PCD¶
Class for import and export to PCD.
The functions/classes available to the user are described in the PCD.cs file.
Public class fields¶
string version¶
PCD file version.
uint points¶
Total number of points.
uint width¶
Width of the dataset.
uint height¶
Height of the dataset.
DataFormat format¶
Data Type. Ascii or Binary.
PointCloud pc¶
Point cloud data. Vertex, normal, and color arrays.
public class PointCloud
{
[SerializeField] public Vector3[] vertices;
[SerializeField] public Vector3[] normals;
[SerializeField] public Color32[] colors;
}
Vector3 viewportTransform¶
Location of the data acquisition perspective.
Quaternion viewportRotation¶
Rotation of data acquisition perspective
Static method¶
PCD LoadFromFile( path, option )¶
Import PCD from a file(path).
| Argument | Description |
|---|---|
| string path | Path of file to be imported. |
| Option option | Import Options. |
PCD LoadFromStream( stream, option )¶
Import PCD from the stream.
| Argument | Description |
|---|---|
| Stream stream | Streams to read data from. |
| Option option | Import Options. |
IEnumerator LoadFromFileRoutine( onFinished, path, option, monitor )¶
Generates a coroutine to import PCD from a file.
onFinished() is called when loading is complete or fails.
| Argument | Description |
|---|---|
| System.Action<LoadResult> onFinished | Callback to be called on completion of loading. |
| string path | Path of file to be imported. |
| Option option = Option.ColorBGR | Import Options. |
| ProgressMonitor monitor = null | Variables to monitor the status of loading. |
IEnumerator LoadFromStreamRoutine( onFinished, stream, option, monitor )¶
Generates a coroutine to import PCD from a stream.
onFinished() is called when loading is complete or fails.
| Argument | Description |
|---|---|
| System.Action<LoadResult> onFinished | Callback to be called on completion of loading. |
| Stream stream | Streams to read data from. |
| Option option = Option.ColorBGR | Import Options. |
| ProgressMonitor monitor = null | Variables to monitor the status of loading. |
void WriteToFile( pcd, path, option, writeColor )¶
Export PCD to stream.
| Argument | Description |
|---|---|
| PCD pcd | Target PCD. |
| string path | Path of file to be exported. |
| Option option = Option.None | Export Options. |
| bool? writeColor = null | Whether or not to write a color. If null, it depends on whether or not PCD has a color. |
void WriteToStream( pcd, stream, option, writeColor )¶
Export PCD to stream.
| Argument | Description |
|---|---|
| PCD pcd | Target PCD. |
| Stream stream | Streams to export. |
| Option option = Option.None | Export Options. |
| bool? writeColor = null | Whether or not to write a color. If null, it depends on whether or not PCD has a color. |
PCD Generate( vertices, normals, colors )¶
Generate PCD from arguments.
| Argument | Description |
|---|---|
| Vector3[] vertices | Vertex of point cloud. |
| Vector3[] normals = null | Normal of point cloud. Length of array must match the vertices. |
| Color32[] colors = null | Color of point cloud. Length of array must match the vertices. |