public override void OnImportAsset(AssetImportContext ctx)
{
using (var reader = new PointCloudReader(Path.Combine(Directory.GetCurrentDirectory(), ctx.assetPath)))
{
if (reader.PointXYZRGBAs.IsCreated)
{
SaveMesh(ctx, reader.PointXYZRGBAs.CoordinateRosToUnity().ToUnityColor().ToMesh());
}
else if (reader.PointXYZIs.IsCreated)
{
var colored = reader.PointXYZIs.IntensityToColor();
SaveMesh(ctx, colored.CoordinateRosToUnity().ToMesh());
colored.Dispose();
}
}
AssetDatabase.Refresh();
}
public void Receive()
{
try
{
while (connected && receiving)
{
System.Diagnostics.Debug.WriteLine("Client Socket accepting");
byte[] sizebuffer = new byte[8];
acceptor.Receive(sizebuffer, 0, sizebuffer.Length, 0);
//receive length of data
int size = 0;
size = BitConverter.ToInt32(sizebuffer, 0);
MemoryStream ms = new MemoryStream();//will hold the data that is received
while (size > 0)
{
var buffer = size < acceptor.ReceiveBufferSize ? new byte[size] : new byte[acceptor.ReceiveBufferSize];
int receive = acceptor.Receive(buffer, 0, buffer.Length, 0);
//subtract the size of the received data from the size
size -= receive;
//write the received data to the memory stream
ms.Write(buffer, 0, buffer.Length);
}
if (size == 0)
{
ms.Close();
data = ms.ToArray();
PointCloudReader.ReadFromBinary(data);
//string datastring = Encoding.UTF8.GetString(data);
//Core.PointClouds.PointCloudReader.ReadFromString(datastring);
ms.Dispose();
}
}
}
catch (Exception exp) //catch socket exceptions
{
System.Diagnostics.Debug.WriteLine("Exceptions catched:\n" + exp);
}
}
