/// <summary>
/// Reads from the header of the point cloud file
/// </summary>
/// <param name="data"> The MeshInfos variable in which we store the data </param>
/// <param name="reader"> The binary reader variable </param>
/// <param name="maximumVertex"> The maximum number of vertices to render </param>
private void readHeader(MeshInfos data, BinaryReader reader, int maximumVertex)
{
char v = reader.ReadChar();
if (v == '\n')
{
if (readerInfos.lineText.Contains("end_header"))
{
readerInfos.header = false;
}
else if (readerInfos.lineText.Contains("element vertex"))
{
readMeshInfos(data, maximumVertex);
}
else if (readerInfos.lineText.Contains("property uchar alpha"))
{
readerInfos.colorDataCount = 4;
}
else if (readerInfos.lineText.Contains("property float n"))
{
readerInfos.normalDataCount += 1;
}
readerInfos.lineText = "";
}
else
{
readerInfos.lineText += v;
}
readerInfos.step = sizeof(char);
readerInfos.cursor += readerInfos.step;
}
/// <summary>
/// Returns the mesh information of the point cloud by reading the .ply file
/// </summary>
/// <param name="filePath"> The file path of the point cloud file to load </param>
/// <param name="maximumVertex"> The maximum number of vertices to render </param>
public MeshInfos Load(string filePath, int maximumVertex = 65000)
{
MeshInfos data = new MeshInfos();
if (File.Exists(filePath))
{
using (BinaryReader reader = new BinaryReader(File.Open(filePath, FileMode.Open))) {
int length = (int)reader.BaseStream.Length;
data.vertexCount = 0;
//ReaderInfos readerInfos = new ReaderInfos();
while (readerInfos.cursor + readerInfos.step < length)
{
if (readerInfos.header)
{
readHeader(data, reader, maximumVertex);
}
else
{
readBody(data, reader);
}
}
}
}
return(data);
}
public void Export()
{
MeshInfos triangles = GetTriangles(points, size);
materialBaked = new Material(shaderBaked);
Generate(triangles, materialBaked, MeshTopology.Triangles);
materialBaked.SetTexture("_MainTex", GetBakedColors(triangles));
}
public void Generate()
{
return;
points = LoadPointCloud();
material = new Material(shader);
Generate(points, material, MeshTopology.Points);
}
public MeshInfos GetTriangles(MeshInfos points, float radius)
{
MeshInfos triangles = new MeshInfos();
triangles.vertexCount = points.vertexCount * 3;
triangles.vertices = new Vector3[triangles.vertexCount];
triangles.normals = new Vector3[triangles.vertexCount];
triangles.colors = new Color[triangles.vertexCount];
int index = 0;
int meshVertexIndex = 0;
int meshIndex = 0;
Vector3[] vertices = meshArray[meshIndex].vertices;
for (int v = 0; v < triangles.vertexCount; v += 3)
{
Vector3 center = vertices[meshVertexIndex];
Vector3 normal = points.normals[index];
Vector3 tangent = Vector3.Normalize(Vector3.Cross(Vector3.up, normal));
Vector3 up = Vector3.Normalize(Vector3.Cross(tangent, normal));
triangles.vertices[v] = center + tangent * -radius / 1.5f;
triangles.vertices[v + 1] = center + up * radius;
triangles.vertices[v + 2] = center + tangent * radius / 1.5f;
triangles.normals[v] = normal;
triangles.normals[v + 1] = normal;
triangles.normals[v + 2] = normal;
Color color = points.colors[index];
triangles.colors[v] = color;
triangles.colors[v + 1] = color;
triangles.colors[v + 2] = color;
++meshVertexIndex;
if (meshVertexIndex >= meshArray[meshIndex].vertices.Length)
{
meshVertexIndex = 0;
++meshIndex;
if (meshIndex < meshArray.Length)
{
vertices = meshArray[meshIndex].vertices;
}
}
++index;
}
return(triangles);
}
/// <summary>
