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update:数据加载保存优化

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YangSn 2026-10-28 10:26:03 +08:00
parent 8d831c08b0
commit db52f11dd0
2 changed files with 106 additions and 99 deletions
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4
CloudUtils/Inc/LaserDataLoader.h
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@ -4,6 +4,7 @@
#include <vector> #include <vector>
#include <string> #include <string>
#include <functional> #include <functional>
#include <iosfwd>
#include "VZNL_Types.h" #include "VZNL_Types.h"
#include "VrError.h" #include "VrError.h"
#include "PointCloudXYZRange.h" #include "PointCloudXYZRange.h"
@ -102,6 +103,9 @@ public:
int maxTimeStamp, int maxTimeStamp,
int clockPerSecond); int clockPerSecond);
static bool WriteLaserScanLine(std::ostream& stream, EVzResultDataType dataType,
const SVzLaserLineData& lineData);
int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData); int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData);
int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData, int DebugSaveLaser(std::string fileName, std::vector<std::vector<SVzNL3DPosition>> xyzData,
ISaveProgressCallback* callback); ISaveProgressCallback* callback);

193
CloudUtils/Src/LaserDataLoader.cpp
View File

@ -1017,104 +1017,12 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
sw << "PointAdjust: 1" << '\n'; sw << "PointAdjust: 1" << '\n';
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << '\n'; sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << '\n';
// 写入每条扫描线数据
for (const auto& linePair : laserLines) { for (const auto& linePair : laserLines) {
if (!WriteLaserScanLine(sw, linePair.first, linePair.second)) {
EVzResultDataType dataType = linePair.first; m_lastError = "Failed while writing laser line";
const SVzLaserLineData& lineData = linePair.second; return ERR_CODE(FILE_ERR_WRITE);
sw << "Line_" << lineData.llFrameIdx << "_" << lineData.llTimeStamp << "_" << lineData.nPointCount << '\n';
// 根据数据类型写入点云数据
if (dataType == keResultDataType_Position && lineData.p3DPoint) {
// 写入XYZ格式数据
const SVzNL3DPosition* points = static_cast<const SVzNL3DPosition*>(lineData.p3DPoint);
const SVzNL2DPosition* points2D = static_cast<const SVzNL2DPosition*>(lineData.p2DPoint);
constexpr int BATCH = 256;
constexpr int PER_POINT = 128;
for (int base = 0; base < lineData.nPointCount; base += BATCH) {
int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
std::string buffer;
buffer.reserve(BATCH * PER_POINT);
for (int i = base; i < end; ++i) {
float x = static_cast<float>(points[i].pt3D.x);
float y = static_cast<float>(points[i].pt3D.y);
float z = static_cast<float>(points[i].pt3D.z);
AppendFormattedLine(buffer, "{ %.6f,%.6f,%.6f }-{ %d,%d }-{ %d,%d }\n",
x, y, z,
points2D[i].ptLeft2D.x, points2D[i].ptLeft2D.y,
points2D[i].ptRight2D.x, points2D[i].ptRight2D.y);
}
sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
}
} else if (dataType == keResultDataType_PositionF && lineData.p3DPoint) {
const SVzNL3DPosition* points = static_cast<const SVzNL3DPosition*>(lineData.p3DPoint);
const SVzNL2DPositionF* points2D = static_cast<const SVzNL2DPositionF*>(lineData.p2DPoint);
constexpr int BATCH = 256;
constexpr int PER_POINT = 160;
for (int base = 0; base < lineData.nPointCount; base += BATCH) {
int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
std::string buffer;
buffer.reserve(BATCH * PER_POINT);
