public static PeekHeaderData PeekHeaderCGO(StreamReader reader, bool readRGB)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // cgo first line should have point count
line = line.Replace(" ", " ").Replace(" ", " ").Trim();
line = reader.ReadLine(); // get sample data from first line
ph.linesRead++;
if (IsNullOrEmptyLine(line))
{
ph.readSuccess = false; return(ph);
}
string[] row = line.Split(' ');
if (readRGB)
{
if (row.Length < 4)
{
Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;
}
}
ph.x = double.Parse(row[0].Replace(",", "."));
ph.y = double.Parse(row[1].Replace(",", "."));
ph.z = double.Parse(row[2].Replace(",", "."));
ph.readSuccess = true;
return(ph);
}
public static PeekHeaderData PeekHeaderPTS(StreamReader reader, bool readRGB, bool readIntensity, ref long masterPointCount)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first line is point count
ph.linesRead++;
line = line.Replace(" ", " ").Replace(" ", " ").Trim();
line = line.Replace(',', '.');
line = Regex.Replace(line, "[^0-9]", ""); // remove non-numeric chars
if (IsNullOrEmptyLine(line))
{
ph.readSuccess = false; return(ph);
}
// try parse first line
if (!long.TryParse(line, out masterPointCount))
{
Debug.LogError("Failed to read point count from PTS file");
ph.readSuccess = false; return(ph);
}
line = reader.ReadLine(); // first actual line
ph.linesRead++;
line = line.Replace(" ", " ").Replace(" ", " ").Trim();
line = line.Replace(',', '.');
string[] row = line.Split(' ');
if (readRGB)
{
if (row.Length < 6)
{
Debug.LogError("No RGB data founded, disabling readRGB"); readRGB = false;
}
}
if (readIntensity)
{
if (row.Length != 4 && row.Length != 7)
{
Debug.LogError("No Intensity data founded, disabling readIntensity"); readIntensity = false;
}
}
// take first point pos
ph.x = double.Parse(row[0], CultureInfo.InvariantCulture);
ph.y = double.Parse(row[1], CultureInfo.InvariantCulture);
ph.z = double.Parse(row[2], CultureInfo.InvariantCulture);
ph.readSuccess = true;
return(ph);
}
public static PeekHeaderData PeekHeaderXYZ(StreamReader reader, ref bool readRGB)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first actual line
line = line.Replace(" ", " ").Replace(" ", " ").Trim();
ph.linesRead++;
// check if first line is NOT empty
if (IsNullOrEmptyLine(line))
{
ph.readSuccess = false; return(ph);
}
string[] row = line.Split(' ');
if (readRGB)
{
if (row.Length < 6)
{
Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;
}
}
ph.readSuccess = true;
if (row.Length < 3)
{
Debug.LogError("No XYZ data founded on first line, maybe you have selected wrong input file format");
ph.readSuccess = false;
}
else
{
if (double.TryParse(row[0], out ph.x) == false)
{
ph.readSuccess = false;
}
if (double.TryParse(row[1], out ph.y) == false)
{
ph.readSuccess = false;
}
if (double.TryParse(row[2], out ph.z) == false)
{
ph.readSuccess = false;
}
}
return(ph);
}
public static PeekHeaderData PeekHeaderASC(StreamReader reader, bool readRGB)
{
PeekHeaderData ph = new PeekHeaderData();
string line = "";
bool comments = true;
while (comments == true && !reader.EndOfStream)
{
line = reader.ReadLine().Replace(" ", " ").Replace(" ", " ").Trim();
ph.linesRead++;
if (line.StartsWith("#") || line.StartsWith("!")) // temporary fix for Geomagic asc
{
// still comments
}
else
{
comments = false;
}
}
string[] row = line.Split(' ');
if (readRGB)
{
if (row.Length < 4)
{
Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;
}
}
// check for CatiaASC
if (line.ToLower().StartsWith("x"))
{
Debug.LogError("This looks like CATIA Asc data, but you have selected 'ASC' input file format instead"); ph.readSuccess = false; return(ph);
}
ph.x = double.Parse(row[0]);
ph.y = double.Parse(row[1]);
ph.z = double.Parse(row[2]);
ph.readSuccess = true;
return(ph);
}
public static PeekHeaderData PeekHeaderCATIA_ASC(StreamReader reader, ref bool readRGB)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first lines are not used
line = line.Replace(" ", " ").Replace(" ", " ").Trim();
