public override void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = (double)System.BitConverter.ToSingle(buffer, pos);
}
}
public override void readASCII(string str, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = System.Convert.ToSingle(str);
}
}
public virtual void readASCII(string str, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = null;
}
}
public virtual void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = null;
}
}
public override void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
if (id > -1)
{
pbb.data[id] = (int)buffer[pos];
}
}
public override void read(byte[] buffer, int pos, ref PCD_PointBuilder pbb)
{
}
public bool Import(string path, out PointCloud pc, bool intensity = false)
{
pc = new PointCloud();
string header;
if (!OpenFile(path, out header))
{
return(false);
}
if (!ParseHeader(header))
{
if (this.br != null)
{
this.br.Close();
}
return(false);
}
pc.UserDictionary.Set("width", this.width);
pc.UserDictionary.Set("height", this.height);
if (this.binary)
{
byte[] buffer;
int log_step = this.num_points / 5;
for (int i = 0; i < this.num_points; ++i)
{
//if (i % log_step == 0)
// if (UpdateLog != null)
// UpdateLog(((double)i/this.num_points * 100.0).ToString("0.0") + "%");
int pos = 0;
PCD_PointBuilder pbb = new PCD_PointBuilder();
buffer = br.ReadBytes(this.psize);
for (int j = 0; j < this.fields.Count; ++j)
{
this.fields[j].read(buffer, pos, ref pbb);
pos += this.fields[j].size;
}
if (intensity)
{
pc.Add(pbb.Point() * scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Intensity()));
}
else
{
pc.Add(pbb.Point() * scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Color()));
}
}
this.br.Close();
return(true);
}
else
{
// read all data into buffer
byte[] buffer = br.ReadBytes((int)br.BaseStream.Length - (int)br.BaseStream.Position);
// parse buffer as ASCII text
string bufferStr = System.Text.Encoding.Default.GetString(buffer);
// split string buffer into list of strings
List <string> lines = new List <string>(bufferStr.Split('\n'));
if (lines.Count != this.num_points)
{
log += "Header data doesn't match up with number of data lines!\n";
}
// parse points from line data
for (int i = 0; i < lines.Count; ++i)
{
PCD_PointBuilder pbb = new PCD_PointBuilder();
string[] tokens = lines[i].Split((char[])null, StringSplitOptions.RemoveEmptyEntries);
//log += lines[i];
//log += " " + tokens.Length.ToString() + "\n";
if (tokens.Length != this.fields.Count)
{
continue;
}
for (int j = 0; j < this.fields.Count; ++j)
{
this.fields[j].readASCII(tokens[j], ref pbb);
}
if (intensity)
{
pc.Add(pbb.Point() * this.scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Intensity()));
}
else
{
pc.Add(pbb.Point() * this.scale, pbb.Normal(), System.Drawing.Color.FromArgb(pbb.Color()));
}
}
this.br.Close();
return(true);
}
}