for (int i = base; i < end; ++i) {
AppendFormattedLine(buffer,
"{ %.9f, %.9f, %.9f } - { %.6f, %.6f } - { %.6f, %.6f }\n",
points[i].pt3D.x, points[i].pt3D.y, points[i].pt3D.z,
points2D ? points2D[i].ptLeft2D.x : 0.0f,
points2D ? points2D[i].ptLeft2D.y : 0.0f,
points2D ? points2D[i].ptRight2D.x : 0.0f,
points2D ? points2D[i].ptRight2D.y : 0.0f);
}
sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
}
} else if (dataType == keResultDataType_PointXYZI && lineData.p3DPoint) {
// LiDAR 点云：snprintf 批量写入，每 256 点 flush
// 坐标 mm 范围可达 ±200000 → "%.6f" 最长 14 字符 → 整行 ≤73 字符
const SVzNLPointXYZI* points = static_cast<const SVzNLPointXYZI*>(lineData.p3DPoint);
const int n = lineData.nPointCount;
constexpr int BATCH = 256;
constexpr int PER_POINT = 80;
char buf[BATCH * PER_POINT];
for (int base = 0; base < n; base += BATCH)
{
int end = (base + BATCH < n) ? (base + BATCH) : n;
char* p = buf;
for (int i = base; i < end; ++i)
{
p += snprintf(p, PER_POINT, "{ %.6f, %.6f, %.6f } - { 0, 0 } - { 0, 0 }\n",
points[i].fData[0], points[i].fData[1], points[i].fData[2]);
}
sw.write(buf, p - buf);
}
} else if (dataType == keResultDataType_PointXYZRGBA && lineData.p3DPoint) {
// 写入RGBD格式数据
const SVzNLPointXYZRGBA* points = static_cast<const SVzNLPointXYZRGBA*>(lineData.p3DPoint);
const SVzNL2DLRPoint* points2D = static_cast<const SVzNL2DLRPoint*>(lineData.p2DPoint);
constexpr int BATCH = 256;
constexpr int PER_POINT = 160;
for (int base = 0; base < lineData.nPointCount; base += BATCH) {
int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
std::string buffer;
buffer.reserve(BATCH * PER_POINT);
for (int i = base; i < end; ++i) {
float x = static_cast<float>(points[i].x);
float y = static_cast<float>(points[i].y);
float z = static_cast<float>(points[i].z);
int r = (points[i].nRGB >> 16) & 0xFF;
int g = (points[i].nRGB >> 8) & 0xFF;
int b = points[i].nRGB & 0xFF;
AppendFormattedLine(buffer, "{%.6f,%.6f,%.6f,%.6f,%.6f,%.6f}-{ %d,%d }-{ %d,%d }\n",
x, y, z,
b * 1.0f / 255, g * 1.0f / 255, r * 1.0f / 255,
points2D[i].sLeft.x, points2D[i].sLeft.y,
points2D[i].sRight.x, points2D[i].sRight.y);
}
sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
}
} }
} }
sw.flush(); sw.flush();
if (!sw.good()) { if (!sw.good()) {
m_lastError = "Failed while writing file: " + fileName; m_lastError = "Failed while writing file: " + fileName;
@ -1137,6 +1045,101 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
} }
} }
bool LaserDataLoader::WriteLaserScanLine(std::ostream& sw, EVzResultDataType dataType,
const SVzLaserLineData& lineData)
{
if (lineData.nPointCount < 0 || (lineData.nPointCount > 0 && !lineData.p3DPoint)) return false;
if (dataType != keResultDataType_Position && dataType != keResultDataType_PositionF &&
dataType != keResultDataType_PointXYZI && dataType != keResultDataType_PointXYZRGBA) return false;
sw << "Line_" << lineData.llFrameIdx << "_" << lineData.llTimeStamp << "_" << lineData.nPointCount << '\n';
if (dataType == keResultDataType_Position && lineData.p3DPoint) {
const SVzNL3DPosition* points = static_cast<const SVzNL3DPosition*>(lineData.p3DPoint);
const SVzNL2DPosition* points2D = static_cast<const SVzNL2DPosition*>(lineData.p2DPoint);
constexpr int BATCH = 256;
constexpr int PER_POINT = 128;
for (int base = 0; base < lineData.nPointCount; base += BATCH) {
int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
std::string buffer;
buffer.reserve(BATCH * PER_POINT);
