toolbox::io Namespace Reference

< 用于列出目录下的文件/For listing files in a directory More...

Namespaces
namespace	kitti_semantic_labels

Classes
class	base_file_data_t
	文件数据的基类 / Base class for data loaded from files More...
class	base_file_format_t
	文件格式读写器的基类 / Base class for file format readers/writers More...
class	dataloader_t
	通用数据加载器/Generic data loader More...
class	dataset_t
	数据集基类/Abstract base class for datasets More...
struct	kitti_calibration_t
	KITTI calibration data structure. More...
class	kitti_corrupted_data
	Exception thrown when data is corrupted. More...
class	kitti_exception
	Base exception for KITTI dataset operations. More...
class	kitti_file_not_found
	Exception thrown when a file is not found. More...
class	kitti_format_t
	KITTI 点云数据（.bin）文件格式处理器。/File format handler for KITTI Point Cloud Data (.bin) files. More...
class	kitti_index_out_of_range
	Exception thrown when accessing out of bounds frame. More...
class	kitti_invalid_format
	Exception thrown when file format is invalid. More...
class	kitti_invalid_sequence
	Exception thrown when sequence directory structure is invalid. More...
class	kitti_odometry_dataset_t
	KITTI Odometry dataset loader. More...
struct	kitti_odometry_frame_pair_t
	Frame pair data for registration tasks. More...
struct	kitti_odometry_frame_t
	Single frame data from KITTI odometry dataset. More...
class	kitti_odometry_pair_dataset_t
	KITTI Odometry frame pair dataset loader. More...
class	kitti_pcd_dataset_t
	KITTI点云数据集类/KITTI point cloud dataset class. More...
class	kitti_pcd_pair_t
	KITTI点云对数据集类/KITTI point cloud pair dataset class. More...
class	kitti_pose_reader_t
	Reader for KITTI pose files. More...
struct	kitti_sequence_info_t
	Information about a KITTI sequence. More...
class	pcd_format_t
	点云数据（.pcd）文件格式处理器。/File format handler for Point Cloud Data (.pcd) files. More...
class	sampler_t
	通用采样器/Generic sampler More...
class	semantic_kitti_dataset_t
	Semantic KITTI dataset loader. More...
struct	semantic_kitti_frame_pair_t
	Frame pair data from Semantic KITTI dataset. More...
struct	semantic_kitti_frame_t
	Single frame data from Semantic KITTI dataset. More...
class	semantic_kitti_pair_dataset_t
	Semantic KITTI frame pair dataset loader. More...
struct	sequential_policy_t
	顺序采样策略/Sequential sampling policy More...
class	shuffle_policy_t
	随机打乱采样策略/Shuffle sampling policy More...

Enumerations
enum class	error_recovery_policy_t : uint8_t { strict , lenient , best_effort }
	Error recovery policy for dataset loading. More...

