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  3. FLidarPointCloudOctree

FLidarPointCloudOctree

Used for efficient handling of point cloud data.

API > API/Plugins > API/Plugins/LidarPointCloudRuntime

Used for efficient handling of point cloud data.

   
Name FLidarPointCloudOctree
Type class
Header File /Engine/Plugins/Enterprise/LidarPointCloud/Source/LidarPointCloudRuntime/Public/LidarPointCloudOctree.h
Include Path #include "LidarPointCloudOctree.h"

Syntax

class FLidarPointCloudOctree

Constructors

Name Remarks Include Path Unreal Specifiers
  LidarPointCloudOctree.h  
  LidarPointCloudOctree.h  
  LidarPointCloudOctree.h  
  LidarPointCloudOctree.h  

Destructors

Name Remarks Include Path Unreal Specifiers

~FLidarPointCloudOctree()

   LidarPointCloudOctree.h  

Structs

Name Remarks
FLidarPointCloudBulkData  
FSharedLODData Stores shared per-LOD node data.

Constants

Name Type Remarks Include Path
MaxBucketSize int32 Maximum number of unallocated points to keep inside the node before they need to be converted in to a full child node LidarPointCloudOctree.h
MaxNodeDepth int32 Maximum allowed depth for any node LidarPointCloudOctree.h
NodeGridResolution int32 Virtual grid resolution to divide the node into LidarPointCloudOctree.h

Variables

Public

Name Type Remarks Include Path Unreal Specifiers
DataLock FCriticalSection Used for thread safety between rendering and asset operations. LidarPointCloudOctree.h  
DataReleaseLock FCriticalSection Used to prevent auto-release of nodes if they are in use by other threads LidarPointCloudOctree.h  

Protected

Name Type Remarks Include Path Unreal Specifiers
bIsFullyLoaded bool Set to true when the Octree is persistently force-loaded. LidarPointCloudOctree.h  
bStreamingBusy TAtomic< bool >   LidarPointCloudOctree.h  
BulkData FByteBulkData   LidarPointCloudOctree.h  
CollisionMesh FTriMeshCollisionData Stores collision mesh data LidarPointCloudOctree.h  
Extent FVector3f Extent of this Cloud. LidarPointCloudOctree.h  
FLidarPointCloudOctreeNode friend   LidarPointCloudOctree.h  
FLidarPointCloudTraversalOctree friend   LidarPointCloudOctree.h  
LinkedTraversalOctrees TArray< TWeakPtr< FLidarPointCloudTraversalOctree, ESPMode::ThreadSafe > > Used to notify any linked traversal octrees when they need to re-generate the data. LidarPointCloudOctree.h  
NodeCount TArray< FThreadSafeCounter > Stores number of nodes per each LOD. LidarPointCloudOctree.h  
NodesInUse TArray< FLidarPointCloudOctreeNode * >   LidarPointCloudOctree.h  
Owner ULidarPointCloud * Pointer to the owner of this Octree LidarPointCloudOctree.h  
PointCount TArray< FThreadSafeCounter64 > Stores number of points per each LOD. LidarPointCloudOctree.h  
PreviousAllocatedSize int64   LidarPointCloudOctree.h  
PreviousAllocatedStructureSize int64   LidarPointCloudOctree.h  
PreviousNodeCount int32 Used to cache the Allocated Size. LidarPointCloudOctree.h  
PreviousPointCount int64   LidarPointCloudOctree.h  
QueuedNodes TQueue< FLidarPointCloudOctreeNode * >   LidarPointCloudOctree.h  
ReadHandle IAsyncReadFileHandle *   LidarPointCloudOctree.h  
Root FLidarPointCloudOctreeNode *   LidarPointCloudOctree.h  
SavingBulkData FLidarPointCloudOctree::FLidarPointCloudBulkData   LidarPointCloudOctree.h  
SharedData TArray< FSharedLODData > Stores shared per-LOD node data. LidarPointCloudOctree.h  

