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  3. FLidarPointCloudOctree

FLidarPointCloudOctree

Used for efficient handling of point cloud data.

API > API/Plugins > API/Plugins/LidarPointCloudRuntime

References

   
Module LidarPointCloudRuntime
Header /Engine/Plugins/Enterprise/LidarPointCloud/Source/LidarPointCloudRuntime/Public/LidarPointCloudOctree.h
Include #include "LidarPointCloudOctree.h"

Syntax

class FLidarPointCloudOctree

Remarks

Used for efficient handling of point cloud data.

Variables

  Type Name Description
Public variable FCriticalSection DataLock Used for thread safety between rendering and asset operations.
Public variable FCriticalSection DataReleaseLock Used to prevent auto-release of nodes if they are in use by other threads

Constructors

  Type Name Description
Public function    
Public function    
Public function    
Public function    

Destructors

  Type Name Description
Public function    

Functions

  Type Name Description
Public function void

ApplyColorToAllPoints ( const FColor& NewColor,
const bool& bVisibleOnly
)

 Applies the given color to all points
Public function void

ApplyColorToFirstPointByRay ( const FColor& NewColor,
const FLidarPointCloudRay& Ray,
const float& Radius,
bool bVisibleOnly
)

 Applies the given color to the first point hit by the given ray
Public function void

ApplyColorToPointsByRay ( const FColor& NewColor,
const FLidarPointCloudRay& Ray,
const float& Radius,
bool bVisibleOnly
)

 Applies the given color to all points hit by the given ray
Public function void

ApplyColorToPointsInBox ( const FColor& NewColor,
const FBox& Box,
const bool& bVisibleOnly
)

 Applies the given color to all points within the box
Public function void

ApplyColorToPointsInSphere ( const FColor& NewColor,
const FSphere& Sphere,
const bool& bVisibleOnly
)

 Applies the given color to all points within the sphere
Public function void

BuildCollision ( const float& Accuracy,
const bool& bVisibleOnly
)

 Builds collision using the accuracy provided
Public function void

BuildStaticMeshBuffers ( float CellSize,
LidarPointCloudMeshing::FMeshBuffers* OutMeshBuffers,
const FTransform& Transform
)

 Constructs and returns the MeshBuffers struct from the data
Public function void

BuildStaticMeshBuffersForSelection ( float CellSize,
LidarPointCloudMeshing::FMeshBuffers* OutMeshBuffers,
const FTransform& Transform
)

  
Public function void

CalculateNormals ( FThreadSafeBool* bCancelled,
int32 Quality,
float Tolerance,
TArray64< FLidarPointCloudPoint* >* InPointSelection
)

 Calculates Normals for the provided points If a nullptr is passed, the calculation will be executed on the whole cloud
Public function void  
Public function void  
Public function void  
Public function void

Empty ( bool bDestroyNodes
)

 Removes all points and, optionally, all nodes except for the root node. Retains the bounds.
Public function void

ExecuteActionOnAllPoints ( TFunction< void(FLidarPointCloudPoint*)> Action,
const bool& bVisibleOnly
)

 Executes the provided action on each of the points.
Public function void

ExecuteActionOnFirstPointByRay ( TFunction< void(FLidarPointCloudPoint*)> Action,
const FLidarPointCloudRay& Ray,
const float& Radius,
bool bVisibleOnly
)

 Executes the provided action on the first point hit by the given ray.
Public function void

ExecuteActionOnPointsByRay ( TFunction< void(FLidarPointCloudPoint*)> Action,
const FLidarPointCloudRay& Ray,
const float& Radius,
bool bVisibleOnly
)

 Executes the provided action on each of the points hit by the given ray.
Public function void

ExecuteActionOnPointsInBox ( TFunction< void(FLidarPointCloudPoint*)> Action,
const FBox& Box,
const bool& bVisibleOnly
)

 Executes the provided action on each of the points within the given box.
Public function void

ExecuteActionOnPointsInSphere ( TFunction< void(FLidarPointCloudPoint*)> Action,
const FSphere& Sphere,
const bool& bVisibleOnly
)

