Added some plugin source and content files.

.gitignore

@@ -2,5 +2,9 @@
 /Saved
 /.vs
 /Binaries
-/Plugins
 /ThirdParty
+/Plugins/UnrealEnginePython
+/Plugins/GPUPointCloudRenderer/Binaries
+/Plugins/GPUPointCloudRenderer/Intermediate
+/Plugins/PointCloudPlugin/Binaries
+/Plugins/PointCloudPlugin/Intermediate
\ No newline at end of file

Plugins/GPUPointCloudRenderer/.gitignore

+/Binaries
+
+/Intermediate
+
+*.lib

Plugins/GPUPointCloudRenderer/GPUPointCloudRenderer.uplugin

+{
+  "FileVersion": 3,
+  "Version": 1,
+  "VersionName": "1.0",
+  "EngineVersion": "4.21.0",
+  "FriendlyName": "GPU Point Cloud Renderer",
+  "Description": "A GPU-powered point cloud renderer.",
+  "Category": "Rendering",
+  "CreatedBy": "Valentin Kraft",
+  "CreatedByURL": "http://www.valentinkraft.de",
+  "DocsURL": "",
+  "MarketplaceURL": "",
+  "SupportURL": "",
+  "EnabledByDefault": false,
+  "CanContainContent": true,
+  "IsBetaVersion": false,
+  "Installed": false,
+  "WhitelistPlatforms": [ "Win64" ],
+  "Modules": [
+    {
+      "Name": "GPUPointCloudRenderer",
+      "Type": "Runtime",
+      "LoadingPhase": "PreDefault"
+    },
+    {
+      "Name": "GPUPointCloudRendererEditor",
+      "Type": "Runtime",
+      "LoadingPhase": "Default"
+    }
+  ]
+}
\ No newline at end of file

Plugins/GPUPointCloudRenderer/LICENSE

+MIT License
+
+Copyright (c) 2018 
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

Plugins/GPUPointCloudRenderer/README.md

+**Unreal Engine GPU Point Cloud Renderer**
+
+This is a GPU-based Plugin for Real-Time rendering of dynamic and massive point cloud data in Unreal. This project is still under development and not (yet) a finalised plugin.
+
+__This plugin is only for rendering point clouds and does NOT load point cloud files or visualise Kinect data.__
+__For loading PCD files, processing point clouds with PCL or fetching data from a Kinect, another plugin will follow soon.__
+
+Currently supported Unreal Versions:
+* __UE4.21__
+* UE4.19 (see other branch)
+
+The ComputeShader-powered version for proper in-place depth-ordering of the points is still in development (see other branch).
+
+__Basics Tutorial:__
+
+[![Tutorial](https://img.youtube.com/vi/95rdEG5H8sI/0.jpg)](https://www.youtube.com/watch?v=95rdEG5H8sI)
+
+__Demo - Huge static point cloud:__
+
+[![Demo](https://img.youtube.com/vi/5LH6IZdmxK4/0.jpg)](https://www.youtube.com/watch?v=5LH6IZdmxK4)
+
+__Demo - Kinect live stream:__
+
+[![Demo](https://img.youtube.com/vi/LZwG054LC4A/0.jpg)](https://www.youtube.com/watch?v=LZwG054LC4A)

Plugins/GPUPointCloudRenderer/Source/GPUPointCloudRenderer/GPUPointCloudRenderer.Build.cs

+// Copyright 1998-2017 Epic Games, Inc. All Rights Reserved.
+
+using System.IO;
+using System;
+
+namespace UnrealBuildTool.Rules
+{
+    public class GPUPointCloudRenderer : ModuleRules
+    {
+        private string ModulePath
+        {
+            get { return ModuleDirectory; }
+        }
+
+        private string ThirdPartyPath
+        {
+            get { return Path.GetFullPath(Path.Combine(ModulePath, "../ThirdParty/")); }
+        }
+
+        private string BinariesPath
+        {
+            get { return Path.GetFullPath(Path.Combine(ModulePath, "../../Binaries/")); }
+        }
+
+        public GPUPointCloudRenderer(ReadOnlyTargetRules Target) : base(Target)
+        {
+            PrivateIncludePaths.Add("GPUPointCloudRenderer/Private");
+            PublicIncludePaths.Add("GPUPointCloudRenderer/Public");
+
+            PublicDependencyModuleNames.AddRange(new string[] { "Core", "CoreUObject", "Engine", "InputCore", "RHI" });
+            PrivateDependencyModuleNames.AddRange(new string[] { "Core", "Projects" });
+
+        }
+    }
+}