Functions

Public

Name Remarks Include Path Unreal Specifiers

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

 Applies the given color to all points LidarPointCloudOctree.h  

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 LidarPointCloudOctree.h  

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 LidarPointCloudOctree.h  

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

 Applies the given color to all points within the box LidarPointCloudOctree.h  

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

 Applies the given color to all points within the sphere LidarPointCloudOctree.h  

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

 Builds collision using the accuracy provided LidarPointCloudOctree.h  

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

 Constructs and returns the MeshBuffers struct from the data LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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 LidarPointCloudOctree.h  

void ClearSelection()

   LidarPointCloudOctree.h  

void CloseReadHandle()

   LidarPointCloudOctree.h  

void DeleteSelected()

   LidarPointCloudOctree.h  

void Empty ( bool bDestroyNodes
)

 Removes all points and, optionally, all nodes except for the root node. Retains the bounds. LidarPointCloudOctree.h  

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

 Executes the provided action on each of the points. LidarPointCloudOctree.h  

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. LidarPointCloudOctree.h  

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. LidarPointCloudOctree.h  

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. LidarPointCloudOctree.h  

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. LidarPointCloudOctree.h  

int64 GetAllocatedSize()

 Returns the amount of memory used by this Octree, including the BulkData LidarPointCloudOctree.h  

int64 GetAllocatedStructureSize()

 Returns the amount of memory used by this Octree, excluding the BulkData LidarPointCloudOctree.h  

FBox GetBounds()

 Returns the Cloud bounds. LidarPointCloudOctree.h  

const FTriMeshCollisionData * GetCollisionData()

 Returns pointer to the collision data LidarPointCloudOctree.h  

float GetEstimatedPointSpacing()

 Returns an estimated spacing between points LidarPointCloudOctree.h  

FVector3f GetExtent()

 Returns the extent of the Cloud's bounds. LidarPointCloudOctree.h  

int32 GetNumLODs()

 Returns the number of different LODs. LidarPointCloudOctree.h  

int32 GetNumNodes()

 Returns the total number of nodes. LidarPointCloudOctree.h  

int32 GetNumNodesInUse()

 Returns the total number of nodes. LidarPointCloudOctree.h  

int64 GetNumPoints()

 Returns the total number of points. LidarPointCloudOctree.h  

int64 GetNumVisiblePoints()

 Returns the total number of visible points. LidarPointCloudOctree.h  

ULidarPointCloud * GetOwner()

 Returns a pointer to the Point Cloud asset, which owns this Octree. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Populates the given array with points from the tree LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Populates the given array with copies of points from the tree LidarPointCloudOctree.h  

void GetPointsAsCopiesInBatches ( TFunction< void(TSharedPtr< TArray64< FLidarPointCloudPoint > >)> Action,
const int64& BatchSize,
const bool& bVisibleOnly
)

 Executes the provided action on batches of points. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Populates the array with the list of pointers to points within the given box. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Populates the array with the list of pointers to points within the given box. LidarPointCloudOctree.h  

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

 Populates the array with the list of points within the given convex volume. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Populates the array with the list of points within the given sphere. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Populates the array with the list of points within the given sphere. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

IAsyncReadFileHandle * GetReadHandle()

   LidarPointCloudOctree.h  

float GetRootCellSize()

 Returns the grid cell size at root level. LidarPointCloudOctree.h  

void GetSelectedPoints ( TArray64< FLidarPointCloudPoint* >& SelectedPoints
) const

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

bool HasCollisionData()

 Returns true, if the Octree has collision built LidarPointCloudOctree.h  

bool HasData()

 Returns true if the Root node exists and has any data assigned. LidarPointCloudOctree.h  

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

 Returns true if there are any points hit by the given ray. LidarPointCloudOctree.h  

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

 Returns true if there are any points within the given box. LidarPointCloudOctree.h  

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

 Returns true if there are any points within the given sphere. LidarPointCloudOctree.h  

bool HasSelectedPoints()

