTLIER = 1

constexpr uint16_t	toolbox::io::kitti_semantic_labels::CAR = 10

constexpr uint16_t	toolbox::io::kitti_semantic_labels::BICYCLE = 11

constexpr uint16_t	toolbox::io::kitti_semantic_labels::BUS = 13

constexpr uint16_t	toolbox::io::kitti_semantic_labels::MOTORCYCLE = 15

constexpr uint16_t	toolbox::io::kitti_semantic_labels::TRUCK = 18

constexpr uint16_t	toolbox::io::kitti_semantic_labels::OTHER_VEHICLE = 20

constexpr uint16_t	toolbox::io::kitti_semantic_labels::PERSON = 30

constexpr uint16_t	toolbox::io::kitti_semantic_labels::BICYCLIST = 31

constexpr uint16_t	toolbox::io::kitti_semantic_labels::MOTORCYCLIST = 32

constexpr uint16_t	toolbox::io::kitti_semantic_labels::ROAD = 40

constexpr uint16_t	toolbox::io::kitti_semantic_labels::PARKING = 44

constexpr uint16_t	toolbox::io::kitti_semantic_labels::SIDEWALK = 48

constexpr uint16_t	toolbox::io::kitti_semantic_labels::OTHER_GROUND = 49

constexpr uint16_t	toolbox::io::kitti_semantic_labels::BUILDING = 50

constexpr uint16_t	toolbox::io::kitti_semantic_labels::FENCE = 51

constexpr uint16_t	toolbox::io::kitti_semantic_labels::OTHER_STRUCTURE = 52

constexpr uint16_t	toolbox::io::kitti_semantic_labels::VEGETATION = 70

constexpr uint16_t	toolbox::io::kitti_semantic_labels::TRUNK = 71

constexpr uint16_t	toolbox::io::kitti_semantic_labels::TERRAIN = 72

constexpr uint16_t	toolbox::io::kitti_semantic_labels::POLE = 80

constexpr uint16_t	toolbox::io::kitti_semantic_labels::TRAFFIC_SIGN = 81

Classes

Namespaces

Functions

Variables