UPointcloudUtilities Class Reference

#include <PointcloudUtilities.h>

Inheritance diagram for UPointcloudUtilities:

Collaboration diagram for UPointcloudUtilities:

Static Public Member Functions
static void	SaveTArrayAsPlyAsync (FString FullFileName, const TArray< FVector > points)
static void	SaveVectorArrayAsPlyAsync (FString FullFileName, const std::vector< FPointData > points)

Detailed Description

A class for Point cloud related utilities.

Definition at line 20 of file PointcloudUtilities.h.

Member Function Documentation

SaveTArrayAsPlyAsync()

void UPointcloudUtilities::SaveTArrayAsPlyAsync ( FString  FullFileName, const TArray< FVector >  points  )

static

Save TArray of FVectors to disk in .ply format asynchronously

Parameters

FullFileName	Full path with file name and file format (.ply)
points	TArray of FVectors

Definition at line 19 of file PointcloudUtilities.cpp.

{
    if (points.Num() == 0)
    {
        return;
    }
 
    if (!FullFileName.EndsWith(TEXT(".ply")))
    {
        UE_LOG(LogTemp, Warning, TEXT("PointcloudUtilities.cpp: Invalid file format. Expecting filename to end with '.ply'!"));
        return;
    }
 
    FString Directory = FPaths::GetPath(FullFileName);
    IPlatformFile& PlatformFile = FPlatformFileManager::Get().GetPlatformFile();
    if (!PlatformFile.DirectoryExists(*Directory))
    {
        if (!PlatformFile.CreateDirectoryTree(*Directory))
        {
            return;
        }
    }
 
    AsyncTask(ENamedThreads::AnyBackgroundThreadNormalTask, [FullFileName, points]()
        {
            // Create PLY header in binary format
            std::string header = "ply\nformat binary_little_endian 1.0\n"
                "element vertex " + std::to_string(points.Num()) + "\n"
                "property double x\nproperty double y\nproperty double z\n"
                "end_header\n";
 
            // Calculate the size of the buffer
            size_t numPoints = points.Num();
            size_t bufferSize = numPoints * sizeof(FVector);
 
            // Open file
            std::ofstream plyFile(TCHAR_TO_UTF8(*FullFileName), std::ios::out | std::ios::binary);
            if (!plyFile.is_open())
            {
                return;
            }
 
            // Write header
            plyFile.write(header.c_str(), header.size());
 
            // Write point cloud buffer to the file
            plyFile.write(reinterpret_cast<const char*>(points.GetData()), bufferSize);
 
            // Close file
            plyFile.close();
        });
}

SaveVectorArrayAsPlyAsync()

void UPointcloudUtilities::SaveVectorArrayAsPlyAsync ( FString  FullFileName, const std::vector< FPointData >  points  )

static

Save std::vector<FPointData> to disk in .ply format asynchronously. This function not only saves the spatial coordinates of each point in the point cloud but also saves the color information of each point, encoding the RGB color components in the output .ply file.

Parameters

FullFileName	Full path with file name and file extension (.ply), where the point cloud data will be saved.
points	A vector of FPointData, containing the XYZ coordinates and RGB color data for each point.

Definition at line 72 of file PointcloudUtilities.cpp.

{
    if (points.empty())
    {
        return;
    }
 
    if (!FullFileName.EndsWith(TEXT(".ply")))
    {
        UE_LOG(LogTemp, Warning, TEXT("PointcloudUtilities.cpp: Invalid file format. Expecting filename to end with '.ply'!"));
        return;
    }
 
    FString Directory = FPaths::GetPath(FullFileName);
    IPlatformFile& PlatformFile = FPlatformFileManager::Get().GetPlatformFile();
    if (!PlatformFile.DirectoryExists(*Directory))
    {
        if (!PlatformFile.CreateDirectoryTree(*Directory))
        {
            return;
        }
    }
 
    AsyncTask(ENamedThreads::AnyBackgroundThreadNormalTask, [FullFileName, points]()
        {
            // Create PLY header in binary format
            std::string header = "ply\nformat binary_little_endian 1.0\n"
                "element vertex " + std::to_string(points.size()) + "\n"
                "property float x\nproperty float y\nproperty float z\n"
                "property uchar red\nproperty uchar green\nproperty uchar blue\n"
                "end_header\n";
 
            // Prepare the buffer size
            size_t numPoints = points.size();
            size_t bufferSize = numPoints * (sizeof(float) * 3 + sizeof(uint8_t) * 3);
            std::vector<char> buffer;
            buffer.reserve(bufferSize);
 
            // Prepare point data
            for (const auto& point : points)
            {
                // Write coordinates (X, Y, Z) as binary floats
                buffer.insert(buffer.end(), reinterpret_cast<const char*>(&point.X), reinterpret_cast<const char*>(&point.X) + sizeof(float));
                buffer.insert(buffer.end(), reinterpret_cast<const char*>(&point.Y), reinterpret_cast<const char*>(&point.Y) + sizeof(float));
                buffer.insert(buffer.end(), reinterpret_cast<const char*>(&point.Z), reinterpret_cast<const char*>(&point.Z) + sizeof(float));
 
                // Extract RGB components and write them as unsigned chars
                uint8_t red = (point.RGB >> 16) & 0xFF;
                uint8_t green = (point.RGB >> 8) & 0xFF;
                uint8_t blue = point.RGB & 0xFF;
                buffer.insert(buffer.end(), reinterpret_cast<const char*>(&red), reinterpret_cast<const char*>(&red) + sizeof(uint8_t));
                buffer.insert(buffer.end(), reinterpret_cast<const char*>(&green), reinterpret_cast<const char*>(&green) + sizeof(uint8_t));
                buffer.insert(buffer.end(), reinterpret_cast<const char*>(&blue), reinterpret_cast<const char*>(&blue) + sizeof(uint8_t));
            }
 
            // Open file
            std::ofstream plyFile(TCHAR_TO_UTF8(*FullFileName), std::ios::out | std::ios::binary);
            if (!plyFile.is_open())
            {
                UE_LOG(LogTemp, Warning, TEXT("Failed to open file for writing: %s"), *FullFileName);
                return;
            }
 
            // Write header
            plyFile.write(header.c_str(), header.size());
 
            // Write point cloud buffer to the file
            plyFile.write(buffer.data(), buffer.size());
 
            // Close file
            plyFile.close();
        });
}

Referenced by ALidarManager::SaveCombinedPointcloud(), and ALidar::SaveDataToDisk().

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

• Unreal/Agrarsense/Source/Agrarsense/Utils/PointcloudUtilities.h
• Unreal/Agrarsense/Source/Agrarsense/Utils/PointcloudUtilities.cpp