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);
}
