public static List <PointCloud> ImportPcd(string loadPath_inp) { List <PointCloud> pointClouds_out = new List <PointCloud>(); List <List <Vector3> > listOfCoordinateLists = new List <List <Vector3> >(); List <List <InternalDataFormat> > listOfDataLists = new List <List <InternalDataFormat> >(); Quaternion pcdToUnityCS_Rotation = Quaternion.Euler(-90, 90, 0); Vector3 pcdToUnityCS_Mirroring = Vector3.one; List <string> paths = new List <string>(); listOfCoordinateLists = PcdAddon.ReadPcdFromPath(loadPath_inp, ref paths); listOfDataLists = PcdAddon.GetDataFromCoordinates(listOfCoordinateLists); for (int i = 0; i < listOfDataLists.Count; i++) { GroundPointSegmentation.SetGroundLabels(listOfDataLists.ElementAt(i)); } for (int i = 0; i < listOfDataLists.Count; i++) { pointClouds_out.Add(new PointCloud(listOfDataLists[i], paths[i], pcdToUnityCS_Rotation, pcdToUnityCS_Mirroring)); //pointClouds_out.Add(new PointCloud(listOfDataLists[i], paths[i], Quaternion.Euler(0,0,0), pcdToUnityCS_Mirroring)); } return(pointClouds_out); }
public static List <PointCloud> ImportHdf5_DaimlerLidar(string loadPath_inp) { List <PointCloud> pointClouds_out = new List <PointCloud>(); List <List <InternalDataFormat> > listOfDataLists = new List <List <InternalDataFormat> >(); List <string> paths = new List <string>(); Quaternion hdf5ToUnityCS_Rotation = Quaternion.Euler(-90, -90, 0); Vector3 hdf5ToUnityCS_Mirroring = new Vector3(-1, 1, 1); listOfDataLists = HDF5Addon.ReadHdf5_DaimlerLidar(loadPath_inp, ref paths); Debug.Log("List of read Data: " + listOfDataLists.Count); for (int i = 0; i < listOfDataLists.Count; i++) { GroundPointSegmentation.SetGroundLabels(listOfDataLists.ElementAt(i)); } for (int i = 0; i < listOfDataLists.Count; i++) { pointClouds_out.Add(new PointCloud(listOfDataLists[i], paths[i], hdf5ToUnityCS_Rotation, hdf5ToUnityCS_Mirroring)); //pointClouds_out.Add(new PointCloud(listOfDataLists[i], paths[i], Quaternion.Euler(0, 0, 0), Vector3.one)); } return(pointClouds_out); }