kitti_types.hpp

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#pragma once
 
#include <cpp-toolbox/types/point.hpp>
#include <cpp-toolbox/io/formats/kitti_extended.hpp>
 
#include <Eigen/Dense>
#include <memory>
#include <string>
#include <vector>
#include <cstdint>
#include <map>
 
namespace toolbox::io {
 
using toolbox::types::point_t;
using toolbox::types::point_cloud_t;
 
// ==================== KITTI Odometry Data Structures ====================
 
template<typename DataType>
struct kitti_odometry_frame_t {
    std::unique_ptr<point_cloud_t<DataType>> cloud;
    
    Eigen::Matrix<DataType, 4, 4> pose;
    
    std::size_t frame_index;
    
    std::string timestamp;
    
    kitti_odometry_frame_t() = default;
    
    kitti_odometry_frame_t(kitti_odometry_frame_t&&) = default;
    
    kitti_odometry_frame_t& operator=(kitti_odometry_frame_t&&) = default;
    
    kitti_odometry_frame_t(const kitti_odometry_frame_t&) = delete;
    kitti_odometry_frame_t& operator=(const kitti_odometry_frame_t&) = delete;
};
 
template<typename DataType>
struct kitti_odometry_frame_pair_t {
    std::unique_ptr<point_cloud_t<DataType>> source_cloud;
    
    std::unique_ptr<point_cloud_t<DataType>> target_cloud;
    
    Eigen::Matrix<DataType, 4, 4> source_pose;
    
    Eigen::Matrix<DataType, 4, 4> target_pose;
    
    Eigen::Matrix<DataType, 4, 4> relative_transform;
    
    std::size_t source_index;
    
    std::size_t target_index;
    
    kitti_odometry_frame_pair_t() = default;
    
    kitti_odometry_frame_pair_t(kitti_odometry_frame_pair_t&&) = default;
    
    kitti_odometry_frame_pair_t& operator=(kitti_odometry_frame_pair_t&&) = default;
    
    kitti_odometry_frame_pair_t(const kitti_odometry_frame_pair_t&) = delete;
    kitti_odometry_frame_pair_t& operator=(const kitti_odometry_frame_pair_t&) = delete;
};
 
// ==================== Semantic KITTI Data Structures ====================
 
template<typename DataType>
struct semantic_kitti_frame_t {
    std::unique_ptr<point_cloud_t<DataType>> cloud;
    
    std::vector<uint32_t> labels;
    
    Eigen::Matrix<DataType, 4, 4> pose;
    
    std::size_t frame_index;
    
    std::unique_ptr<point_cloud_t<DataType>> get_labeled_cloud(uint16_t label) const;
    
    std::unique_ptr<point_cloud_t<DataType>> get_labeled_cloud(
        const std::vector<uint16_t>& label_ids) const;
    
    std::vector<uint16_t> get_unique_labels() const;
    
    std::map<uint16_t, std::size_t> get_label_statistics() const;
    
    semantic_kitti_frame_t() = default;
    
    semantic_kitti_frame_t(semantic_kitti_frame_t&&) = default;
    
    semantic_kitti_frame_t& operator=(semantic_kitti_frame_t&&) = default;
    
    semantic_kitti_frame_t(const semantic_kitti_frame_t&) = delete;
    semantic_kitti_frame_t& operator=(const semantic_kitti_frame_t&) = delete;
};
 
template<typename DataType>
struct semantic_kitti_frame_pair_t {
    std::unique_ptr<point_cloud_t<DataType>> source_cloud;
    
    std::unique_ptr<point_cloud_t<DataType>> target_cloud;
    
    std::vector<uint32_t> source_labels;
    
    std::vector<uint32_t> target_labels;
    
    Eigen::Matrix<DataType, 4, 4> source_pose;
    
    Eigen::Matrix<DataType, 4, 4> target_pose;
    
    Eigen::Matrix<DataType, 4, 4> relative_transform;
    
    std::size_t source_index;
    
    std::size_t target_index;
    
    std::pair<std::unique_ptr<point_cloud_t<DataType>>, 
              std::unique_ptr<point_cloud_t<DataType>>> 
    extract_static_points() const;
    
    std::pair<std::unique_ptr<point_cloud_t<DataType>>, 
              std::unique_ptr<point_cloud_t<DataType>>> 
    extract_dynamic_points() const;
    
    semantic_kitti_frame_pair_t() = default;
    
    semantic_kitti_frame_pair_t(semantic_kitti_frame_pair_t&&) = default;
    
    semantic_kitti_frame_pair_t& operator=(semantic_kitti_frame_pair_t&&) = default;
    
    semantic_kitti_frame_pair_t(const semantic_kitti_frame_pair_t&) = delete;
    semantic_kitti_frame_pair_t& operator=(const semantic_kitti_frame_pair_t&) = delete;
};
 
 
// ==================== Error Recovery Policies ====================
 
enum class error_recovery_policy_t : uint8_t {
    strict,    
    lenient,   
    best_effort 
};
 
} // namespace toolbox::io
 
// Include implementation
#include <cpp-toolbox/io/dataset/impl/kitti_types_impl.hpp>