 Executes the provided action on each of the points within the given sphere.
Public function Const int64 Returns the amount of memory used by this Octree, including the BulkData
Public function Const int64 Returns the amount of memory used by this Octree, excluding the BulkData
Public function Const FBox Returns the Cloud bounds.
Public function Const const FTriMeshCollisionData * Returns pointer to the collision data
Public function Const float Returns an estimated spacing between points
Public function Const FVector3f Returns the extent of the Cloud's bounds.
Public function Const int32 Returns the number of different LODs.
Public function Const int32 Returns the total number of nodes.
Public function Const int32 Returns the total number of nodes.
Public function Const int64 Returns the total number of points.
Public function Const int64 Returns the total number of visible points.
Public function Const ULidarPointCloud * Returns a pointer to the Point Cloud asset, which owns this Octree.
Public function void

GetPoints ( TArray64< FLidarPointCloudPoint* >& SelectedPoints,
int64 StartIndex,
int64 Count
)

 Populates the given array with points from the tree
Public function void

GetPoints ( TArray< FLidarPointCloudPoint* >& SelectedPoints,
int64 StartIndex,
int64 Count
)

 Populates the given array with points from the tree
Public function Const void

GetPointsAsCopies ( TArray64< FLidarPointCloudPoint >& SelectedPoints,
const FTransform* LocalToWorld,
int64 StartIndex,
int64 Count
)

 Populates the given array with copies of points from the tree
Public function Const void

GetPointsAsCopies ( TArray< FLidarPointCloudPoint >& SelectedPoints,
const FTransform* LocalToWorld,
int64 StartIndex,
int64 Count
)

 Populates the given array with copies of points from the tree
Public function void Executes the provided action on batches of points.
Public function void

GetPointsInBox ( TArray64< FLidarPointCloudPoint* >& SelectedPoints,
const FBox& Box,
const bool& bVisibleOnly
)

 Populates the array with the list of pointers to points within the given box.
Public function Const void

GetPointsInBox ( TArray< const FLidarPointCloudPoint* >& SelectedPoints,
const FBox& Box,
const bool& bVisibleOnly
)

 Populates the array with the list of pointers to points within the given box.
Public function Const void

GetPointsInBox ( TArray64< const FLidarPointCloudPoint* >& SelectedPoints,
const FBox& Box,
const bool& bVisibleOnly
)

 Populates the array with the list of pointers to points within the given box.
Public function void

GetPointsInBox ( TArray< FLidarPointCloudPoint* >& SelectedPoints,
const FBox& Box,
const bool& bVisibleOnly
)

 Populates the array with the list of pointers to points within the given box.
Public function Const void

GetPointsInBoxAsCopies ( TArray64< FLidarPointCloudPoint >& SelectedPoints,
const FBox& Box,
const bool& bVisibleOnly,
const FTransform* LocalToWorld
)

 Populates the array with the list of pointers to points within the given box.
Public function Const void

GetPointsInBoxAsCopies ( TArray< FLidarPointCloudPoint >& SelectedPoints,
const FBox& Box,
const bool& bVisibleOnly,
const FTransform* LocalToWorld
)

 Populates the array with the list of pointers to points within the given box.
Public function void

GetPointsInConvexVolume ( TArray64< FLidarPointCloudPoint* >& SelectedPoints,
const FConvexVolume& ConvexVolume,
const bool& bVisibleOnly
)

 Populates the array with the list of points within the given convex volume.
Public function void

GetPointsInConvexVolume ( TArray< FLidarPointCloudPoint* >& SelectedPoints,
const FConvexVolume& ConvexVolume,
const bool& bVisibleOnly
)

 Populates the array with the list of points within the given convex volume.
Public function void

GetPointsInSphere ( TArray< FLidarPointCloudPoint* >& SelectedPoints,
const FSphere& Sphere,
const bool& bVisibleOnly
)

 Populates the array with the list of points within the given sphere.
Public function void

GetPointsInSphere ( TArray64< FLidarPointCloudPoint* >& SelectedPoints,
const FSphere& Sphere,
const bool& bVisibleOnly
)

 Populates the array with the list of points within the given sphere.
Public function Const void