Functions
template<typename T >
CPP_TOOLBOX_EXPORT std::unique_ptr< toolbox::types::point_cloud_t< T > >	read_point_cloud (const std::string &path)
template<typename T >
CPP_TOOLBOX_EXPORT bool	write_point_cloud (const std::string &path, const toolbox::types::point_cloud_t< T > &cloud)
std::vector< uint32_t >	read_kitti_labels (const std::string &file_path)
	Read Semantic KITTI label file.
bool	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 >	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 > >	read_kitti_poses (const std::string &file_path)
	Read all poses from KITTI poses file.
template<typename DataType >
std::string	format_kitti_pose (const Eigen::Matrix< DataType, 4, 4 > &pose)
	Format pose matrix as KITTI string.
template<typename DataType >
bool	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 >	read_kitti_calibration (const std::string &file_path)
	Read KITTI calibration file.
template<typename DataType >
bool	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 >	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 > >	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 > >	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 >	list_kitti_cloud_files (const std::string &velodyne_path)
	List all KITTI point cloud files in a directory.
std::vector< std::string >	list_kitti_label_files (const std::string &labels_path)
	List all KITTI label files in a directory.
int	parse_kitti_frame_index (const std::string &filename)
	Get frame index from KITTI filename (e.g., "000123.bin" -> 123)
std::string	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	get_kitti_sequence_info (const std::string &sequence_path)
	Get information about a KITTI sequence directory.
bool	validate_kitti_sequence_directory (const std::string &sequence_path)
	Validate KITTI sequence directory structure.
template<typename T >
CPP_TOOLBOX_EXPORT std::unique_ptr< toolbox::types::point_cloud_t< T > >	read_kitti_bin (const std::string &path)
	从文件中读取 KITTI 点云数据的独立函数。/Standalone function to read KITTI point cloud data from a file.
template<typename T >
CPP_TOOLBOX_EXPORT bool	write_kitti_bin (const std::string &path, const toolbox::types::point_cloud_t< T > &cloud)
	将点云数据写入 KITTI 点云文件的独立函数。/Standalone function to write point cloud data to a KITTI point cloud file.
template<typename T >
CPP_TOOLBOX_EXPORT std::unique_ptr< toolbox::types::point_cloud_t< T > >	read_pcd (const std::string &path)
	从文件中读取 PCD 点云数据的独立函数。/Standalone function to read PCD point cloud data from a file.
template<typename T >
CPP_TOOLBOX_EXPORT bool	write_pcd (const std::string &path, const toolbox::types::point_cloud_t< T > &cloud, bool binary)
	将点云数据写入 PCD 文件的独立函数。/Standalone function to write point cloud data to a PCD file.
uint16_t	get_kitti_label_id (uint32_t full_label)
	Extract label ID from full label (ignoring instance ID)
uint16_t	get_kitti_instance_id (uint32_t full_label)
	Extract instance ID from full label.
uint32_t	make_kitti_full_label (uint16_t label_id, uint16_t instance_id)
	Combine label and instance IDs.

Detailed Description

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

< 用于读取KITTI点云/For reading KITTI

Enumeration Type Documentation

error_recovery_policy_t

enum class toolbox::io::error_recovery_policy_t : uint8_t

strong

Error recovery policy for dataset loading.

Enumerator
strict	Throw exception on any error.
lenient	Skip problematic frames and continue.
best_effort	Try to recover partial data.

Function Documentation

compute_relative_transform()

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 Parameters

DataType

The floating point type (float or double)

Parameters

from_pose	Source pose
to_pose	Target pose

Returns

Relative transformation T_to_from such that to_pose = T_to_from * from_pose

format_kitti_frame_index()

std::string toolbox::io::format_kitti_frame_index ( std::size_t  index, int  digits = 6  )

inline

Format frame index as KITTI filename (e.g., 123 -> "000123")

Parameters

index	Frame index
digits	Number of digits (default 6 for KITTI)

Returns

Formatted string

format_kitti_pose()

template<typename DataType >

std::string toolbox::io::format_kitti_pose

(

const Eigen::Matrix< DataType, 4, 4 > &

pose

)

Format pose matrix as KITTI string.

Template Parameters

DataType

The floating point type (float or double)

Parameters

pose	4x4 transformation matrix

Returns

String with 12 values (first 3 rows)

get_kitti_instance_id()

uint16_t toolbox::io::get_kitti_instance_id ( uint32_t  full_label )

inline

Extract instance ID from full label.

get_kitti_label_id()

uint16_t toolbox::io::get_kitti_label_id ( uint32_t  full_label )

inline

Extract label ID from full label (ignoring instance ID)

get_kitti_sequence_info()

kitti_sequence_info_t toolbox::io::get_kitti_sequence_info ( const std::string &  sequence_path )

inline

Get information about a KITTI sequence directory.

Parameters

sequence_path

Path to sequence directory

Returns

Sequence information

list_kitti_cloud_files()

std::vector< std::string > toolbox::io::list_kitti_cloud_files ( const std::string &  velodyne_path )

inline

List all KITTI point cloud files in a directory.

Parameters

velodyne_path

Path to velodyne directory

Returns

Sorted list of .bin files with full paths

list_kitti_label_files()

std::vector< std::string > toolbox::io::list_kitti_label_files ( const std::string &  labels_path )

inline

List all KITTI label files in a directory.

