public void SaveOriginalPointCloud(string filepath, UIManager.PointcloudData data, Collider box)
{
int vertexCount = data.vertexCount;
List <Vector3> vertices = data.vertices;
List <Color32> colors = data.colors;
List <Vector3> normals = data.normals;
List <Vector3> final_v = new List <Vector3>();
List <Color32> final_c = new List <Color32>();
List <Vector3> final_n = new List <Vector3>();
int finalCount = 0;
GameObject obj = data.obj;
Matrix4x4 localToWorld = obj.transform.localToWorldMatrix;
Quaternion rotate = obj.transform.rotation;
for (int i = 0; i < vertexCount; ++i)
{
Vector3 point = localToWorld.MultiplyPoint3x4(vertices[i]);
if (box.bounds.Contains(point))
{
final_v.Add(vertices[i]);
final_c.Add(colors[i]);
final_n.Add(normals[i]);
finalCount++;
}
}
using (StreamWriter sw = File.AppendText(filepath))
{
//Write Header
sw.WriteLine("ply");
sw.WriteLine("format ascii 1.0");
string vertex = "element vertex " + finalCount;
sw.WriteLine(vertex);
sw.WriteLine("property float x");
sw.WriteLine("property float y");
sw.WriteLine("property float z");
sw.WriteLine("property uchar red");
sw.WriteLine("property uchar green");
sw.WriteLine("property uchar blue");
sw.WriteLine("property uchar alpha");
sw.WriteLine("property float nx");
sw.WriteLine("property float ny");
sw.WriteLine("property float nz");
sw.WriteLine("end_header");
for (int i = 0; i < finalCount; ++i)
{
string line = final_v[i].x.ToString() + " " + final_v[i].y.ToString() + " " + final_v[i].z.ToString()
+ " " + final_c[i].r.ToString() + " " + final_c[i].g.ToString() + " " + final_c[i].b.ToString() + " " + final_c[i].a.ToString()
+ " " + final_n[i].x.ToString() + " " + final_n[i].y.ToString() + " " + final_n[i].z.ToString();
sw.WriteLine(line);
}
}
}
public void SaveUVpointcloud(string filepath, UIManager.PointcloudData data, Collider box)
{
if (data.hasCamParam)
{
int vertexCount = data.vertexCount;
List <Vector3> vertices = data.vertices;
GameObject obj = data.obj;
List <Vector2> uvPC = new List <Vector2>();
double fx = (double)data.f;
double cx = (double)(1 - data.cx);
double cy = (double)data.cy;
double posz = (double)vertices[vertexCount - 1].z;
double posy = (double)vertices[vertexCount - 1].y;
double fy = (1 - cy) * posz / posy;
List <Vector3> final_v = new List <Vector3>();
int finalCount = 0;
Matrix4x4 localToWorld = obj.transform.localToWorldMatrix;
List <float> ulist = new List <float>();
List <float> vlist = new List <float>();
for (int i = 0; i < vertexCount; ++i)
{
Vector3 point = localToWorld.MultiplyPoint3x4(vertices[i]);
if (box.bounds.Contains(point))
{
double u = 1 - ((double)vertices[i].x * fx / (double)vertices[i].z + cx);
double v = 1 - ((double)vertices[i].y * fy / vertices[i].z + cy);
if (u < 0)
{
u = 0;
}
else if (u > 1)
{
u = 1;
}
if (v < 0)
{
v = 0;
}
else if (v > 1)
{
v = 1;
}
Vector2 uv = new Vector2((float)u, (float)v);
final_v.Add(vertices[i]);
uvPC.Add(uv);
finalCount++;
}
}
using (StreamWriter sw = File.AppendText(filepath))
{
//Write Header
sw.WriteLine("ply");
sw.WriteLine("format ascii 1.0");
string vertex = "element vertex " + finalCount;
sw.WriteLine(vertex);
sw.WriteLine("property float x");
sw.WriteLine("property float y");
sw.WriteLine("property float z");
sw.WriteLine("property uchar red");
sw.WriteLine("property uchar green");
sw.WriteLine("property uchar blue");
sw.WriteLine("property uchar alpha");
sw.WriteLine("end_header");
for (int i = 0; i < finalCount; ++i)
{
string line = final_v[i].x.ToString() + " " + final_v[i].y.ToString() + " " + final_v[i].z.ToString() + " "
+ uvPC[i].x + " " + uvPC[i].y + " 0 0";
sw.WriteLine(line);
}
}
}
}