GetPointsInSphereAsCopies ( TArray< FLidarPointCloudPoint >& SelectedPoints,
const FSphere& Sphere,
const bool& bVisibleOnly,
const FTransform* LocalToWorld
)

 Populates the array with the list of points within the given sphere.
Public function Const void

GetPointsInSphereAsCopies ( TArray64< FLidarPointCloudPoint >& SelectedPoints,
const FSphere& Sphere,
const bool& bVisibleOnly,
const FTransform* LocalToWorld
)

 Populates the array with the list of points within the given sphere.
Public function IAsyncReadFileHandle *  
Public function Const float Returns the grid cell size at root level.
Public function Const void

GetSelectedPoints ( TArray64< FLidarPointCloudPoint* >& SelectedPoints
)

  
Public function Const void

GetSelectedPointsAsCopies ( TArray64< FLidarPointCloudPoint >& SelectedPoints,
const FTransform& Transform
)

  
Public function Const void

GetSelectedPointsInBox ( TArray64< const FLidarPointCloudPoint* >& SelectedPoints,
const FBox& Box
)

  
Public function Const bool Returns true, if the Octree has collision built
Public function Const bool

HasData ()

 Returns true if the Root node exists and has any data assigned.
Public function Const bool

HasPointsByRay ( const FLidarPointCloudRay& Ray,
const float& Radius,
const bool& bVisibleOnly
)

 Returns true if there are any points hit by the given ray.
Public function Const bool

HasPointsInBox ( const FBox& Box,
const bool& bVisibleOnly
)

 Returns true if there are any points within the given box.
Public function Const bool

HasPointsInSphere ( const FSphere& Sphere,
const bool& bVisibleOnly
)

 Returns true if there are any points within the given sphere.
Public function Const bool  
Public function void

HideAll ()

 Marks all points hidden
Public function void  
Public function void

Initialize ( const FVector3f& InExtent
)

 Initializes the Octree properties.
Public function void

InsertPoint ( const FLidarPointCloudPoint* Point,
ELidarPointCloudDuplicateHandling DuplicateHandling,
bool bRefreshPointsBounds,
const FVector3f& Translation
)

 Inserts the given point into the Octree structure, internally thread-safe.
Public function void

InsertPoints ( const FLidarPointCloudPoint* Points,
const int64& Count,
ELidarPointCloudDuplicateHandling DuplicateHandling,
bool bRefreshPointsBounds,
const FVector3f& Translation
)

 Inserts group of points into the Octree structure, internally thread-safe.
Public function void

InsertPoints ( FLidarPointCloudPoint** Points,
const int64& Count,
ELidarPointCloudDuplicateHandling DuplicateHandling,
bool bRefreshPointsBounds,
const FVector3f& Translation
)

 Inserts group of points into the Octree structure, internally thread-safe.
Public function void

InsertPoints ( FLidarPointCloudPoint* Points,
const int64& Count,
ELidarPointCloudDuplicateHandling DuplicateHandling,
bool bRefreshPointsBounds,
const FVector3f& Translation
)

 Inserts group of points into the Octree structure, internally thread-safe.
Public function void  
Public function Const bool Returns true, if the cloud is fully and persistently loaded.
Public function Const bool  
Public function void

LoadAllNodes ( bool bLoadPersistently
)

 Loads all nodes.
Public function void This should to be called if any manual modification to individual points' visibility has been made.
Public function void Marks render data of all nodes as dirty.
Public function void Marks render data of all nodes within the given convex volume as dirty.
Public function void

MarkRenderDataInSphereDirty ( const FSphere& Sphere
)

 Marks render data of all nodes within the given sphere as dirty.
Public function Const int64  
Public function void  
Public function void  
Public function bool

RaycastMulti ( const FLidarPointCloudRay& Ray,
const float& Radius,
const bool& bVisibleOnly,
const FTransform* LocalToWorld,
TArray< FLidarPointCloudPoint >& OutHits
)

 Performs a raycast test against the point cloud.
Public function bool

RaycastMulti ( const FLidarPointCloudRay& Ray,
const float& Radius,
const bool& bVisibleOnly,
TArray< FLidarPointCloudPoint* >& OutHits
)

