/// <summary>
/// Parse the AR-Foundation feature point cloud.
/// </summary>
/// <param name="rawData"></param>
/// <param name="startIndex"></param>
/// <param name="receivedPointCloud"></param>
public static void ParseFeaturePointCloud(byte[] rawData, int startIndex, ref ConcurrentPointCloud receivedPointCloud)
{
// read header
var camPosition = ParserHelper.ToCartesianVectorMMPrecision(rawData, ref startIndex);
var camRotationEulerAngles = ParserHelper.ToCartesianVectorMMPrecision(rawData, ref startIndex);
var touchPosition = ParserHelper.ToVector2D(rawData, ref startIndex);
var touchDelta = ParserHelper.ToVector2D(rawData, ref startIndex);
var pointCount = ParserHelper.ToInt(rawData, ref startIndex);
//read points
for (var i = 0; i < pointCount; i++)
{
var id = ParserHelper.ToULong(rawData, ref startIndex);
var p = ParserHelper.ToCartesianVectorMMPrecision(rawData, ref startIndex);
var color = ParserHelper.ToColor(rawData, ref startIndex);
if (!receivedPointCloud.Points.ContainsKey(id))
{
receivedPointCloud.Points.TryAdd(id, p);
}
else
{
receivedPointCloud.Points[id] = p;
}
if (!receivedPointCloud.Colors.ContainsKey(id))
{
receivedPointCloud.Colors.TryAdd(id, color);
}
else
{
receivedPointCloud.Colors[id] = color;
}
}
}
protected override void SolveInstance(IGH_DataAccess DA)
{
ConcurrentPointCloud pointCloud = new ConcurrentPointCloud();
DA.GetData(0, ref pointCloud);
DA.SetDataList(0, pointCloud.Points.Values);
DA.SetDataList(1, pointCloud.Colors.Values);
}