line = reader.ReadLine(); // 2
line = reader.ReadLine(); // 3
line = reader.ReadLine(); // 4
line = reader.ReadLine(); // 5
line = reader.ReadLine(); // 6
line = reader.ReadLine(); // 7
line = reader.ReadLine(); // 8
line = reader.ReadLine(); // first actual line
ph.linesRead++;
if (IsNullOrEmptyLine(line))
{
ph.readSuccess = false; return(ph);
}
string[] row = line.Split(' ');
if (readRGB)
{
if (row.Length < 11)
{
Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;
}
}
ph.x = double.Parse(row[1]);
ph.y = double.Parse(row[3]);
ph.z = double.Parse(row[5]);
ph.readSuccess = true;
return(ph);
}
public static PeekHeaderData PeekHeaderPCD(StreamReader reader, ref bool readRGB, ref long masterPointCount)
{
PeekHeaderData ph = new PeekHeaderData();
//# .PCD v.7 - Point Cloud Data file format
//VERSION .7
//FIELDS x y z rgb
//SIZE 4 4 4 4
//TYPE F F F F
//COUNT 1 1 1 1
//WIDTH 213
//HEIGHT 1
//VIEWPOINT 0 0 0 1 0 0 0
//POINTS 213
//DATA ascii
string line = "";
line = reader.ReadLine();
if (line.StartsWith("#") == true)
{
ph.linesRead++;
}
// version
line = reader.ReadLine();
ph.linesRead++;
if (line.Contains(".7") == false)
{
Debug.LogWarning("Only version v0.7 is tested.. your file version is: " + line);
}
// fields
line = reader.ReadLine();
ph.linesRead++;
if (line.Contains("rgb") == false && line.Contains("r g b") == false)
{
readRGB = false;
}
// size
line = reader.ReadLine();
ph.linesRead++;
// type
line = reader.ReadLine();
ph.linesRead++;
// count
line = reader.ReadLine();
ph.linesRead++;
// width
line = reader.ReadLine();
ph.linesRead++;
// heigth
line = reader.ReadLine();
ph.linesRead++;
// viewpoint
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower().Contains("viewpoint"))
{
// points
line = reader.ReadLine();
ph.linesRead++;
}
else // no viewpoint line, probably v0.5
{
// then this line was points
}
line = line.Replace("POINTS ", "").Trim();
if (!long.TryParse(line, out masterPointCount))
{
Debug.LogError("Failed to read point count from PCD file");
ph.readSuccess = false; return(ph);
}
// datatype
line = reader.ReadLine();
ph.linesRead++;
if (line.Contains("ascii") == false)
{
Debug.LogError("Only ascii PCD files are currently supported..");
}
// first data row
line = reader.ReadLine();
ph.linesRead++;
string[] row = line.Split(' ');
if (readRGB == true)
{
if (row.Length < 4)
{
Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;
}
}
//if (readIntensity) { if (row.Length < 4) { Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false; } }
ph.x = double.Parse(row[0].Replace(",", "."));
ph.y = double.Parse(row[1].Replace(",", "."));
ph.z = double.Parse(row[2].Replace(",", "."));
ph.readSuccess = true;
return(ph);
}
public static PeekHeaderData PeekHeaderPLY(StreamReader reader, bool readRGB, ref long masterPointCount, ref bool plyHasNormals, ref bool plyHasDensity)
{
PeekHeaderData ph = new PeekHeaderData();
plyHasDensity = false;
string line = reader.ReadLine();
ph.linesRead++;
line = line.Replace(" ", " ").Replace(" ", " ").Trim();
// is this ply
if (line.ToLower() != "ply")
{
Debug.LogWarning("Header error #1: not 'ply'");
ph.readSuccess = false;
return(ph);
}
line = reader.ReadLine();
ph.linesRead++;
// is this ascii ply
if (line.Contains("format ascii") == false)
{
Debug.LogWarning("(PLY) Header error #2: Binary format is not supported.");
ph.readSuccess = false;
return(ph);
}
// look for element vertex count, try max 100 rows, or until end header
bool foundVertexCount = false;
for (int i = 0, len = 100; i < len; i++)
{
line = reader.ReadLine();
ph.linesRead++;
if (string.IsNullOrEmpty(line) == false)
{
if (line.ToLower().Contains("element vertex"))
{
// this has vertex count, lets exit
foundVertexCount = true;
break;
}
if (reader.EndOfStream == true)
{
Debug.LogError("PLY Header: Unexpected end of header (1).. Failed!");
ph.readSuccess = false;
return(ph);
}
}
}
if (foundVertexCount == false)
{