for (int i = base; i < end; ++i) {
float x = static_cast<float>(points[i].pt3D.x);
float y = static_cast<float>(points[i].pt3D.y);
float z = static_cast<float>(points[i].pt3D.z);
AppendFormattedLine(buffer, "{ %.6f,%.6f,%.6f }-{ %d,%d }-{ %d,%d }\n",
x, y, z,
points2D ? points2D[i].ptLeft2D.x : 0, points2D ? points2D[i].ptLeft2D.y : 0,
points2D ? points2D[i].ptRight2D.x : 0, points2D ? points2D[i].ptRight2D.y : 0);
}
sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
}
} else if (dataType == keResultDataType_PositionF && lineData.p3DPoint) {
const SVzNL3DPosition* points = static_cast<const SVzNL3DPosition*>(lineData.p3DPoint);
const SVzNL2DPositionF* points2D = static_cast<const SVzNL2DPositionF*>(lineData.p2DPoint);
constexpr int BATCH = 256;
constexpr int PER_POINT = 160;
for (int base = 0; base < lineData.nPointCount; base += BATCH) {
int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
std::string buffer;
buffer.reserve(BATCH * PER_POINT);
for (int i = base; i < end; ++i) {
AppendFormattedLine(buffer,
"{ %.9f, %.9f, %.9f } - { %.6f, %.6f } - { %.6f, %.6f }\n",
points[i].pt3D.x, points[i].pt3D.y, points[i].pt3D.z,
points2D ? points2D[i].ptLeft2D.x : 0.0f,
points2D ? points2D[i].ptLeft2D.y : 0.0f,
points2D ? points2D[i].ptRight2D.x : 0.0f,
points2D ? points2D[i].ptRight2D.y : 0.0f);
}
sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
}
} else if (dataType == keResultDataType_PointXYZI && lineData.p3DPoint) {
const SVzNLPointXYZI* points = static_cast<const SVzNLPointXYZI*>(lineData.p3DPoint);
const int n = lineData.nPointCount;
constexpr int BATCH = 256;
constexpr int PER_POINT = 80;
char buf[BATCH * PER_POINT];
for (int base = 0; base < n; base += BATCH)
{
int end = (base + BATCH < n) ? (base + BATCH) : n;
char* p = buf;
for (int i = base; i < end; ++i)
{
p += snprintf(p, PER_POINT, "{ %.6f, %.6f, %.6f } - { 0, 0 } - { 0, 0 }\n",
points[i].fData[0], points[i].fData[1], points[i].fData[2]);
}
sw.write(buf, p - buf);
}
} else if (dataType == keResultDataType_PointXYZRGBA && lineData.p3DPoint) {
const SVzNLPointXYZRGBA* points = static_cast<const SVzNLPointXYZRGBA*>(lineData.p3DPoint);
const SVzNL2DLRPoint* points2D = static_cast<const SVzNL2DLRPoint*>(lineData.p2DPoint);
constexpr int BATCH = 256;
constexpr int PER_POINT = 160;
for (int base = 0; base < lineData.nPointCount; base += BATCH) {
int end = (base + BATCH < lineData.nPointCount) ? (base + BATCH) : lineData.nPointCount;
std::string buffer;
buffer.reserve(BATCH * PER_POINT);
for (int i = base; i < end; ++i) {
float x = static_cast<float>(points[i].x);
float y = static_cast<float>(points[i].y);
float z = static_cast<float>(points[i].z);
int r = (points[i].nRGB >> 16) & 0xFF;
int g = (points[i].nRGB >> 8) & 0xFF;
int b = points[i].nRGB & 0xFF;
AppendFormattedLine(buffer, "{%.6f,%.6f,%.6f,%.6f,%.6f,%.6f}-{ %d,%d }-{ %d,%d }\n",
x, y, z,
b * 1.0f / 255, g * 1.0f / 255, r * 1.0f / 255,
points2D ? points2D[i].sLeft.x : 0, points2D ? points2D[i].sLeft.y : 0,
points2D ? points2D[i].sRight.x : 0, points2D ? points2D[i].sRight.y : 0);
}
sw.write(buffer.data(), static_cast<std::streamsize>(buffer.size()));
}
}
return sw.good();
}
int LaserDataLoader::SaveLaserScanDataBinary( int LaserDataLoader::SaveLaserScanDataBinary(
const std::string& fileName, const std::string& fileName,
const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines, const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,