 Performs a raycast test against the point cloud.
Public function FLidarPointCloudPoint *

RaycastSingle ( const FLidarPointCloudRay& Ray,
const float& Radius,
const bool& bVisibleOnly
)

 Performs a raycast test against the point cloud. Returns the pointer if hit or nullptr otherwise.
Public function void Recalculates and updates points bounds.
Public function void

RegisterTraversalOctree ( TWeakPtr< FLidarPointCloudTraversalOctree, ESPMode::ThreadSafe > TraversalOctree
)

 Adds the given traversal octree to the list of linked octrees.
Public function void

ReleaseAllNodes ( bool bIncludePersistent
)

 Releases all nodes. Optionally, releases persistent nodes too.
Public function void Removes collision mesh data
Public function void

RemoveFirstPointByRay ( const FLidarPointCloudRay& Ray,
const float& Radius,
const bool& bVisibleOnly
)

 Removes the first point hit by the given ray
Public function void Removes all hidden points
Public function void Attempts to remove the given point.
Public function void Attempts to remove the given point.
Public function void Removes points in bulk
Public function void

RemovePoints ( TArray64< FLidarPointCloudPoint* >& Points
)

 Removes points in bulk
Public function void

RemovePointsByRay ( const FLidarPointCloudRay& Ray,
const float& Radius,
const bool& bVisibleOnly
)

 Removes all points hit by the given ray
Public function void

RemovePointsInBox ( const FBox& Box,
const bool& bVisibleOnly
)

 Removes all points within the given box
Public function void

RemovePointsInSphere ( const FSphere& Sphere,
const bool& bVisibleOnly
)

 Removes all points within the given sphere
Public function void Resets all normals information
Public function void

SelectByConvexVolume ( const FConvexVolume& ConvexVolume,
bool bAdditive,
bool bVisibleOnly
)

  
Public function void

SelectBySphere ( const FSphere& Sphere,
bool bAdditive,
bool bVisibleOnly
)

  
Public function void

SetVisibilityOfFirstPointByRay ( const bool& bNewVisibility,
const FLidarPointCloudRay& Ray,
const float& Radius
)

 Sets visibility of the first point hit by the given ray.
Public function void

SetVisibilityOfPointsByRay ( const bool& bNewVisibility,
const FLidarPointCloudRay& Ray,
const float& Radius
)

 Sets visibility of points hit by the given ray.
Public function void

SetVisibilityOfPointsInBox ( const bool& bNewVisibility,
const FBox& Box
)

 Sets visibility of points within the given box.
Public function void

SetVisibilityOfPointsInSphere ( const bool& bNewVisibility,
const FSphere& Sphere
)

 Sets visibility of points within the given sphere.
Public function void

StreamNodes ( TArray< FLidarPointCloudOctreeNode* >& Nodes,
const float& CurrentTime
)

 Streams requested nodes or extends their lifetime, if already loaded Unloads all unused nodes with expired lifetime
Public function void Marks all points visible
Public function void Removes the given traversal octree from the list

Operators

  Type Name Description
Public function FLidarPointCloudOctree &  
Public function FLidarPointCloudOctree &  

Classes

  Type Name Description
Public struct FSharedLODData Stores shared per-LOD node data.  

Constants

Name Description
MaxBucketSize Maximum number of unallocated points to keep inside the node before they need to be converted in to a full child node
MaxNodeDepth Maximum allowed depth for any node
NodeGridResolution Virtual grid resolution to divide the node into

Deprecated Functions

  Type Name Description
Public function void

GetPointsInFrustum ( TArray64< FLidarPointCloudPoint* >& SelectedPoints,
const FConvexVolume& Frustum,
const bool& bVisibleOnly
)

 Use GetPointsInConvexVolume instead.
Public function void

GetPointsInFrustum ( TArray< FLidarPointCloudPoint* >& SelectedPoints,
const FConvexVolume& Frustum,
const bool& bVisibleOnly
)

 Use GetPointsInConvexVolume instead.
Public function void Use MarkRenderDataInConvexVolumeDirty instead.

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