Parameters

labels_path

Path to labels directory

Returns

Sorted list of .label files with full paths

make_kitti_full_label()

uint32_t toolbox::io::make_kitti_full_label ( uint16_t  label_id, uint16_t  instance_id  )

inline

Combine label and instance IDs.

parse_kitti_frame_index()

int toolbox::io::parse_kitti_frame_index ( const std::string &  filename )

inline

Get frame index from KITTI filename (e.g., "000123.bin" -> 123)

Parameters

filename

Filename to parse

Returns

Frame index or -1 if invalid

parse_kitti_pose_line()

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 Parameters

DataType

The floating point type (float or double)

Parameters

line	Line containing 12 values (3x4 transformation matrix)

Returns

4x4 transformation matrix (with [0,0,0,1] as last row)

Exceptions

std::invalid_argument

if line format is invalid

read_kitti_bin()

template<typename T >

CPP_TOOLBOX_EXPORT std::unique_ptr< toolbox::types::point_cloud_t< T > > toolbox::io::read_kitti_bin

(

const std::string &

path

)

从文件中读取 KITTI 点云数据的独立函数。/Standalone function to read KITTI point cloud data from a file.

Template Parameters

T	点云数据的存储类型（如 float 或 double）/Storage type for the point cloud data (e.g., float or double)

Parameters

path	KITTI 点云文件的路径/Path to the KITTI point cloud file

Returns

包含读取点云的唯一指针，如果读取失败则返回 nullptr/Unique pointer containing the read point cloud, or nullptr if reading fails

// 读取 float 类型的点云/Read a point cloud with float precision
auto cloud_float = toolbox::io::read_kitti_bin<float>("cloud.bin");
if (cloud_float) {
  std::cout << "读取了 " << cloud_float->size() << " 个点/Read " <<
cloud_float->size() << " points" << std::endl;
}
 
// 读取 double 类型的点云/Read a point cloud with double precision
auto cloud_double =
toolbox::io::read_kitti_bin<double>("cloud.bin");

read_kitti_calibration()

template<typename DataType >

kitti_calibration_t< DataType > toolbox::io::read_kitti_calibration

(

const std::string &

file_path

)

Read KITTI calibration file.

Template Parameters

DataType

The floating point type (float or double)

Parameters

file_path

Path to calib.txt file

Returns

Calibration data

Exceptions

std::runtime_error

if file cannot be parsed

read_kitti_labels()

std::vector< uint32_t > toolbox::io::read_kitti_labels ( const std::string &  file_path )

inline

Read Semantic KITTI label file.

Parameters

file_path

Path to the .label file

Returns

Vector of labels (one per point), empty on failure

Exceptions

std::runtime_error

if file cannot be read

read_kitti_poses()

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 Parameters

DataType

The floating point type (float or double)

Parameters

file_path

Path to poses file (e.g., "00.txt")

Returns

Vector of 4x4 transformation matrices

read_kitti_with_labels()

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.

Template Parameters

DataType

The floating point type (float or double)

Parameters

	bin_path	Path to the .bin point cloud file
	label_path	Path to the .label file
[out]	labels	Vector to store the semantic labels (one per point)

Returns

Point cloud, nullptr on error

Exceptions

std::runtime_error

if files cannot be read or have mismatched sizes

Note

The labels are returned in a separate vector parallel to the point cloud. Use get_kitti_label_id() and get_kitti_instance_id() to extract semantic class and instance.

std::vector<uint32_t> labels;
auto cloud = read_kitti_with_labels<float>("/path/to/000000.bin", 
                                          "/path/to/000000.label", 
                                          labels);
if (cloud) {
    for (size_t i = 0; i < cloud->size(); ++i) {
        uint16_t label_id = get_kitti_label_id(labels[i]);
        uint16_t instance_id = get_kitti_instance_id(labels[i]);
        // Use label_id and instance_id with cloud->points[i]...
    }
}

read_pcd()

template<typename T >

CPP_TOOLBOX_EXPORT std::unique_ptr< toolbox::types::point_cloud_t< T > > toolbox::io::read_pcd

(

const std::string &

path

)

从文件中读取 PCD 点云数据的独立函数。/Standalone function to read PCD point cloud data from a file.