/// Reads the information about the mesh from the header of the point cloud file
/// </summary>
/// <param name="data"> The MeshInfos variable in which we store the data </param>
/// <param name="maximumVertex"> The maximum number of vertices to render </param>
private void readMeshInfos(MeshInfos data, int maximumVertex)
{
string[] array = readerInfos.lineText.Split(' ');
if (array.Length > 0)
{
//int subtractor = array.Length - 2; Leave it we may need it
data.vertexCount = Convert.ToInt32(array [2]);
if (data.vertexCount > maximumVertex)
{
readerInfos.levelOfDetails = 1 + (int)Mathf.Floor(data.vertexCount / maximumVertex);
data.vertexCount = maximumVertex;
}
data.vertices = new Vector3[data.vertexCount];
data.normals = new Vector3[data.vertexCount];
data.colors = new Color[data.vertexCount];
}
}
/// <summary>
/// Reads the body of the point cloud file
/// </summary>
/// <param name="data"> The MeshInfos variable in which we store the data </param>
/// <param name="reader"> The binary reader variable </param>
private void readBody(MeshInfos data, BinaryReader reader)
{
if (readerInfos.index < data.vertexCount)
{
data.vertices[readerInfos.index] = new Vector3(-reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
if (readerInfos.normalDataCount == 3)
{
data.normals[readerInfos.index] = new Vector3(-reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
}
else
{
data.normals[readerInfos.index] = new Vector3(1f, 1f, 1f);
}
data.colors[readerInfos.index] = new Color(reader.ReadByte() / 255f, reader.ReadByte() / 255f, reader.ReadByte() / 255f, 1f);
readerInfos.step = sizeof(float) * 6 * readerInfos.levelOfDetails + sizeof(byte) * readerInfos.colorDataCount * readerInfos.levelOfDetails;
readerInfos.cursor += readerInfos.step;
if (readerInfos.colorDataCount > 3)
{
reader.ReadByte();
}
if (readerInfos.levelOfDetails > 1)
{
for (int l = 1; l < readerInfos.levelOfDetails; ++l)
{
for (int f = 0; f < 3 + readerInfos.normalDataCount; ++f)
{
reader.ReadSingle();
}
for (int b = 0; b < readerInfos.colorDataCount; ++b)
{
reader.ReadByte();
}
}
}
++readerInfos.index;
}
}
public MeshInfos Load(string filePath, int maximumVertex = 65000)
{
MeshInfos data = new MeshInfos();
int levelOfDetails = 1;
if (File.Exists(filePath))
{
using (BinaryReader reader = new BinaryReader(File.Open(filePath, FileMode.Open))) {
int cursor = 0;
int length = (int)reader.BaseStream.Length;
string lineText = "";
bool header = true;
int vertexCount = 0;
int colorDataCount = 3;
int index = 0;
int step = 0;
while (cursor + step < length)
{
if (header)
{
char v = reader.ReadChar();
if (v == '\n')
{
if (lineText.Contains("end_header"))
{
header = false;
}
else if (lineText.Contains("element vertex"))
{
string[] array = lineText.Split(' ');
if (array.Length > 0)
{
int subtractor = array.Length - 2;
vertexCount = Convert.ToInt32(array [array.Length - subtractor]);
if (vertexCount > maximumVertex)
{
levelOfDetails = 1 + (int)Mathf.Floor(vertexCount / maximumVertex);
vertexCount = maximumVertex;
}
data.vertexCount = vertexCount;
data.vertices = new Vector3[vertexCount];
data.normals = new Vector3[vertexCount];
data.colors = new Color[vertexCount];
}
}
else if (lineText.Contains("property uchar alpha"))
{
colorDataCount = 4;
}
lineText = "";
}
else
{
lineText += v;
}
step = sizeof(char);
cursor += step;
}
else
{
if (index < vertexCount)
{
data.vertices[index] = new Vector3(-reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
data.normals[index] = new Vector3(-reader.ReadSingle(), reader.ReadSingle(), reader.ReadSingle());