   LidarPointCloudOctree.h  

void HideAll()

 Marks all points hidden LidarPointCloudOctree.h  

void HideSelected()

   LidarPointCloudOctree.h  

void Initialize ( const FVector3f& InExtent
)

 Initializes the Octree properties. LidarPointCloudOctree.h  

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

 Inserts the given point into the Octree structure, internally thread-safe. LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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. LidarPointCloudOctree.h  

void InvertSelection()

   LidarPointCloudOctree.h  

bool IsFullyLoaded()

 Returns true, if the cloud is fully and persistently loaded. LidarPointCloudOctree.h  

bool IsOptimizedForDynamicData()

   LidarPointCloudOctree.h  

void LoadAllNodes ( bool bLoadPersistently
)

 Loads all nodes. LidarPointCloudOctree.h  
This should to be called if any manual modification to individual points' visibility has been made. LidarPointCloudOctree.h  

void MarkRenderDataDirty()

 Marks render data of all nodes as dirty. LidarPointCloudOctree.h  

void MarkRenderDataInConvexVolumeDirty ( const FConvexVolume& ConvexVolume
)

 Marks render data of all nodes within the given convex volume as dirty. LidarPointCloudOctree.h  

void MarkRenderDataInFrustumDirty ( const FConvexVolume& Frustum
)

   LidarPointCloudOctree.h  

void MarkRenderDataInSphereDirty ( const FSphere& Sphere
)

 Marks render data of all nodes within the given sphere as dirty. LidarPointCloudOctree.h  

int64 NumSelectedPoints()

   LidarPointCloudOctree.h  

void OptimizeForDynamicData()

   LidarPointCloudOctree.h  

void OptimizeForStaticData()

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Performs a raycast test against the point cloud. LidarPointCloudOctree.h  

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. LidarPointCloudOctree.h  

void RefreshBounds()

 Recalculates and updates points bounds. LidarPointCloudOctree.h  

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

 Adds the given traversal octree to the list of linked octrees. LidarPointCloudOctree.h  

void ReleaseAllNodes ( bool bIncludePersistent
)

 Releases all nodes. Optionally, releases persistent nodes too. LidarPointCloudOctree.h  

void RemoveCollision()

 Removes collision mesh data LidarPointCloudOctree.h  

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

 Removes the first point hit by the given ray LidarPointCloudOctree.h  

void RemoveHiddenPoints()

 Removes all hidden points LidarPointCloudOctree.h  

void RemovePoint ( const FLidarPointCloudPoint* Point
)

 Attempts to remove the given point. LidarPointCloudOctree.h  
  LidarPointCloudOctree.h  

void RemovePoints ( TArray< FLidarPointCloudPoint* >& Points
)

 Removes points in bulk LidarPointCloudOctree.h  

void RemovePoints ( TArray64< FLidarPointCloudPoint* >& Points
)

   LidarPointCloudOctree.h  

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

 Removes all points hit by the given ray LidarPointCloudOctree.h  

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

 Removes all points within the given box LidarPointCloudOctree.h  

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

 Removes all points within the given sphere LidarPointCloudOctree.h  

void ResetNormals()

 Resets all normals information LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

   LidarPointCloudOctree.h  

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

 Sets visibility of the first point hit by the given ray. LidarPointCloudOctree.h  

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

 Sets visibility of points hit by the given ray. LidarPointCloudOctree.h  

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

 Sets visibility of points within the given box. LidarPointCloudOctree.h  

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

 Sets visibility of points within the given sphere. LidarPointCloudOctree.h  

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 LidarPointCloudOctree.h  

void UnhideAll()

 Marks all points visible LidarPointCloudOctree.h  

void UnregisterTraversalOctree ( FLidarPointCloudTraversalOctree* TraversalOctree
)

 Removes the given traversal octree from the list LidarPointCloudOctree.h  

Operators

Name Remarks Include Path Unreal Specifiers
  LidarPointCloudOctree.h  
  LidarPointCloudOctree.h  

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