Plugins/GPUPointCloudRenderer/Source/GPUPointCloudRenderer/Private/IGPUPointCloudRenderer.cpp

+/*************************************************************************************************
+* Written by Valentin Kraft <valentin.kraft@online.de>, http://www.valentinkraft.de, 2018
+**************************************************************************************************/
+
+#include "CoreMinimal.h"
+#include "PointCloudStreamingCore.h"
+#include "Modules/ModuleManager.h"
+#include "IGPUPointCloudRenderer.h"
+
+class FGPUPointCloudRendererPlugin : public IGPUPointCloudRenderer
+{
+
+	virtual void StartupModule() override
+	{
+	}
+
+	virtual void ShutdownModule() override
+	{
+	}
+
+	/**
+	* Returns a instance of the Point Cloud Core class.
+	*/
+	FPointCloudStreamingCore* CreateStreamingInstance(UMaterialInstanceDynamic* pointCloudShaderDynInstance) {
+		return new FPointCloudStreamingCore(pointCloudShaderDynInstance);
+	}
+};
+
+IMPLEMENT_MODULE(FGPUPointCloudRendererPlugin, GPUPointCloudRenderer)

Plugins/GPUPointCloudRenderer/Source/GPUPointCloudRenderer/Private/PointCloudStreamingCore.cpp

