uvgformat Namespace Reference

Namespaces
namespace	API

Classes
struct	GeometryOnly
	Geometry-only point cloud (no color or normals). More...
struct	GeometryRgb
struct	GeometryRgbNormals
	Point cloud with geometry, RGB color and pre-computed normals (reserved for future use). More...
struct	Parameters
struct	uvgFrame
	User-facing point cloud frame. More...

Typedefs
using	uvgFramePayload = std::variant< GeometryOnly, GeometryRgb, GeometryRgbNormals >
	Variant holding the active combination of point cloud attributes.

Functions
uvgFramePayload	voxelize (const std::vector< std::array< double, 3 > > &rawGeo, const std::vector< uvgutils::VectorN< uint8_t, 3 > > *rawAttr)
	Voxelize a raw point cloud using the active library parameters (p_).
GeometryRgb &	getGeometryRgb (uvgFramePayload &data)
	Access the GeometryRgb alternative of an uvgFramePayload variant.
const GeometryRgb &	getGeometryRgb (const uvgFramePayload &data)
	Const overload.
void	initializeParameterMap (Parameters &param)
void	setParameterValue (const std::string &parameterName, const std::string &parameterValue, const bool &fromPreset)

Variables
const Parameters *	p_ = &param
	Read-only view of the active parameters. nullptr until initializeFormat() is called.

Typedef Documentation

uvgFramePayload

using uvgformat::uvgFramePayload = typedef std::variant<GeometryOnly, GeometryRgb, GeometryRgbNormals>

Variant holding the active combination of point cloud attributes.

Function Documentation

getGeometryRgb() [1/2]

const GeometryRgb & uvgformat::getGeometryRgb ( const uvgFramePayload &  data )

inline

Const overload.

getGeometryRgb() [2/2]

GeometryRgb & uvgformat::getGeometryRgb ( uvgFramePayload &  data )

inline

Access the GeometryRgb alternative of an uvgFramePayload variant.

Exceptions

std::bad_variant_access

if the active alternative is not GeometryRgb.

initializeParameterMap()

void uvgformat::initializeParameterMap

(

Parameters &

param

)

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setParameterValue()

void uvgformat::setParameterValue	(	const std::string &	parameterName,
		const std::string &	parameterValue,
		const bool &	fromPreset
	)

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voxelize()

uvgFramePayload uvgformat::voxelize	(	const std::vector< std::array< double, 3 > > &	rawGeo,
		const std::vector< uvgutils::VectorN< uint8_t, 3 > > *	rawAttr
	)

Voxelize a raw point cloud using the active library parameters (p_).

Reads voxelMinX/Y/Z, voxelMaxX/Y/Z (NaN = compute bounding box from data), voxelOffsetX/Y/Z, and geoPrecisionInput from p_. Maps each input point into the [0, 2^geoPrecisionInput - 1]^3 integer grid, deduplicates, and for colored clouds averages the attributes of points that fall into the same voxel. Points that fall outside the grid after offset are discarded with a WARNING log. Insertion order is preserved for deterministic output.

Parameters

rawGeo	Input geometry in original floating-point coordinates.
rawAttr	Per-point RGB attribute, or nullptr for geometry-only output.

Returns

GeometryOnly or GeometryRgb payload with integer voxel coordinates.

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Variable Documentation

p_

const Parameters * uvgformat::p_ = &param

Read-only view of the active parameters. nullptr until initializeFormat() is called.