data.colors[index] = new Color(reader.ReadByte() / 255f, reader.ReadByte() / 255f, reader.ReadByte() / 255f, 1f);
step = sizeof(float) * 6 * levelOfDetails + sizeof(byte) * colorDataCount * levelOfDetails;
cursor += step;
if (colorDataCount > 3)
{
reader.ReadByte();
}
if (levelOfDetails > 1)
{
for (int l = 1; l < levelOfDetails; ++l)
{
for (int f = 0; f < 6; ++f)
{
reader.ReadSingle();
}
for (int b = 0; b < colorDataCount; ++b)
{
reader.ReadByte();
}
}
}
++index;
}
}
}
}
}
return(data);
}
public void Generate(MeshInfos meshInfos, Material materialToApply, MeshTopology topology)
{
for (int c = transform.childCount - 1; c >= 0; --c)
{
Transform child = transform.GetChild(c);
GameObject.DestroyImmediate(child.gameObject);
}
int vertexCount = meshInfos.vertexCount;
int meshCount = (int)Mathf.Ceil(vertexCount / (float)verticesMax);
meshArray = new Mesh[meshCount];
transformArray = new Transform[meshCount];
int index = 0;
int meshIndex = 0;
int vertexIndex = 0;
int resolution = GetNearestPowerOfTwo(Mathf.Sqrt(vertexCount));
while (meshIndex < meshCount)
{
int count = verticesMax;
if (vertexCount <= verticesMax)
{
count = vertexCount;
}
else if (vertexCount > verticesMax && meshCount == meshIndex + 1)
{
count = vertexCount % verticesMax;
}
Vector3[] subVertices = meshInfos.vertices.Skip(meshIndex * verticesMax).Take(count).ToArray();
Vector3[] subNormals = meshInfos.normals.Skip(meshIndex * verticesMax).Take(count).ToArray();
Color[] subColors = meshInfos.colors.Skip(meshIndex * verticesMax).Take(count).ToArray();
int[] subIndices = new int[count];
for (int i = 0; i < count; ++i)
{
subIndices[i] = i;
}
Mesh mesh = new Mesh();
mesh.bounds = new Bounds(Vector3.zero, Vector3.one * 100f);
mesh.vertices = subVertices;
mesh.normals = subNormals;
mesh.colors = subColors;
mesh.SetIndices(subIndices, topology, 0);
Vector2[] uvs2 = new Vector2[mesh.vertices.Length];
for (int i = 0; i < uvs2.Length; ++i)
{
float x = vertexIndex % resolution;
float y = Mathf.Floor(vertexIndex / (float)resolution);
uvs2[i] = new Vector2(x, y) / (float)resolution;
++vertexIndex;
}
mesh.uv2 = uvs2;
GameObject go = CreateGameObjectWithMesh(mesh, materialToApply, gameObject.name + "_" + meshIndex, transform);
meshArray[meshIndex] = mesh;
transformArray[meshIndex] = go.transform;
index += count;
++meshIndex;
}
}
public Texture2D GetBakedColors(MeshInfos triangles)
{
List <Color> colorList = new List <Color>();
int[] colorIndexMap = new int[triangles.vertexCount / 3];
int globalIndex = 0;
for (int meshIndex = 0; meshIndex < meshArray.Length; ++meshIndex)
{
Mesh mesh = meshArray[meshIndex];
Color[] colors = mesh.colors;
for (int i = 0; i < colors.Length; i += 3)
{
Color color = colors[i];
Color colorSimple = new Color(Mathf.Floor(color.r * details) / details, Mathf.Floor(color.g * details) / (float)details, Mathf.Floor(color.b * details) / (float)details);
int colorIndex = colorList.IndexOf(colorSimple);
if (colorIndex == -1)
{
colorIndex = colorList.Count;
colorList.Add(colorSimple);
}
colorIndexMap[globalIndex] = colorIndex;
++globalIndex;
}
}
int colorCount = colorList.Count;
int columnCount = GetNearestPowerOfTwo(Mathf.Sqrt(colorCount));
int rowCount = columnCount; //1 + (int)Mathf.Floor(colorCount / (float)columnCount);
int width = circleRadius * columnCount;
int height = circleRadius * rowCount;
colorMapTexture = new Texture2D(width, height, TextureFormat.RGBA32, false);
Color[] colorMapArray = new Color[width * height];