+/*************************************************************************************************
+* Written by Valentin Kraft <valentin.kraft@online.de>, http://www.valentinkraft.de, 2018
+**************************************************************************************************/
+
+#include "CoreMinimal.h"
+#include "PointCloudStreamingCore.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "Engine/World.h"
+#include "App.h"
+#include "Runtime/Engine/Classes/Materials/MaterialInstanceDynamic.h"
+//#include "ComputeShaderUsageExample.h"
+//#include "PixelShaderUsageExample.h"
+
+using namespace std;
+#undef UpdateResource
+
+DECLARE_CYCLE_STAT(TEXT("Update Texture Regions"), STAT_UpdateTextureRegions, STATGROUP_GPUPCR);
+DECLARE_CYCLE_STAT(TEXT("Sort Point Cloud Data"), STAT_SortPointCloudData, STATGROUP_GPUPCR);
+DECLARE_CYCLE_STAT(TEXT("Update Shader Textures"), STAT_UpdateShaderTextures, STATGROUP_GPUPCR);
+
+
+//////////////////////
+// MAIN FUNCTIONS ////
+//////////////////////
+
+void FPointCloudStreamingCore::AddSnapshot(TArray<FLinearColor> &pointPositions, TArray<uint8> &pointColors, FVector offsetTranslation, FRotator offsetRotation) {
+
+	check(pointPositions.Num() * 4 == pointColors.Num());
+
+	if (mGlobalStreamCounter + pointPositions.Num() >= MAXTEXRES * MAXTEXRES)
+		return;
+	if (mDeltaTime < mStreamCaptureSteps)
+		return;
+
+	Initialize(MAXTEXRES * MAXTEXRES);
+	InitPointPosBuffer();
+	InitColorBuffer();
+
+	FVector tempPos;
+
+	for (int i = 0; i < pointPositions.Num(); ++i) {
+		
+		// Transform point
+		tempPos = FVector(pointPositions[i].G, pointPositions[i].B, pointPositions[i].R);
+		tempPos = offsetRotation.RotateVector(tempPos);
+		tempPos += offsetTranslation;
+
+		// Add current data to buffer
+		if (mPointPosData.IsValidIndex(i)) {
+			mPointPosData[mGlobalStreamCounter + i].A = tempPos.Z;
+			mPointPosData[mGlobalStreamCounter + i].G = tempPos.X;
+			mPointPosData[mGlobalStreamCounter + i].B = tempPos.Y;
+			mPointPosData[mGlobalStreamCounter + i].R = tempPos.Z;
+		}
+		if (mPointColorData.IsValidIndex(mGlobalStreamCounter + i)) {
+			mPointColorData[(mGlobalStreamCounter + i) * 4] = pointColors[i * 4];
+			mPointColorData[(mGlobalStreamCounter + i) * 4 + 1] = pointColors[i * 4 + 1];
+			mPointColorData[(mGlobalStreamCounter + i) * 4 + 2] = pointColors[i * 4 + 2];
+			mPointColorData[(mGlobalStreamCounter + i) * 4 + 3] = pointColors[i * 4 + 3];
+		}
+	}
+
+	mGlobalStreamCounter += pointPositions.Num();
+	mPointCount = mGlobalStreamCounter;
+
+	UpdateTextureBuffer();
+	mDeltaTime = 0.f;
+}
+
+bool FPointCloudStreamingCore::SetInput(TArray<FLinearColor> &pointPositions, TArray<uint8> &pointColors) {
+
+	check(pointPositions.Num() * 4 == pointColors.Num());
+
+	if (pointColors.Num() < pointPositions.Num() * 4)
+		pointColors.SetNumZeroed(pointPositions.Num() * 4);
+
+	Initialize(pointPositions.Num());
+	mPointPosDataPointer = &pointPositions;
+	mPointColorDataPointer = &pointColors;
+
+	// Resize arrays with zero values if neccessary
+	if (pointPositions.Num() < (int32)mPointCount)
+		pointPositions.SetNumZeroed(mPointCount);
+	if (pointColors.Num() < (int32)mPointCount*4)
+		pointColors.SetNumZeroed(mPointCount*4);
+
+	return UpdateTextureBuffer();
+}
+
+bool FPointCloudStreamingCore::SetInput(TArray<FLinearColor> &pointPositions, TArray<FColor> &pointColors) {
+
+	ensure(pointPositions.Num() == pointColors.Num());
+
+	Initialize(pointPositions.Num());
+	InitColorBuffer();
+
+	for (int i = 0; i < pointColors.Num(); ++i) {
+
+		mPointColorData[i * 4] = pointColors[i].R;
+		mPointColorData[i * 4 + 1] = pointColors[i].G;
+		mPointColorData[i * 4 + 2] = pointColors[i].B;
+		mPointColorData[i * 4 + 3] = pointColors[i].A;
+	}
+	mPointPosDataPointer = &pointPositions;
+
+	// Resize arrays with zero values if neccessary
+	if (pointPositions.Num() < (int32)mPointCount)
+		pointPositions.SetNumZeroed(mPointCount);
+
+	return UpdateTextureBuffer();
+}
+
+bool FPointCloudStreamingCore::SetInput(TArray<FVector> &pointPositions, TArray<FColor> &pointColors) {
+
+	ensure(pointPositions.Num() == pointColors.Num());
+
+	Initialize(pointPositions.Num());
+	InitPointPosBuffer();
+	InitColorBuffer();
+
+	for (int i = 0; i < pointPositions.Num(); ++i) {
+
+		mPointPosData[i].A = pointPositions[i].Z;	//#ToDo: Improve (bottleneck!?)
+		mPointPosData[i].G = pointPositions[i].X;
+		mPointPosData[i].B = pointPositions[i].Y;
+		mPointPosData[i].R = pointPositions[i].Z;
+	}
+
+	for (int i = 0; i < pointColors.Num(); ++i) {
+
+		mPointColorData[i * 4] = pointColors[i].R;
+		mPointColorData[i * 4 + 1] = pointColors[i].G;
+		mPointColorData[i * 4 + 2] = pointColors[i].B;
+		mPointColorData[i * 4 + 3] = pointColors[i].A;
+	}
+	
+	return UpdateTextureBuffer();
+}
+
+void FPointCloudStreamingCore::InitColorBuffer()
+{
+	if (mPointColorData.Num() != mPointCount * 4) {
+		mPointColorData.Empty();
+		mPointColorData.AddUninitialized(mPointCount * 4); // 4 as we have bgra
+		mPointColorDataPointer = &mPointColorData;
+	}
+}
+
+void FPointCloudStreamingCore::InitPointPosBuffer()
+{
+	if (mPointPosData.Num() != mPointCount) {
+		mPointPosData.Empty();
+		mPointPosData.AddUninitialized(mPointCount);
+		mPointPosDataPointer = &mPointPosData;
+	}
+}
+
+void FPointCloudStreamingCore::SortPointCloudData() {
+
+	SCOPE_CYCLE_COUNTER(STAT_SortPointCloudData);
+
+}
+
+void FPointCloudStreamingCore::Initialize(unsigned int pointCount)
+{
+	if (pointCount == 0)
+		return;
+
+	int32 pointsPerAxis = FMath::CeilToInt(FMath::Sqrt(pointCount));
+	// Ensure even-sized, power-of-two textures to avoid inaccuracies
+	if (pointsPerAxis % 2 == 1) pointsPerAxis++;
+	pointsPerAxis = GetUpperPowerOfTwo(pointsPerAxis);
+
+	// Check if update is neccessary
+	if (mPointPosTexture && mPointColorTexture && mPointScalingTexture && mUpdateTextureRegion)
