/// <summary>
/// Initializes a new instance of the Meta.PointCloudData class.
/// </summary>
/// <param name="maxSize"> The maximum size of the point cloud data. </param>
/// <param name="metadata"> Information describing the point cloud data. </param>
public PointCloudData(int maxSize, PointCloudMetaData metadata = null)
{
points = new TPoint[maxSize];
for (int i = 0; i < maxSize; i++)
{
points[i] = new TPoint();
}
height = 0;
width = 0;
size = 0;
frameId = 0;
valid = false;
metaData = metadata;
arrivalOfCleanSensorDataTimeStamp = 0;
completionOfPointCloudGenerationTimeStamp = 0;
}
/// <summary> Gets point cloud meta data. </summary>
///
/// <param name="pointCloudMetaData"> Information describing the point cloud meta. </param>
///
/// <returns> true if it succeeds, false if it fails. </returns>
public bool GetPointCloudMetaData(ref PointCloudMetaData pointCloudMetaData)
{
lock (_cloudDataLock)
{
if (_pointCloudMetaData == null)
{
return(false);
}
if (pointCloudMetaData == null)
{
pointCloudMetaData = new PointCloudMetaData(_pointCloudMetaData);
}
_pointCloudMetaData.CopyTo(ref pointCloudMetaData);
return(true);
}
}
public void Start()
{
if (m_logInRecordSesnorDataFolder)
{
_sensorDataRecorder = GameObject.Find("MetaCameraRig").GetComponent <RecordSensorData>();
if (_sensorDataRecorder != null)
{
UnityEngine.Debug.LogError("cant find RecordsensorData");
}
m_loggingFolder = _sensorDataRecorder.GetRecordingPath();
}
if (m_loggingFolder == null)
{
UnityEngine.Debug.LogError("Logging Folder is null");
return;
}
_pointCloudMetaData = new PointCloudMetaData();
_pointCloudDataLogging = new PointCloudDataLogging(m_loggingFolder);
_interactionEngine = metaContext.Get <InteractionEngine>();
}
/// <summary> Convert from interop data. </summary>
/// <param name="pointCloudData"> Information describing the point cloud. </param>
/// <param name="pointCloudMetaData_"> Information describing the point cloud meta. </param>
/// <param name="pointCloudInteropData"> Information describing the point cloud interop. </param>
/// <param name="pointCloudRawData"> Information describing the point cloud raw. </param>
public static void ConvertFromInteropData(ref PointCloudData <TPoint> pointCloudData,
PointCloudMetaData pointCloudMetaData_,
PointCloudInteropData pointCloudInteropData,
float[] pointCloudRawData)
{
if (pointCloudData != null)
{
pointCloudData.valid = pointCloudInteropData.valid;
pointCloudData.size = pointCloudInteropData.size;
pointCloudData.height = pointCloudInteropData.height;
pointCloudData.width = pointCloudInteropData.width;
pointCloudData.frameId = pointCloudInteropData.frameID;
pointCloudData.arrivalOfCleanSensorDataTimeStamp = pointCloudInteropData.arrivalOfCleanSensorDataTimeStamp;
pointCloudData.completionOfPointCloudGenerationTimeStamp = pointCloudInteropData.completionOfPointCloudGenerationTimeStamp;
for (int cloudIndex = 0; cloudIndex < pointCloudData.size; cloudIndex++)
{
pointCloudData.points[cloudIndex].SetDataFromRawBytes(pointCloudRawData, cloudIndex, 4);
}
}
}
/// <summary> Handler, called when the new point cloud meta data. </summary>
public void GetPointCloudMetaData()
{
if (!HandKernelInterop.GetPointCloudMetaData(ref _pointCloudInteropMetaData))
{
return;
}
lock (_cloudDataLock)
{
_pointCloudMetaData = new PointCloudMetaData(_pointCloudInteropMetaData);
//todo: make this be able to handle data other than XYZConfidence
//hack
_pointCloudMetaData.field = PointCloudDataType.XYZCONFIDENCE; //todo: not do this.
_pointCloudVertices = new float[_pointCloudMetaData.maxSize * 4]; // better way to do this
_pointCloudRawData = new char[_pointCloudMetaData.maxSize * _pointCloudMetaData.pointSize];
_pointCloudDataHandle = GCHandle.Alloc(_pointCloudRawData, GCHandleType.Pinned);
_pointCloudInteropData.data = _pointCloudDataHandle.AddrOfPinnedObject();
_pointCloudDataHandle.Free();
_pointCloudInteropData.valid = false;
_pointCloudData = new PointCloudData <TPoint>(_pointCloudMetaData.maxSize);
//end hack
}
}
/// <summary> Copies to described by pointCloudMetaData. </summary>
/// <param name="pointCloudMetaData"> Information describing the point cloud meta. </param>
public void CopyTo(ref PointCloudMetaData pointCloudMetaData)
{
pointCloudMetaData.maxSize = maxSize;
pointCloudMetaData.pointSize = pointSize;
pointCloudMetaData.field = field;
pointCloudMetaData.height = height;
pointCloudMetaData.width = width; // This should be the number of points in the file
pointCloudMetaData.numFields = numFields;
pointCloudMetaData.field = field;
if (pointCloudMetaData.fieldCount == null)
{
pointCloudMetaData.InitializeDataFields();
//todo: fix this scenario. These field should never be un initialized (or should be initializer more elegantly)
//Removed warning thrown - YG
//UnityEngine.Debug.LogWarning("This data is not initialized.");
}
Array.Copy(fieldType, pointCloudMetaData.fieldType, numFields);
Array.Copy(fieldSize, pointCloudMetaData.fieldSize, numFields);
Array.Copy(fieldCount, pointCloudMetaData.fieldCount, numFields);
Array.Copy(fieldName, pointCloudMetaData.fieldName, numFields);
}
/// <summary>
/// Gets a deep copy of the point cloud data. Used for persisting point cloud data after the frame it is played.
/// </summary>
/// <param name="pcd">The point cloud object to store the data in.</param>
/// <param name="metadata">The metadata object to store the data in.</param>
internal void GetDeepCopyOfPointData(ref PointCloudData <PointXYZConfidence> pcd, ref PointCloudMetaData metadata)
{
_pointCloudSource.SetPointCloudDataFromInteropData(pcd, metadata);
}
/// <summary> Initializes a new instance of the Meta.PointCloudMetaData class. </summary>
/// <param name="pointCloudMetaData"> Information describing the point cloud meta. </param>
public PointCloudMetaData(PointCloudMetaData pointCloudMetaData)
{
ResetFields();
numFields = pointCloudMetaData.numFields;
InitializeDataFields();
}