Vector2 pos;
Vector2 target = new Vector2(0.5f, 0.3f);
for (int i = 0; i < colorList.Count; ++i)
{
int x = i % columnCount;
int y = (int)Mathf.Floor(i / columnCount);
for (int c = 0; c < circleRadius * circleRadius; ++c)
{
int ix = c % circleRadius;
int iy = (int)Mathf.Floor(c / circleRadius);
pos.x = ix / (float)circleRadius;
pos.y = iy / (float)circleRadius;
float dist = Mathf.Clamp01(Vector2.Distance(target, pos));
int colorIndex = x * circleRadius + y * width * circleRadius + ix + iy * width;
float circle = 1f - Mathf.InverseLerp(0.2f, 0.35f, dist);
colorMapArray[colorIndex] = Color.Lerp(Color.clear, colorList[i], circle);
}
}
colorMapTexture.SetPixels(colorMapArray);
colorMapTexture.Apply(false);
Vector2 halfSize = new Vector2(0.5f * circleRadius / (float)width, 0.5f * circleRadius / (float)height);
Vector2 right = Vector2.right * halfSize.x;
Vector2 up = Vector2.up * halfSize.y;
globalIndex = 0;
for (int meshIndex = 0; meshIndex < meshArray.Length; ++meshIndex)
{
Mesh mesh = meshArray[meshIndex];
Vector2[] uvs = new Vector2[mesh.vertices.Length];
for (int i = 0; i < uvs.Length; i += 3)
{
int colorIndex = colorIndexMap[globalIndex];
float x = ((colorIndex % columnCount) * circleRadius) / (float)width;
float y = (Mathf.Floor(colorIndex / columnCount) * circleRadius) / (float)height;
Vector2 center = new Vector2(x + halfSize.x, y + halfSize.y);
uvs[i] = center + right - up;
uvs[i + 1] = center + up;
uvs[i + 2] = center - right - up;
++globalIndex;
}
mesh.uv = uvs;
}
return(colorMapTexture);
}
public MeshInfos Load(string filePath, int maximumVertex = 65000)
{
//System.Diagnostics.Process.Start("CMD.exe", "/C del / q / f *.txt");
System.Diagnostics.Process process = new System.Diagnostics.Process();
System.Diagnostics.ProcessStartInfo startInfo = new System.Diagnostics.ProcessStartInfo();
startInfo.WindowStyle = System.Diagnostics.ProcessWindowStyle.Hidden;
startInfo.FileName = "cmd.exe";
startInfo.Arguments = "/C del / q / f *.txt";
process.StartInfo = startInfo;
process.Start();
process.WaitForExit();
{
TextWriter sw = new StreamWriter("into Load.txt");
sw.Close();
}
char[] filec = filePath.ToCharArray();
int flen = filePath.Length;
IntPtr buffer = Marshal.AllocHGlobal(flen * sizeof(char));
Marshal.Copy(filec, 0, buffer, flen);
IntPtr ansp = new IntPtr(0);
Debug.Log("readPCD");
int anslen = readPCD(buffer, filePath.Length, ref ansp);
Debug.Log("after readPCD.txt");
char[] ans = new char[anslen];
Marshal.Copy(ansp, ans, 0, anslen);
string input = new string(ans);
//object va = JsonConvert.DeserializeObject(input);
JArray receivedObject = JArray.Parse(input);
//dynamic receivedObject2 = JObject.Parse(input);
//var list = receivedObject.Count
Debug.Log("after Deserialize.txt");
MeshInfos data = new MeshInfos();
data.vertexCount = receivedObject.Count;
data.vertices = new Vector3[data.vertexCount];
data.normals = new Vector3[data.vertexCount];
data.colors = new Color[data.vertexCount];
for (int i = 0; i < receivedObject.Count; ++i)
{
Dictionary <string, object> jp = receivedObject[i].ToObject <Dictionary <string, object> >();
//decimal dx = jp["x"];
float x = Convert.ToSingle(jp["x"]);
float y = Convert.ToSingle(jp["y"]);
float z = Convert.ToSingle(jp["z"]);
data.vertices[i] = new Vector3(x, y, z);
float r = Convert.ToSingle(jp["r"]) / 255;
float g = Convert.ToSingle(jp["g"]) / 255;
float b = Convert.ToSingle(jp["b"]) / 255;
data.colors[i] = new Color(r, g, b);
}
Debug.Log("after MeshInfos.txt");
return(data);
}
