PointCloudSub ReadPointCloud(BinaryReader reader, ulong offset)
{
PointCloudSub dataset = new PointCloudSub();
reader.BaseStream.Seek((long)offset, SeekOrigin.Begin);
dataset.m_numberOfPoints = reader.ReadUInt64();
dataset.m_pointCloud = new DataBody((int)dataset.m_numberOfPoints);
for (ulong i = 0; i < dataset.m_numberOfPoints; ++i)
{
// position
float x = reader.ReadSingle();
float y = reader.ReadSingle();
float z = reader.ReadSingle();
// normal
float nx = reader.ReadSingle();
float ny = reader.ReadSingle();
float nz = reader.ReadSingle();
// color
byte r = reader.ReadByte();
byte g = reader.ReadByte();
byte b = reader.ReadByte();
dataset.m_pointCloud.AddPoint(x, y, z,
r, g, b, 255);
}
return(dataset);
}
PointCloudSub[] ReadDataBody(PCModelHeader header, BinaryReader reader)
{
PointCloudSub[] pointDatasets = new PointCloudSub[header.nbSubPointCloud];
for (uint i = 0; i < header.nbSubPointCloud; ++i)
{
//ReadKDTree(file, header.map[i].offsetTree, i);
PointCloudSub dataset = ReadPointCloud(reader, header.map[i].offsetPointCloud);
if (dataset.m_numberOfPoints > 0)
{
pointDatasets[i] = dataset;
}
else
{
pointDatasets[i] = null;
}
}
return(pointDatasets);
}