Core Module

All core-related classes and functions. More...

Classes
struct	ufo::Range< T >::Comparator
	Comparator for interval ordering in associative containers. More...
struct	ufo::Confidence
	Represents a confidence score as a single float value. More...
struct	ufo::Intensity
	Represents LiDAR/sensor return intensity as a single float value. More...
struct	ufo::Label
	Represents a semantic class label as a single unsigned integer value. More...
struct	ufo::Normal< Dim, T >
	Represents an N-dimensional unit surface normal vector as a fixed-size array. More...
struct	ufo::Range< T >
	Represents a closed interval [lower, upper] of a scalar type. More...
struct	ufo::Semantic
	Represents a semantic annotation as a pair of class label and confidence score. More...
class	ufo::Surfel
	Represents an incremental surface element (surfel) that tracks the sufficient statistics of a 3D point set for online surface estimation. More...
struct	ufo::Weight
	Represents a generic scalar weight as a single float value. More...

Functions
std::ostream &	ufo::operator<< (std::ostream &out, Confidence c)
	Writes the confidence score to out.
std::ostream &	ufo::operator<< (std::ostream &out, Intensity i)
	Writes the raw intensity scalar to out.
std::ostream &	ufo::operator<< (std::ostream &out, Label l)
	Writes the raw label integer to out.
template<std::size_t Dim, class T >
std::ostream &	ufo::operator<< (std::ostream &out, Normal< Dim, T > const &n)
	Writes a human-readable representation of n to os.
template<class T >
std::ostream &	ufo::operator<< (std::ostream &out, Range< T > const &r)
	Writes the range to p out in human-readable format.
std::ostream &	ufo::operator<< (std::ostream &out, Semantic s)
	Writes the semantic as "label: confidence" to out.
std::ostream &	ufo::operator<< (std::ostream &out, Surfel const &s)
	Writes a human-readable summary of the surfel to out.
std::ostream &	ufo::operator<< (std::ostream &out, Weight v)
	Writes the raw scalar weight to out.

Detailed Description

All core-related classes and functions.

Author

Daniel Duberg (danie.nosp@m.ldub.nosp@m.erg@g.nosp@m.mail.nosp@m..com)

See also

https://github.com/UnknownFreeOccupied/ufo

Version

1.0

Date

2026-02-22

Copyright

BSD 3-Clause License

Copyright (c) 2020-2026, Daniel Duberg All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Function Documentation

operator<<() [1/8]

std::ostream & ufo::operator<< ( std::ostream &  out, Confidence  c  )

inline

Writes the confidence score to out.

Parameters

[in,out]	out	Output stream.
[in]	c	Confidence to print.

Returns

Reference to the output stream.

Definition at line 119 of file confidence.hpp.

operator<<() [2/8]

std::ostream & ufo::operator<< ( std::ostream &  out, Intensity  i  )

inline

Writes the raw intensity scalar to out.

Parameters

[in,out]	out	Output stream.
[in]	i	Intensity to print.

Returns

Reference to the output stream.

Definition at line 119 of file intensity.hpp.

operator<<() [3/8]

std::ostream & ufo::operator<< ( std::ostream &  out, Label  l  )

inline

Writes the raw label integer to out.

Parameters

[in,out]	out	Output stream.
[in]	l	Label to print.

Returns

Reference to the output stream.

Definition at line 124 of file label.hpp.

operator<<() [4/8]

template<std::size_t Dim, class T >

std::ostream & ufo::operator<<	(	std::ostream &	out,
		Normal< Dim, T > const &	n
	)

Writes a human-readable representation of n to os.

Parameters

[in,out]	out	Output stream.
[in]	n	Normal to print.

Returns

Reference to the output stream.

Definition at line 165 of file normal.hpp.

operator<<() [5/8]

template<class T >

std::ostream & ufo::operator<<	(	std::ostream &	out,
		Range< T > const &	r
	)

Writes the range to p out in human-readable format.

Template Parameters

T	Scalar type.

Parameters

[in,out]	out	Output stream.
[in]	r	Range to print.

Returns

Reference to the output stream.

Degenerate: [a, a] -> "[a]" Range: [a, b] -> "[a..b]" Float: [a, b] -> "[a,b]"

Definition at line 387 of file range.hpp.

operator<<() [6/8]

std::ostream & ufo::operator<< ( std::ostream &  out, Semantic  s  )

inline

Writes the semantic as "label: confidence" to out.

Parameters

[in,out]	out	Output stream.
[in]	s	Semantic to print.

Returns

Reference to the output stream.

Definition at line 119 of file semantic.hpp.

operator<<() [7/8]

std::ostream & ufo::operator<< ( std::ostream &  out, Surfel const &  s  )

inline

Writes a human-readable summary of the surfel to out.

Parameters

[out]	out	Output stream.
[in]	s	Surfel to print.

Returns

Reference to the output stream.

Empty surfel: "Surfel{empty}". Non-empty: "Surfel{n=N, mean=(x, y, z)}".

Definition at line 829 of file surfel.hpp.

operator<<() [8/8]

std::ostream & ufo::operator<< ( std::ostream &  out, Weight  v  )

inline

Writes the raw scalar weight to out.

Parameters

[out]	out	Output stream.
[in]	v	Weight to print.

Returns

Reference to the output stream.

Definition at line 120 of file weight.hpp.