toolbox::io::semantic_kitti_frame_pair_t< DataType > Struct Template Reference

Frame pair data from Semantic KITTI dataset. More...

#include <kitti_types.hpp>

Public Member Functions
std::pair< std::unique_ptr< point_cloud_t< DataType > >, std::unique_ptr< point_cloud_t< DataType > > >	extract_static_points () const
	Extract static points from both clouds (buildings, road, etc.)
std::pair< std::unique_ptr< point_cloud_t< DataType > >, std::unique_ptr< point_cloud_t< DataType > > >	extract_dynamic_points () const
	Extract dynamic points from both clouds (cars, people, etc.)
	semantic_kitti_frame_pair_t ()=default
	Default constructor.
	semantic_kitti_frame_pair_t (semantic_kitti_frame_pair_t &&)=default
	Move constructor.
semantic_kitti_frame_pair_t &	operator= (semantic_kitti_frame_pair_t &&)=default
	Move assignment.
	semantic_kitti_frame_pair_t (const semantic_kitti_frame_pair_t &)=delete
	Deleted copy operations.
semantic_kitti_frame_pair_t &	operator= (const semantic_kitti_frame_pair_t &)=delete

Public Attributes
std::unique_ptr< point_cloud_t< DataType > >	source_cloud
	Source point cloud.
std::unique_ptr< point_cloud_t< DataType > >	target_cloud
	Target point cloud.
std::vector< uint32_t >	source_labels
	Source point labels.
std::vector< uint32_t >	target_labels
	Target point labels.
Eigen::Matrix< DataType, 4, 4 >	source_pose
	Source global pose.
Eigen::Matrix< DataType, 4, 4 >	target_pose
	Target global pose.
Eigen::Matrix< DataType, 4, 4 >	relative_transform
	Relative transformation.
std::size_t	source_index
	Source frame index.
std::size_t	target_index
	Target frame index.

Detailed Description

template<typename DataType>
struct toolbox::io::semantic_kitti_frame_pair_t< DataType >

Frame pair data from Semantic KITTI dataset.

Template Parameters

DataType

The floating point type (float or double)

Constructor & Destructor Documentation

semantic_kitti_frame_pair_t() [1/3]

template<typename DataType >

toolbox::io::semantic_kitti_frame_pair_t< DataType >::semantic_kitti_frame_pair_t ( )

default

Default constructor.

semantic_kitti_frame_pair_t() [2/3]

template<typename DataType >

toolbox::io::semantic_kitti_frame_pair_t< DataType >::semantic_kitti_frame_pair_t ( semantic_kitti_frame_pair_t< DataType > &&  )

default

Move constructor.

semantic_kitti_frame_pair_t() [3/3]

template<typename DataType >

toolbox::io::semantic_kitti_frame_pair_t< DataType >::semantic_kitti_frame_pair_t ( const semantic_kitti_frame_pair_t< DataType > &  )

delete

Deleted copy operations.

Member Function Documentation

extract_dynamic_points()

template<typename DataType >

std::pair< std::unique_ptr< point_cloud_t< DataType > >, std::unique_ptr< point_cloud_t< DataType > > > toolbox::io::semantic_kitti_frame_pair_t< DataType >::extract_dynamic_points

(

)

const

Extract dynamic points from both clouds (cars, people, etc.)

Returns

Pair of point clouds containing only dynamic objects

extract_static_points()

template<typename DataType >

std::pair< std::unique_ptr< point_cloud_t< DataType > >, std::unique_ptr< point_cloud_t< DataType > > > toolbox::io::semantic_kitti_frame_pair_t< DataType >::extract_static_points

(

)

const

Extract static points from both clouds (buildings, road, etc.)

Returns

Pair of point clouds containing only static objects

operator=() [1/2]

template<typename DataType >

semantic_kitti_frame_pair_t & toolbox::io::semantic_kitti_frame_pair_t< DataType >::operator= ( const semantic_kitti_frame_pair_t< DataType > &  )

delete

operator=() [2/2]

template<typename DataType >

semantic_kitti_frame_pair_t & toolbox::io::semantic_kitti_frame_pair_t< DataType >::operator= ( semantic_kitti_frame_pair_t< DataType > &&  )

default

Move assignment.

Member Data Documentation

relative_transform

template<typename DataType >

Eigen::Matrix<DataType, 4, 4> toolbox::io::semantic_kitti_frame_pair_t< DataType >::relative_transform

Relative transformation.

source_cloud

template<typename DataType >

std::unique_ptr<point_cloud_t<DataType> > toolbox::io::semantic_kitti_frame_pair_t< DataType >::source_cloud

Source point cloud.

source_index

template<typename DataType >

std::size_t toolbox::io::semantic_kitti_frame_pair_t< DataType >::source_index

Source frame index.

source_labels

template<typename DataType >

std::vector<uint32_t> toolbox::io::semantic_kitti_frame_pair_t< DataType >::source_labels

Source point labels.

source_pose

template<typename DataType >

Eigen::Matrix<DataType, 4, 4> toolbox::io::semantic_kitti_frame_pair_t< DataType >::source_pose

Source global pose.

target_cloud

template<typename DataType >

std::unique_ptr<point_cloud_t<DataType> > toolbox::io::semantic_kitti_frame_pair_t< DataType >::target_cloud

Target point cloud.

target_index

template<typename DataType >

std::size_t toolbox::io::semantic_kitti_frame_pair_t< DataType >::target_index

Target frame index.

target_labels

template<typename DataType >

std::vector<uint32_t> toolbox::io::semantic_kitti_frame_pair_t< DataType >::target_labels

Target point labels.

target_pose

template<typename DataType >

Eigen::Matrix<DataType, 4, 4> toolbox::io::semantic_kitti_frame_pair_t< DataType >::target_pose

Target global pose.

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The documentation for this struct was generated from the following files:

• src/include/cpp-toolbox/io/dataset/kitti_types.hpp
• src/include/cpp-toolbox/io/dataset/impl/kitti_types_impl.hpp