Debug.LogError("PLY Header: Cannot find row 'element vertex .....' - Import failed!");
ph.readSuccess = false;
return(ph);
}
string[] row = line.Split(' ');
masterPointCount = long.Parse(row[2], NumberStyles.Integer);
Debug.Log("(Converter) Reading " + masterPointCount + " points..");
// loop until x,y,z data
bool foundXYZ = false;
for (int i = 0, len = 100; i < len; i++)
{
line = reader.ReadLine();
ph.linesRead++;
if (string.IsNullOrEmpty(line) == false)
{
if (line.ToLower().Contains("property float x") || line.ToLower().Contains("property double x"))
{
foundXYZ = true;
break;
}
if (reader.EndOfStream == true)
{
Debug.LogError("PLY Header: Unexpected end of header (2).. Failed!");
ph.readSuccess = false;
return(ph);
}
}
}
if (foundXYZ == false)
{
Debug.LogError("PLY Header: Cannot find XYZ properties in header - Import failed!");
ph.readSuccess = false;
return(ph);
}
if (masterPointCount < 1)
{
Debug.LogError("Header error #3: ply vertex count < 1"); ph.readSuccess = false; return(ph);
}
// check properties
if (line.ToLower() != "property float x" && line.ToLower() != "property double x")
{
Debug.LogError("Header error #4a: property x error"); ph.readSuccess = false; return(ph);
}
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower() != "property float y" && line.ToLower() != "property double y")
{
Debug.LogError("Header error #4b: property y error"); ph.readSuccess = false; return(ph);
}
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower() != "property float z" && line.ToLower() != "property double z")
{
Debug.LogWarning("Header error #4c: property z error"); ph.readSuccess = false; return(ph);
}
// check if density row
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower() == "property float density")
{
// skip density row
plyHasDensity = true;
line = reader.ReadLine();
ph.linesRead++;
}
if (line.ToLower() == "property float nx")
{
plyHasNormals = true;
line = reader.ReadLine(); // ny
line = reader.ReadLine(); // nz
ph.linesRead++;
ph.linesRead++;
// rgb
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower() == "property uchar red")
{
// yes, take other lines out also
line = reader.ReadLine(); // g
line = reader.ReadLine(); // b
line = reader.ReadLine(); // a
ph.linesRead++;
ph.linesRead++;
ph.linesRead++;
}
else
{ // no color vals
readRGB = false;
}
// face elements (not used)
line = reader.ReadLine();
ph.linesRead++;
}
else
{ // no normals
if (line.ToLower() == "property uchar red")
{
// yes, take other lines out also
line = reader.ReadLine(); // g
line = reader.ReadLine(); // b
line = reader.ReadLine(); // a
ph.linesRead++;
ph.linesRead++;
ph.linesRead++;
// face elements (not used)
}
else
{ // no color vals or normals either
Debug.LogWarning("PLY Header: No RGB data found in header, disabling RGB import");
readRGB = false;
}
}
// property list title (not used)
// look for end header
bool foundedEndHeader = false;
var maxRowsToCheck = ph.linesRead + 50;
while (ph.linesRead < maxRowsToCheck && reader.EndOfStream == false)
{
if (line.ToLower().IndexOf("end_header") > -1)
{
foundedEndHeader = true;
break;
}
line = reader.ReadLine().Replace(" ", " ").Replace(" ", " ").Trim();
ph.linesRead++;
}
if (foundedEndHeader == false)
{
Debug.LogWarning("Header error #5: 'end_header' not found in correct place");
ph.readSuccess = false;
return(ph);
}
// read first line to get data
line = reader.ReadLine(); // x y z r g b a
ph.linesRead++;
if (IsNullOrEmptyLine(line))
{
ph.readSuccess = false; return(ph);
}
row = line.Split(' ');
if (readRGB)
{
if (row.Length < 5)
{
Debug.LogError("No RGB data founded, disabling readRGB!"); readRGB = false;
}
}
ph.x = double.Parse(row[0], CultureInfo.InvariantCulture);
ph.y = double.Parse(row[1], CultureInfo.InvariantCulture);
ph.z = double.Parse(row[2], CultureInfo.InvariantCulture);
ph.readSuccess = true;
ph.hasRGB = readRGB;
return(ph);
}
//PeekHeaderData PeekHeaderLAS(BinaryReader reader)
//{
// read all points
// ph.linesRead = 0; // not applicable? ir use offsetpoint?
