PointCloudData ImportLaz(AssetImportContext context)
{
var name = Path.GetFileName(context.assetPath);
using (var laz = new Laszip(context.assetPath))
{
long count = laz.Count;
if (count > MaxPointCount)
{
Debug.LogWarning($"Too many points ({count:n0}), truncating to {MaxPointCount:n0}");
count = MaxPointCount;
}
var bounds = new PointCloudBounds()
{
MinX = laz.MinX,
MinY = laz.MinY,
MinZ = laz.MinZ,
MaxX = laz.MaxX,
MaxY = laz.MaxY,
MaxZ = laz.MaxZ,
};
double scaleX, scaleY, scaleZ;
double centerX, centerY, centerZ;
if (Normalize)
{
centerX = -0.5 * (bounds.MaxX + bounds.MinX);
centerY = -0.5 * (bounds.MaxY + bounds.MinY);
centerZ = -0.5 * (bounds.MaxZ + bounds.MinZ);
scaleX = 2.0 / (bounds.MaxX - bounds.MinX);
scaleY = 2.0 / (bounds.MaxY - bounds.MinY);
scaleZ = 2.0 / (bounds.MaxZ - bounds.MinZ);
}
else if (Center)
{
centerX = -0.5 * (bounds.MaxX + bounds.MinX);
centerY = -0.5 * (bounds.MaxY + bounds.MinY);
centerZ = -0.5 * (bounds.MaxZ + bounds.MinZ);
scaleX = scaleY = scaleZ = 1.0;
}
else
{
centerX = centerY = centerZ = 0.0;
scaleX = scaleY = scaleZ = 1.0;
}
bool hasColor = laz.HasColor;
var transform = GetTransform();
var points = new PointCloudPoint[(int)count];
try
{
for (long i = 0; i < count; i++)
{
if ((i % (128 * 1024)) == 0)
{
float progress = (float)((double)i / count);
EditorUtility.DisplayProgressBar($"Importing {name}", $"{i:N0} points", progress);
}
var p = laz.GetNextPoint();
double x = (p.X + centerX) * scaleX;
double y = (p.Y + centerY) * scaleY;
double z = (p.Z + centerZ) * scaleZ;
var pt = transform.MultiplyVector(new Vector3((float)x, (float)y, (float)z));
byte intensity;
if (LasRGB8BitWorkaround)
{
intensity = (byte)(p.Intensity >> 0);
}
else
{
intensity = (byte)(p.Intensity >> 8);
}
uint color = (uint)(intensity << 24);
if (hasColor)
{
if (LasRGB8BitWorkaround)
{
byte r = (byte)(p.Red >> 0);
byte g = (byte)(p.Green >> 0);
byte b = (byte)(p.Blue >> 0);
color |= (uint)((b << 16) | (g << 8) | r);
}
else
{
byte r = (byte)(p.Red >> 8);
byte g = (byte)(p.Green >> 8);
byte b = (byte)(p.Blue >> 8);
color |= (uint)((b << 16) | (g << 8) | r);
}
}
else
{
color |= (uint)((intensity << 16) | (intensity << 8) | intensity);
}
points[i] = new PointCloudPoint()
{
Position = pt,
Color = color,
};
}
}
finally
{
EditorUtility.ClearProgressBar();
}
var unityBounds = GetBounds(bounds);
unityBounds.center = transform.MultiplyPoint3x4(unityBounds.center);
unityBounds.extents = transform.MultiplyVector(unityBounds.extents);
return(PointCloudData.Create(points, unityBounds, hasColor, transform.MultiplyPoint3x4(bounds.Center), transform.MultiplyVector(bounds.Extents)));
}
}
private PointCloudData <T> ParseLines(FileInfo f, int id)
{
_metadata = new PointCloudMetaData();
bool isInitialized = false;
int index = 0;
_startData = false;
T[] points = new T[0];
string[] lines = new string[0];
try
{
lines = File.ReadAllLines(f.FullName);
}
catch (Exception e)
{
UnityEngine.Debug.Log(e.Message);
}
foreach (string line in lines)
{
// Parse metadata
if (!_startData)
{
ParseMetadata(line, ref _metadata);
}
else
{
if (!isInitialized)
{
points = new T[_metadata.pointSize];
isInitialized = true;
}
// Parse vertices
string[] values = line.Split(' ');
if (values.Length != _metadata.numFields)
{
throw new System.Exception("Vertices was not same as fields");
}
float x = 0, y = 0, z = 0;
bool success = float.TryParse(values[0], out x);
success = success && float.TryParse(values[1], out y);
success = success && float.TryParse(values[2], out z);
if (!success)
{
