kitti_extended_impl.hpp File Reference

#include <cpp-toolbox/io/formats/kitti_extended.hpp>
#include <cpp-toolbox/logger/thread_logger.hpp>
#include <fstream>
#include <sstream>
#include <algorithm>
#include <filesystem>
#include <iomanip>
#include <cstring>
#include <stdexcept>
#include <map>

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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.
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.