private static void writePlanarRegionsData(Path folderPath, PlanarRegionsList planarRegionData) throws IOException { File header = new File(folderPath.toFile(), "header.txt"); FileWriter fileWriter = new FileWriter(header); Map<Integer, MutableInt> regionIdToIndex = new HashMap<>(); for (PlanarRegion region : planarRegionData.getPlanarRegionsAsList()) { Point3D origin = new Point3D(); Vector3D normal = new Vector3D(); region.getPointInRegion(origin); region.getNormal(normal); int numberOfConvexPolygons = region.getNumberOfConvexPolygons(); int[] convexPolygonsSizes = new int[numberOfConvexPolygons]; for (int i = 0; i < numberOfConvexPolygons; i++) convexPolygonsSizes[i] = region.getConvexPolygon(i).getNumberOfVertices(); int regionId = region.getRegionId(); MutableInt regionIndex = regionIdToIndex.getOrDefault(regionId, new MutableInt(0)); regionIdToIndex.put(regionId, regionIndex); regionIndex.increment(); fileWriter.write("regionId: " + Integer.toString(regionId)); fileWriter.write(", index: " + Integer.toString(regionIndex.getValue().intValue())); fileWriter.write(", origin: " + origin.getX() + ", " + origin.getY() + ", " + origin.getZ()); fileWriter.write(", normal: " + normal.getX() + ", " + normal.getY() + ", " + normal.getZ()); fileWriter.write(", concave hull size: " + region.getConcaveHullSize()); fileWriter.write(", number of convex polygons: " + numberOfConvexPolygons + ", " + Arrays.toString(convexPolygonsSizes)); fileWriter.write("\n"); writePlanarRegionVertices(folderPath, region, regionIndex.intValue()); } fileWriter.close(); }