// ph.readSuccess = false;
//Debug.Break();
//return null; //ph;
//}
PeekHeaderData PeekHeaderPLY(StreamReader reader)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine();
ph.linesRead++;
line = line.Replace(" "," ").Replace(" "," ").Trim();
// is this ply
if (line.ToLower()!="ply")
{
Debug.LogWarning("Header error #1: not 'ply'");
ph.readSuccess = false;
return ph;
}
line = reader.ReadLine();
ph.linesRead++;
// is this ascii ply
if (!line.Contains("format ascii"))
{
Debug.LogWarning("Header error #2: not 'format ascii'");
ph.readSuccess = false;
return ph;
}
// read comment line
line = reader.ReadLine();
ph.linesRead++;
// get vertex count
line = reader.ReadLine();
ph.linesRead++;
string[] row = line.Split(' ');
masterPointCount = long.Parse(row[2]);
Debug.Log("Reading "+masterPointCount+" points..");
if (masterPointCount < 1) { Debug.LogError("Header error #3: ply vertex count < 1"); ph.readSuccess = false; return ph;}
// check properties
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower()!="property float x") { Debug.LogError("Header error #4a: property x error"); ph.readSuccess = false; return ph;}
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower()!="property float y") { Debug.LogError("Header error #4b: property y error"); ph.readSuccess = false; return ph;}
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower()!="property float z") { Debug.LogWarning("Header error #4c: property z error"); ph.readSuccess = false; return ph;}
// check for normal data
//if (readNormals)
//{
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower()=="property float nx")
{
plyHasNormals = true;
line = reader.ReadLine(); // ny
line = reader.ReadLine(); // nz
ph.linesRead++;
ph.linesRead++;
// rgb
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower()=="property uchar red")
{
// yes, take other lines out also
line = reader.ReadLine(); // g
line = reader.ReadLine(); // b
line = reader.ReadLine(); // a
ph.linesRead++;
ph.linesRead++;
ph.linesRead++;
}else{ // no color vals
readRGB = false;
}
// face elements (not used)
line = reader.ReadLine();
ph.linesRead++;
}else{ // no normals
if (line.ToLower()=="property uchar red")
{
// yes, take other lines out also
line = reader.ReadLine(); // g
line = reader.ReadLine(); // b
line = reader.ReadLine(); // a
ph.linesRead++;
ph.linesRead++;
ph.linesRead++;
// face elements (not used)
line = reader.ReadLine();
ph.linesRead++;
}else{ // no color vals or normals either
readRGB = false;
}
}
// property list title (not used)
line = reader.ReadLine();
ph.linesRead++;
// end header
line = reader.ReadLine();
ph.linesRead++;
if (line.ToLower()!="end_header") {
Debug.LogWarning("Header error #5: 'end_header' not found in correct place");
ph.readSuccess = false;
return ph;
}
// read first line to get data
line = reader.ReadLine(); // x y z r g b a
ph.linesRead++;
if (IsNullOrEmptyLine(line)) {ph.readSuccess = false; return ph;}
row = line.Split(' ');
if (readRGB){ if (row.Length<5) {Debug.LogError("No RGB data founded, disabling readRGB"); readRGB = false;}}
ph.x = double.Parse(row[0]);
ph.y = double.Parse(row[1]);
ph.z = double.Parse(row[2]);
ph.readSuccess = true;
return ph;
}
PeekHeaderData PeekHeaderPTS(StreamReader reader)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first line is point count
ph.linesRead++;
line = line.Replace(" "," ").Replace(" "," ").Trim();
line = Regex.Replace(line, "[^0-9]", ""); // remove non-numeric chars
if (IsNullOrEmptyLine(line)) {ph.readSuccess = false; return ph;}
