public virtual void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = null;
}
}
public virtual void readASCII(string str, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = null;
}
}
public override void readASCII(string str, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = System.Convert.ToInt32(str, CultureInfo.InvariantCulture);
}
}
public override void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = (int)buffer[pos];
}
}
public override void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = (int)System.BitConverter.ToUInt32(buffer, pos);
}
}
public override void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
}
public bool Import(string path, out PointCloud pc, bool intensity = false)
{
Stopwatch watch = new Stopwatch();
watch.Start();
pc = new PointCloud();
string header;
if (!OpenFile(path, out header))
{
return(false);
}
if (!ParseHeader(header))
{
if (this.br != null)
{
this.br.Close();
}
return(false);
}
log += string.Format("time {0}\n", watch.ElapsedMilliseconds);
pc.UserDictionary.Set("width", this.width);
pc.UserDictionary.Set("height", this.height);
if (this.binary)
{
//byte[] buffer;
int log_step = this.num_points / 5;
//PCD_PointBuilder pbb;
byte[] total_buffer = br.ReadBytes(psize * num_points);
Point3d[] points = new Point3d[num_points];
Vector3d[] normals = new Vector3d[num_points];
Color[] colors = new Color[num_points];
Parallel.For(0, num_points, i => {
int total_pos = i * psize;
int pos = total_pos;
PCD_PointBuilder pbb = new PCD_PointBuilder();
for (int k = 0; k < m_fields.Count; ++k)
{
m_fields[k].read(total_buffer, pos, ref pbb);
pos += m_fields[k].size;
points[i] = pbb.Point() * scale;
normals[i] = pbb.Normal();
if (intensity)
{
colors[i] = Color.FromArgb(pbb.Intensity());
}
else
{
colors[i] = Color.FromArgb(pbb.Color());
}
}
});
pc.AddRange(points, normals, colors);
/*
* for (int i = 0, j = 0; i < this.num_points; ++i, j+=psize)
* {
* int pos = j;
* pbb = new PCD_PointBuilder();
*
* for (int k = 0; k < this.fields.Count; ++k)
* {
* this.fields[k].read(total_buffer, pos, ref pbb);
* pos += this.fields[k].size;
* }
* if (intensity)
* pc.Add(pbb.Point() * scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Intensity()));
* else
* pc.Add(pbb.Point() * scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Color()));
* }
*/
log += string.Format("time {0}\n", watch.ElapsedMilliseconds);
this.br.Close();
if (use_transform)
{
pc.Transform(this.scan_transform);
}
return(true);
}
else
{
// read all data into buffer
byte[] buffer = br.ReadBytes((int)br.BaseStream.Length - (int)br.BaseStream.Position);
// parse buffer as ASCII text
string bufferStr = System.Text.Encoding.Default.GetString(buffer);
// split string buffer into list of strings
List <string> lines = new List <string>(bufferStr.Split('\n'));
if (lines.Count != this.num_points)
{
log += "Header data doesn't match up with number of data lines!\n";
}
// parse points from line data
for (int i = 0; i < lines.Count; ++i)
{
PCD_PointBuilder pbb = new PCD_PointBuilder();
string[] tokens = lines[i].Split((char[])null, StringSplitOptions.RemoveEmptyEntries);
//log += lines[i];
//log += " " + tokens.Length.ToString() + "\n";
if (tokens.Length != this.m_fields.Count)
{
continue;
}
for (int j = 0; j < this.m_fields.Count; ++j)
{
this.m_fields[j].readASCII(tokens[j], ref pbb);
}
if (intensity)
{
pc.Add(pbb.Point() * this.scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Intensity()));
}
else
{
pc.Add(pbb.Point() * this.scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Color()));
}
}
this.br.Close();
log += string.Format("time {0}\n", watch.ElapsedMilliseconds);
if (use_transform)
{
pc.Transform(this.scan_transform);
}
log += string.Format("time {0}\n", watch.ElapsedMilliseconds);
return(true);
}
}