throw new System.Exception("Could not parse a vertex");
}
if (_metadata.field == PointCloudDataType.XYZ)
{
Vector3 pos = new Vector3(x, y, z);
PointXYZ point = new PointXYZ(pos);
points[index++] = (T)point;
}
/*
* else if (_metadata.field == PointCloudDataType.XYZRGB)
* {
* float rgba = float.Parse(values[3]);
* byte r, g, b;
*
* // Unpack packed float - 3 channel
* byte[] colorBytes = BitConverter.GetBytes(rgba);
* r = colorBytes[0];
* g = colorBytes[1];
* b = colorBytes[2];
*
* Vector3 point = new Vector3(x, y, z);
* Color col = new Color(r, g, b);
* points[index++] = new PointXYZRGBA(point, col);
* }
* else if (_metadata.field == PointCloudDataType.XYZRGBA)
* {
* int rgba = int.Parse(values[3]);
* byte r, g, b, a;
*
* // Unpack float - 4 channel
* byte[] colorBytes = BitConverter.GetBytes(rgba);
* r = colorBytes[0];
* g = colorBytes[1];
* b = colorBytes[2];
* a = colorBytes[3];
*
* Vector3 point = new Vector3(x, y, z);
* Color32 col = new Color32(r, g, b, a);
* points[index++] = new PointXYZRGBA(point, col);
* }
*/
}
}
if (points.Length == 0 || points.Length != _metadata.pointSize)
{
throw new System.Exception("Vertices were empty or did not match declared points. Was:" +
points.Length + ", but expected: " + _metadata.pointSize);
}
PointCloudData <T> pcd = new PointCloudData <T>(points, points.Length, _metadata, id);
return(pcd);
}
public void SetPointCloudDataFromInteropData(PointCloudData <PointXYZConfidence> pcd, PointCloudMetaData metadata)
{
throw new NotImplementedException();
}
/// <summary>
/// Reads the specified file and returns PointCloudData, assigning the given frame id.
/// </summary>
/// <param name="f"></param>
public virtual PointCloudData <PointXYZConfidence> ParseFile(FileInfo f, int id)
{
_metadata = new PointCloudMetaData();
bool isInitialized = false;
int index = 0;
_startData = false;
PointXYZConfidence[] points = new PointXYZConfidence[0];
string[] lines = new string[0];
int numPoints = 0;
try
{
lines = File.ReadAllLines(f.FullName);
}
catch (Exception e)
{
UnityEngine.Debug.Log(e.Message);
}
foreach (string line in lines)
{
// Parse metadata
if (!_startData)
{
ParseMetadata(line, ref _metadata);
}
else
{
if (!isInitialized)
{
numPoints = _metadata.pointSize;
if (_metadata.pointSize != lines.Length - 11)
{
numPoints = lines.Length - 11;
UnityEngine.Debug.Log("Metadata point count didn't match. Overriding point count.");
}
points = new PointXYZConfidence[numPoints];
isInitialized = true;
}
// Parse vertices
string[] values = line.Split(' ');
if (values.Length != _metadata.numFields)
{
throw new System.Exception("Vertices was not same as fields");
}
float x = 0, y = 0, z = 0, conf = 0;
bool success = float.TryParse(values[0], out x);
success = success && float.TryParse(values[1], out y);
success = success && float.TryParse(values[2], out z);
success = success && float.TryParse(values[3], out conf);
//-3.402823E+38 -3.402823E+38 -3.402823E+38 0
// Watch for these values - causes Unity AABB error. Skip for now. To investigate.
if (conf == 0)
{
points[index++] = new PointXYZConfidence(Vector3.zero, 0);
continue;
}
if (!success)
{
throw new System.Exception("Could not parse a vertex");
}
Vector3 pos = new Vector3(x, y, z);
PointXYZConfidence point = new PointXYZConfidence(pos, conf);
points[index++] = point;
}
}
// Fixing metadata
_metadata.maxSize = MaxPoints;
if (points.Length == 0)
{
throw new System.Exception("Vertices were empty");
}
PointCloudData <PointXYZConfidence> pcd = new PointCloudData <PointXYZConfidence>(points, numPoints, _metadata,
id);
return(pcd);
}