if (!long.TryParse(line, out masterPointCount))
{
Debug.LogError("Failed to read point count from PTS file");
ph.readSuccess = false; return ph;
}
line = reader.ReadLine(); // first actual line
ph.linesRead++;
line = line.Replace(" "," ").Replace(" "," ").Trim();
string[] row = line.Split(' ');
// Debug.Log(row.Length);
if (readRGB){ if (row.Length<6) {Debug.LogError("No RGB data founded, disabling readRGB"); readRGB = false;}}
if (readIntensity){ if (row.Length!=4 && row.Length!=7) {Debug.LogError("No Intensity data founded, disabling readIntensity"); readIntensity = false;}}
// take first point pos
ph.x = double.Parse(row[0]);
ph.y = double.Parse(row[1]);
ph.z = double.Parse(row[2]);
ph.readSuccess = true;
return ph;
}
PeekHeaderData PeekHeaderXYZ(StreamReader reader)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first actual line
line = line.Replace(" "," ").Replace(" "," ").Trim();
ph.linesRead++;
// check if first line is NOT empty
if (IsNullOrEmptyLine(line)) {ph.readSuccess = false; return ph;}
string[] row = line.Split(' ');
if (readRGB){if (row.Length<6) {Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;}}
ph.x = double.Parse(row[0]);
ph.y = double.Parse(row[1]);
ph.z = double.Parse(row[2]);
ph.readSuccess = true;
return ph;
}
PeekHeaderData PeekHeaderCATIA_ASC(StreamReader reader)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first lines are not used
line = line.Replace(" "," ").Replace(" "," ").Trim();
line = reader.ReadLine(); // 2
line = reader.ReadLine(); // 3
line = reader.ReadLine(); // 4
line = reader.ReadLine(); // 5
line = reader.ReadLine(); // 6
line = reader.ReadLine(); // 7
line = reader.ReadLine(); // 8
line = reader.ReadLine(); // first actual line
ph.linesRead++;
if (IsNullOrEmptyLine(line)) {ph.readSuccess = false; return ph;}
string[] row = line.Split(' ');
if (readRGB){if (row.Length<11) {Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;}}
ph.x = double.Parse(row[1]);
ph.y = double.Parse(row[3]);
ph.z = double.Parse(row[5]);
ph.readSuccess = true;
return ph;
}
PeekHeaderData PeekHeaderCGO(StreamReader reader)
{
PeekHeaderData ph = new PeekHeaderData();
string line = reader.ReadLine(); // first line has numbers
line = line.Replace(" "," ").Replace(" "," ").Trim();
line = reader.ReadLine(); // get sample 1st line
ph.linesRead++;
if (IsNullOrEmptyLine(line)) {ph.readSuccess = false; return ph;}
string[] row = line.Split(' ');
if (readRGB){if (row.Length<4) {Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;}}
ph.x = double.Parse(row[0].Replace(",","."));
ph.y = double.Parse(row[1].Replace(",","."));
ph.z = double.Parse(row[2].Replace(",","."));
ph.readSuccess = true;
return ph;
}
PeekHeaderData PeekHeaderASC(StreamReader reader)
{
PeekHeaderData ph = new PeekHeaderData();
string line="";
bool comments=true;
while (comments && !reader.EndOfStream)
{
line = reader.ReadLine().Replace(" "," ").Replace(" "," ").Trim();
ph.linesRead++;
if (line.StartsWith("#") || line.StartsWith("!")) // temporary fix for Geomagic asc
{
// still comments
}else{
comments=false;
}
}
string[] row = line.Split(' ');
if (readRGB){if (row.Length<4) {Debug.LogError("No RGB data founded after XYZ, disabling readRGB"); readRGB = false;}}
// check for CatiaASC
if (line.ToLower().StartsWith("x")) {Debug.LogError("This looks like CATIA Asc data, you have selected 'ASC' input file format instead"); ph.readSuccess = false; return ph;}
ph.x = double.Parse(row[0]);
ph.y = double.Parse(row[1]);
ph.z = double.Parse(row[2]);
ph.readSuccess = true;
return ph;
}
