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

Single frame data from Semantic KITTI dataset. More...

#include <kitti_types.hpp>

Public Member Functions
std::unique_ptr< point_cloud_t< DataType > >	get_labeled_cloud (uint16_t label) const
	Extract point cloud containing only specified label.
std::unique_ptr< point_cloud_t< DataType > >	get_labeled_cloud (const std::vector< uint16_t > &label_ids) const
	Extract point cloud containing any of the specified labels.
std::vector< uint16_t >	get_unique_labels () const
	Get unique label IDs in this frame.
std::map< uint16_t, std::size_t >	get_label_statistics () const
	Count points for each label.
	semantic_kitti_frame_t ()=default
	Default constructor.
	semantic_kitti_frame_t (semantic_kitti_frame_t &&)=default
	Move constructor.
semantic_kitti_frame_t &	operator= (semantic_kitti_frame_t &&)=default
	Move assignment.
	semantic_kitti_frame_t (const semantic_kitti_frame_t &)=delete
	Deleted copy operations.
semantic_kitti_frame_t &	operator= (const semantic_kitti_frame_t &)=delete

Public Attributes
std::unique_ptr< point_cloud_t< DataType > >	cloud
	Point cloud data.
std::vector< uint32_t >	labels
	Semantic labels for each point (lower 16 bits: label ID, upper 16 bits: instance ID)
Eigen::Matrix< DataType, 4, 4 >	pose
	Global pose.
std::size_t	frame_index
	Frame index.

Detailed Description

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

Single frame data from Semantic KITTI dataset.

Template Parameters

DataType

The floating point type (float or double)

Constructor & Destructor Documentation

semantic_kitti_frame_t() [1/3]

template<typename DataType >

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

default

Default constructor.

semantic_kitti_frame_t() [2/3]

template<typename DataType >

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

default

Move constructor.

semantic_kitti_frame_t() [3/3]

template<typename DataType >

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

delete

Deleted copy operations.

Member Function Documentation

get_label_statistics()

template<typename DataType >

std::map< uint16_t, std::size_t > toolbox::io::semantic_kitti_frame_t< DataType >::get_label_statistics

(

)

const

Count points for each label.

Returns

Map from label ID to point count

get_labeled_cloud() [1/2]

template<typename DataType >

std::unique_ptr< point_cloud_t< DataType > > toolbox::io::semantic_kitti_frame_t< DataType >::get_labeled_cloud

(

const std::vector< uint16_t > &

label_ids

)

const

Extract point cloud containing any of the specified labels.

Parameters

label_ids

Vector of label IDs to extract

Returns

Point cloud with points matching any of the labels

get_labeled_cloud() [2/2]

template<typename DataType >

std::unique_ptr< point_cloud_t< DataType > > toolbox::io::semantic_kitti_frame_t< DataType >::get_labeled_cloud

(

uint16_t

label

)

const

Extract point cloud containing only specified label.

Parameters

label

The semantic label ID (ignoring instance)

Returns

Point cloud with only the specified label

get_unique_labels()

template<typename DataType >

std::vector< uint16_t > toolbox::io::semantic_kitti_frame_t< DataType >::get_unique_labels

(

)

const

Get unique label IDs in this frame.

Returns

Set of unique label IDs (lower 16 bits only)

operator=() [1/2]

template<typename DataType >

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

delete

operator=() [2/2]

template<typename DataType >

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

default

Move assignment.

Member Data Documentation

cloud

template<typename DataType >

std::unique_ptr<point_cloud_t<DataType> > toolbox::io::semantic_kitti_frame_t< DataType >::cloud

Point cloud data.

frame_index

template<typename DataType >

std::size_t toolbox::io::semantic_kitti_frame_t< DataType >::frame_index

Frame index.

labels

template<typename DataType >

std::vector<uint32_t> toolbox::io::semantic_kitti_frame_t< DataType >::labels

Semantic labels for each point (lower 16 bits: label ID, upper 16 bits: instance ID)

pose

template<typename DataType >

Eigen::Matrix<DataType, 4, 4> toolbox::io::semantic_kitti_frame_t< DataType >::pose

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