+		if (mPointPosTexture->GetSizeX() == pointsPerAxis && mPointColorTexture->GetSizeX() == pointsPerAxis && mPointScalingTexture->GetSizeX() == pointsPerAxis)
+			return;
+
+	mPointCount = pointsPerAxis * pointsPerAxis;
+
+	ResetPointData(pointsPerAxis);
+	CreateTextures(pointsPerAxis);
+
+	mGlobalStreamCounter = 0;
+}
+
+void FPointCloudStreamingCore::ResetPointData(const int32 &pointsPerAxis)
+{
+	mPointPosData.Empty();
+	mPointPosData.AddUninitialized(mPointCount);
+	mPointPosDataPointer = &mPointPosData;
+
+	mPointColorData.Empty();
+	mPointColorData.AddUninitialized(mPointCount * 4);
+	mPointColorDataPointer = &mPointColorData;
+
+	mPointScalingData.Empty();
+	mPointScalingData.Init(FVector::OneVector, mPointCount);
+
+	if (mUpdateTextureRegion) delete mUpdateTextureRegion; mUpdateTextureRegion = nullptr;
+	mUpdateTextureRegion = new FUpdateTextureRegion2D(0, 0, 0, 0, pointsPerAxis, pointsPerAxis);
+}
+
+void FPointCloudStreamingCore::CreateTextures(const int32 &pointsPerAxis)
+{
+	// create point cloud positions texture
+	mPointPosTexture = UTexture2D::CreateTransient(pointsPerAxis, pointsPerAxis, EPixelFormat::PF_A32B32G32R32F);
+	mPointPosTexture->CompressionSettings = TextureCompressionSettings::TC_VectorDisplacementmap;
+	mPointPosTexture->SRGB = 0;
+	mPointPosTexture->AddToRoot();
+	mPointPosTexture->UpdateResource();
+#if WITH_EDITOR 
+	mPointPosTexture->MipGenSettings = TextureMipGenSettings::TMGS_NoMipmaps;
+#endif
+
+	// create point cloud scalings texture
+	mPointScalingTexture = UTexture2D::CreateTransient(pointsPerAxis, pointsPerAxis, EPixelFormat::PF_A32B32G32R32F);
+	mPointScalingTexture->CompressionSettings = TextureCompressionSettings::TC_VectorDisplacementmap;
+	mPointScalingTexture->SRGB = 0;
+	mPointScalingTexture->AddToRoot();
+	mPointScalingTexture->UpdateResource();
+#if WITH_EDITOR 
+	mPointScalingTexture->MipGenSettings = TextureMipGenSettings::TMGS_NoMipmaps;
+#endif
+
+	// create color texture
+	mPointColorTexture = UTexture2D::CreateTransient(pointsPerAxis, pointsPerAxis, EPixelFormat::PF_B8G8R8A8);
+	mPointColorTexture->CompressionSettings = TextureCompressionSettings::TC_Default;
+	mPointColorTexture->SRGB = 1;
+	mPointColorTexture->AddToRoot();
+	mPointColorTexture->UpdateResource();
+#if WITH_EDITOR 
+	mPointColorTexture->MipGenSettings = TextureMipGenSettings::TMGS_NoMipmaps;
+#endif
+
+	mPointPosData.Empty();
+	mPointPosData.AddUninitialized(mPointCount);
+	if (!mPointPosDataPointer)
+		mPointPosDataPointer = &mPointPosData;
+	if (!mPointColorDataPointer)
+		mPointColorDataPointer = &mPointColorData;
+
+	mPointPosTexture->WaitForStreaming();
+	mPointColorTexture->WaitForStreaming();
+	mPointScalingTexture->WaitForStreaming();
+
+	mPointScalingData.Empty();
+	mPointScalingData.Init(FVector::OneVector, mPointCount);
+
+	if (mUpdateTextureRegion) delete mUpdateTextureRegion; mUpdateTextureRegion = nullptr;
+	mUpdateTextureRegion = new FUpdateTextureRegion2D(0, 0, 0, 0, pointsPerAxis, pointsPerAxis);
+
+	mGlobalStreamCounter = 0;
+}
+
+bool FPointCloudStreamingCore::UpdateTextureBuffer()
+{
+	SCOPE_CYCLE_COUNTER(STAT_UpdateTextureRegions);
+
+	if (!mPointColorDataPointer || !mPointPosDataPointer || !mPointPosTexture || !mPointColorTexture || !mPointScalingTexture)
+		return false;
+	if (mPointPosDataPointer == nullptr || mPointColorDataPointer == nullptr)
+		return false;
+	if (mPointColorDataPointer->Num() == 0 || mPointPosDataPointer->Num() == 0)
+		return false;
+	if (mPointColorDataPointer->Num() > mPointColorTexture->GetSizeX() * mPointColorTexture->GetSizeY() * 4 || mPointPosDataPointer->Num() > mPointPosTexture->GetSizeX()*mPointPosTexture->GetSizeY())
+		return false;
+	if (mUpdateTextureRegion == nullptr)
+		return false;
+
+	mPointPosTexture->WaitForStreaming();
+	mPointColorTexture->WaitForStreaming();
+	//mPointScalingTexture->WaitForStreaming();
+
+	mPointPosTexture->UpdateTextureRegions(0, 1, mUpdateTextureRegion, mPointPosTexture->GetSizeX() * sizeof(FLinearColor), sizeof(FLinearColor), (uint8*)mPointPosDataPointer->GetData());
+	mPointColorTexture->UpdateTextureRegions(0, 1, mUpdateTextureRegion, mPointColorTexture->GetSizeX() * sizeof(uint8) * 4, 4, mPointColorDataPointer->GetData());
+	//if(mHasSurfaceReconstructed)
+	//	mPointScalingTexture->UpdateTextureRegions(0, 1, mUpdateTextureRegion, mPointPosTexture->GetSizeX() * sizeof(FVector), sizeof(FVector), (uint8*)mPointScalingData.GetData());
+
+	mPointPosTexture->WaitForStreaming();
+	mPointColorTexture->WaitForStreaming();
+
+	return true;
+}
+
+void FPointCloudStreamingCore::UpdateShaderParameter()
+{
+	SCOPE_CYCLE_COUNTER(STAT_UpdateShaderTextures);
+
+	if (!mPointPosTexture || !mPointColorTexture || !mPointScalingTexture)
+		return;
+	if (!mDynamicMatInstance)
+		return;
+
+	mDynamicMatInstance->SetTextureParameterValue("PositionTexture", mPointPosTexture);
+	mDynamicMatInstance->SetTextureParameterValue("ColorTexture", mPointColorTexture);
+	//if (mHasSurfaceReconstructed)
+	//	mDynamicMatInstance->SetTextureParameterValue("ScalingTexture", mPointScalingTexture);
+	mDynamicMatInstance->SetScalarParameterValue("TextureSize", (float)mPointPosTexture->GetSizeX());
+	mDynamicMatInstance->SetVectorParameterValue("minExtent", mExtent.Min);
+	mDynamicMatInstance->SetVectorParameterValue("maxExtent", mExtent.Max);
+}
+
+void FPointCloudStreamingCore::FreeData()
+{
+	mGlobalStreamCounter = 0;
+	mPointPosData.Empty();
+	mPointPosDataPointer = nullptr;
+	mPointColorData.Empty();
+	mPointColorDataPointer = nullptr;
+	mPointScalingData.Empty();
+	if (mUpdateTextureRegion) delete mUpdateTextureRegion; mUpdateTextureRegion = nullptr;
+}
+
+FPointCloudStreamingCore::~FPointCloudStreamingCore() {
+
+	FreeData();
+
+	//if (mPointPosTexture)
+	//	delete mPointPosTexture;
+	//if (mPointScalingTexture)
+	//	delete mPointScalingTexture;
+	//if (mColorTexture)
+	//	delete mColorTexture;
+}
\ No newline at end of file