Template Parameters

T	点云数据的存储类型（如 float 或 double）/Storage type for the point cloud data (e.g., float or double)

Parameters

path	PCD 文件的路径/Path to the PCD file

Returns

包含读取点云的唯一指针，如果读取失败则返回 nullptr/Unique pointer containing the read point cloud, or nullptr if reading fails

// 读取 float 类型的点云/Read a point cloud with float precision
auto cloud_float = toolbox::io::read_pcd<float>("cloud.pcd");
if (cloud_float) {
  std::cout << "读取了 " << cloud_float->size() << " 个点/Read " <<
cloud_float->size() << " points" << std::endl;
}
 
// 读取 double 类型的点云/Read a point cloud with double precision
auto cloud_double = toolbox::io::read_pcd<double>("cloud.pcd");

read_point_cloud()

template<typename T >

CPP_TOOLBOX_EXPORT std::unique_ptr< toolbox::types::point_cloud_t< T > > toolbox::io::read_point_cloud

(

const std::string &

path

)

transform_point_cloud()

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 Parameters

DataType

The floating point type

Parameters

cloud	Input point cloud
transform	Transformation matrix

Returns

Transformed point cloud

validate_kitti_sequence_directory()

bool toolbox::io::validate_kitti_sequence_directory ( const std::string &  sequence_path )

inline

Validate KITTI sequence directory structure.

Parameters

sequence_path

Path to sequence directory

Returns

True if valid KITTI structure

write_kitti_bin()

template<typename T >

CPP_TOOLBOX_EXPORT bool toolbox::io::write_kitti_bin	(	const std::string &	path,
		const toolbox::types::point_cloud_t< T > &	cloud
	)

将点云数据写入 KITTI 点云文件的独立函数。/Standalone function to write point cloud data to a KITTI point cloud file.

Template Parameters

T	点云数据的存储类型（如 float 或 double）/Storage type for the point cloud data (e.g., float or double)

Parameters

path	要写入的 KITTI 点云文件路径/Path to the KITTI point cloud file to write
cloud	要保存的点云数据/The point cloud data to save

Returns

写入成功返回 true，失败返回 false/Returns true if writing was successful, false otherwise

// 创建一个点云并添加一些点/Create a point cloud and add some points
toolbox::types::point_cloud_t<float> cloud;
cloud.points = {{1.0f, 2.0f, 3.0f}, {4.0f, 5.0f, 6.0f}};
 
// 以二进制格式保存/Save in binary format
bool binary_success =
toolbox::io::write_kitti_bin("cloud_binary.bin", cloud);

write_kitti_calibration()

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 Parameters

DataType

The floating point type (float or double)

Parameters

file_path	Output file path
calib	Calibration data to write

Returns

True if successful

write_kitti_labels()

bool toolbox::io::write_kitti_labels ( const std::string &  file_path, const std::vector< uint32_t > &  labels  )

inline

Write labels to Semantic KITTI format.

Parameters

file_path	Output file path
labels	Vector of labels to write

Returns

True if successful

write_kitti_poses()

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 Parameters

DataType

The floating point type (float or double)

Parameters

file_path	Output file path
poses	Vector of 4x4 transformation matrices

Returns

True if successful

write_pcd()

template<typename T >

CPP_TOOLBOX_EXPORT bool toolbox::io::write_pcd	(	const std::string &	path,
		const toolbox::types::point_cloud_t< T > &	cloud,
		bool	binary
	)

将点云数据写入 PCD 文件的独立函数。/Standalone function to write point cloud data to a PCD file.

Template Parameters

T	点云数据的存储类型（如 float 或 double）/Storage type for the point cloud data (e.g., float or double)

Parameters

path	要写入的 PCD 文件路径/Path to the PCD file to write
cloud	要保存的点云数据/The point cloud data to save
binary	如果为 true，则以二进制格式写入；如果为 false，则以 ASCII 格式写入/If true, writes in binary format; if false, writes in ASCII format

Returns

写入成功返回 true，失败返回 false/Returns true if writing was successful, false otherwise

// 创建一个点云并添加一些点/Create a point cloud and add some points
toolbox::types::point_cloud_t<float> cloud;
cloud.points = {{1.0f, 2.0f, 3.0f}, {4.0f, 5.0f, 6.0f}};
 
// 以 ASCII 格式保存/Save in ASCII format
bool ascii_success = toolbox::io::write_pcd("cloud_ascii.pcd",
cloud, false);
 
// 以二进制格式保存/Save in binary format
bool binary_success = toolbox::io::write_pcd("cloud_binary.pcd",
cloud, true);

write_point_cloud()

template<typename T >

CPP_TOOLBOX_EXPORT bool toolbox::io::write_point_cloud	(	const std::string &	path,
		const toolbox::types::point_cloud_t< T > &	cloud
	)