DataHeader ReadDataHeader(PclBinaryReader reader)
{
var data = new DataHeader();
// Magic number line ("ply")
string line = reader.ReadLine();
if (line != "ply")
{
throw new ArgumentException("Magic number ('ply') mismatch.");
}
// Read header contents.
while (true)
{
// Read a line and split it with white space.
line = reader.ReadLine();
if (line == "end_header")
{
break;
}
var col = line.Split(' ');
switch (col[0])
{
case "comment":
continue;
// Element declaration (unskippable)
case "element" when col[1] == "vertex":
PointCloudData ImportAsPointCloudData(string path)
{
var stream = File.Open(path, FileMode.Open, FileAccess.Read, FileShare.Read);
var reader = new PclBinaryReader(ReadFully(stream));
var header = ReadDataHeader(reader);
var body = ReadDataBody(header, reader);
var data = ScriptableObject.CreateInstance <PointCloudData>();
data.Initialize(body.Vertices, body.Normals, body.Colors, Scale, PivotOffset, NormalRotation);
data.name = Path.GetFileNameWithoutExtension(path);
return(data);
}