Plugins/GPUPointCloudRenderer/Source/GPUPointCloudRenderer/Public/IGPUPointCloudRenderer.h

+/*************************************************************************************************
+* Written by Valentin Kraft <valentin.kraft@online.de>, http://www.valentinkraft.de, 2018
+**************************************************************************************************/
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Materials/MaterialInstanceDynamic.h"
+#include "Modules/ModuleInterface.h"
+#include "Modules/ModuleManager.h"
+
+/**
+ * The public interface to the Point Cloud Renderer module.
+ * @Author Valentin Kraft
+ */
+class GPUPOINTCLOUDRENDERER_API IGPUPointCloudRenderer : public IModuleInterface
+{
+
+public:
+
+	/**
+	 * Singleton-like access to this module's interface.  This is just for convenience!
+	 * Beware of calling this during the shutdown phase, though.  Your module might have been unloaded already.
+	 *
+	 * @return Returns singleton instance, loading the module on demand if needed
+	 */
+	static inline IGPUPointCloudRenderer& Get()
+	{
+		return FModuleManager::LoadModuleChecked< IGPUPointCloudRenderer >( "GPUPointCloudRenderer" );
+	}
+
+	/**
+	 * Checks to see if this module is loaded and ready.  It is only valid to call Get() if IsAvailable() returns true.
+	 *
+	 * @return True if the module is loaded and ready to use
+	 */
+	static inline bool IsAvailable()
+	{
+		return FModuleManager::Get().IsModuleLoaded( "GPUPointCloudRenderer" );
+	}