public string Header(PointCloudTemp temp, PointCloudRecorderOptions options)
{
StringBuilder sb = new StringBuilder();
sb.AppendLine("# .PCD v.7 - Point Cloud Data file format");
sb.AppendLine("VERSION .7");
if (!options.RecordRGB)
{
sb.AppendLine("FIELDS x y z");
sb.AppendLine("SIZE 4 4 4");
sb.AppendLine("TYPE F F F");
sb.AppendLine("COUNT 1 1 1");
}
else
{
sb.AppendLine("FIELDS x y z rgb");
sb.AppendLine("SIZE 4 4 4 4");
sb.AppendLine("TYPE F F F F");
sb.AppendLine("COUNT 1 1 1 1");
}
sb.AppendLine("WIDTH 1");
sb.AppendLine("HEIGHT " + temp.PointCount);
sb.AppendLine("VIEWPOINT 0 0 0 1 0 0 0");
sb.AppendLine("POINTS " + temp.PointCount);
sb.Append("DATA ascii");
return sb.ToString();
}
public string Header(PointCloudTemp temp, PointCloudRecorderOptions options)
{
StringBuilder sb = new StringBuilder();
sb.AppendLine("ply");
sb.AppendLine("format ascii 1.0");
sb.AppendLine(String.Concat("element vertex ", temp.PointCount));
sb.AppendLine("property float x");
sb.AppendLine("property float y");
sb.AppendLine("property float z");
sb.AppendLine("property uchar red");
sb.AppendLine("property uchar green");
sb.AppendLine("property uchar blue");
sb.AppendLine("end_header");
return sb.ToString();
}
string FileType.Header(PointCloudTemp temp, PointCloudRecorderOptions options)
{
return "";
}
/// <summary>
/// Appends a temporary point cloud for processing
/// </summary>
/// <param name="temp">temp point cloud object</param>
public void AddCloud(PointCloudTemp temp)
{
this.TempClouds.Push(temp);
this.FrameIds.Add(temp.Id, temp.PointCount);
}
