private PointCloud <PointXYZRGBA> ReadDataRGBA(byte[] byteArray)
{
PointCloud <PointXYZRGBA> cloud = new PointCloud <PointXYZRGBA> ();
//int temp = byteArray.Length / (int)_point_step;
for (int i = 0; i < _width * _height; i++)
{
float x = System.BitConverter.ToSingle(_data, i * (int)_point_step + 0);
float y = System.BitConverter.ToSingle(_data, i * (int)_point_step + 4);
float z = System.BitConverter.ToSingle(_data, i * (int)_point_step + 8);
uint rgba = System.BitConverter.ToUInt32(_data, i * (int)_point_step + 12);
if (!(float.IsNaN(x) || float.IsNaN(y) || float.IsNaN(z)))
{
PointXYZRGBA p = new PointXYZRGBA(x, y, z, rgba);
//Debug.Log(x + ", " + y + ", " + z);
cloud.Add(p);
}
//Debug.Log(i + "/" + _width * _height + ", " + temp);
}
//Debug.Log("Done1");
return(cloud);
}
public static extern void segmentation_supervoxel_xyzrgba_setCentroid(IntPtr ptr, ref PointXYZRGBA value);
public static extern void std_vector_xyzrgba_add(IntPtr ptr, PointXYZRGBA value);
public static extern void std_vector_xyzrgba_insert(IntPtr ptr, IntPtr idx, PointXYZRGBA value);
public static extern void std_vector_xyzrgba_at(IntPtr ptr, UIntPtr idx, ref PointXYZRGBA value);
