toolbox::io Namespace Reference

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

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...
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_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	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...
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...

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)
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.

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

Function Documentation

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_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

)

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_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
	)