ULidarScannerLibrary Class Reference

Blueprintable library to simulate Lidar Scanning for Autonomy. More...

#include <LidarScannerLibrary.h>

Inheritance diagram for ULidarScannerLibrary:

Collaboration diagram for ULidarScannerLibrary:

Static Public Member Functions
static TArray< FVector >	ScanForLidarPoints (UObject *WorldContextObject, FVector2D ScanBoundsMin, FVector2D ScanBoundsMax, float TraceZ_Start, float TraceZ_End, float Density)
static TArray< FLidarPoint >	ScanAndGeoreferencePoints (UObject *WorldContextObject, FVector2D ScanBoundsMin, FVector2D ScanBoundsMax, float TraceZ_Start, float TraceZ_End, float Density)
static bool	ExportLidarDataToCSV (const TArray< FLidarPoint > &LidarPoints, const FString &FilePath)
static void	ScanWorldInChunks (UObject *WorldContextObject, FVector2D ScanBoundsMin, FVector2D ScanBoundsMax, float TraceZ_Start, float TraceZ_End, float Density, float ChunkSizeMeters, const FString &OutputDirectory)

Detailed Description

Blueprintable library to simulate Lidar Scanning for Autonomy.

Member Function Documentation

ExportLidarDataToCSV()

bool ULidarScannerLibrary::ExportLidarDataToCSV ( const TArray< FLidarPoint > & LidarPoints, const FString & FilePath )

static

Exports an array of LidarPoint data to a simple CSV text file.

Parameters

LidarPoints	The array of points to export.
FilePath	The full path where the file will be saved (e.g., "C:/LidarScans/MyScan.csv").

Returns

True if the file was written successfully, false otherwise.

ScanAndGeoreferencePoints()

TArray< FLidarPoint > ULidarScannerLibrary::ScanAndGeoreferencePoints ( UObject * WorldContextObject, FVector2D ScanBoundsMin, FVector2D ScanBoundsMax, float TraceZ_Start, float TraceZ_End, float Density )

static

Performs a grid-based ray trace over a specified area to generate a georeferenced point cloud.

Parameters

WorldContextObject	The world context.
ScanBoundsMin	The minimum corner of the 2D scan area (X, Y).
ScanBoundsMax	The maximum corner of the 2D scan area (X, Y).
TraceZ_Start	The Z-height to start traces from.
TraceZ_End	The Z-height to end traces at.
Density	The desired number of points per square meter.

Returns

An array of FLidarPoint structs containing georeferenced coordinates and classification.

ScanForLidarPoints()

TArray< FVector > ULidarScannerLibrary::ScanForLidarPoints ( UObject * WorldContextObject, FVector2D ScanBoundsMin, FVector2D ScanBoundsMax, float TraceZ_Start, float TraceZ_End, float Density )

static

Performs a grid-based ray trace over a specified area to generate a point cloud.

Parameters

WorldContextObject	The world context.
ScanBoundsMin	The minimum corner of the 2D scan area (X, Y).
ScanBoundsMax	The maximum corner of the 2D scan area (X, Y).
TraceZ_Start	The Z-height to start traces from.
TraceZ_End	The Z-height to end traces at.
Density	The desired number of points per square meter.

Returns

An array of FVectors representing the hit locations.

ScanWorldInChunks()

void ULidarScannerLibrary::ScanWorldInChunks ( UObject * WorldContextObject, FVector2D ScanBoundsMin, FVector2D ScanBoundsMax, float TraceZ_Start, float TraceZ_End, float Density, float ChunkSizeMeters, const FString & OutputDirectory )

static

Scans a large area in manageable chunks and exports each chunk's data to separate CSV files.

Parameters

WorldContextObject	The world context.
ScanBoundsMin	The minimum corner of the overall 2D scan area (X, Y).
ScanBoundsMax	The maximum corner of the overall 2D scan area (X, Y).
TraceZ_Start	The Z-height to start traces from.
TraceZ_End	The Z-height to end traces at.
Density	The desired number of points per square meter.
ChunkSizeMeters	The size of each chunk in meters (e.g., 200 for 200x200m chunks).
OutputDirectory	The directory where all chunk files will be saved.

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

• Source/RoveSoSimulator/Public/Components/LidarScannerLibrary.h
• Source/RoveSoSimulator/Private/Components/LidarScannerLibrary.cpp