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unity pcd 二进制版简单显示文件对象（单色）

news 2025/9/13 9:18:07

unity Point Cloud Viewer and Tool 那个插件不支持pcd二进制，而且网上到处都是AI

我恨这种AI滥用，提供不了一点价值

好了，言归正传

可以在Point Cloud Viewer and Tool这个插件报错地方转用这个代码，具体咋结合请自行研究。

部分参考：

Unity PointCloud开发：Mesh渲染点云_unity 点云特效-CSDN博客

步骤大致为

按行读取文件

发现是二进制文件

解码，计算出是三维坐标点的位置

然后直接实例化对象

为了保证性能，用了上面链接的方案，这样不用第三方库，也能兼容统信和多种平台

在一个空对象上直接挂载代码，作者设置如下

全代码+注释如下：

using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;public class PCDReader :UnitySingleton<PCDReader> 
{public string filePath = "文件路径"; // PCD文件路径，需放置在Unity工程中public GameObject _obj;void Start(){LoadPCD(filePath);}public void LoadPCD(string path)//FileStream{/*if (!File.Exists(path)){Debug.LogError("文件不存在：" + path);return;}*/// 读取文件流using (FileStream stream=new FileStream(path, FileMode.Open))using (BinaryReader reader = new BinaryReader(stream)){// Step 1: 解析头部（ASCII格式）Dictionary<string, string> header = new Dictionary<string, string>();string line;while (true){line = ReadLine(reader); // 自定义方法读取一行ASCII文本if (line == null || line.StartsWith("DATA binary"))break;string[] parts = line.Split(' ');if (parts.Length >= 2){header[parts[0]] = parts[1];}}// 验证头部关键字段if (!header.ContainsKey("FIELDS") || !header.ContainsKey("POINTS") || !header.ContainsKey("SIZE")){Debug.LogError("头部信息不完整");}// 提取元数据string[] fields = header["FIELDS"].Split(' ');int pointCount = int.Parse(header["POINTS"]);string[] sizes = header["SIZE"].Split(' ');List<Vector3> points = new List<Vector3>(); // 存储点坐标List<Color> colors = new List<Color>(); // 存储点颜色（如果存在rgb字段）// 计算每个点的大小（基于SIZE和COUNT）int pointSize = 0;foreach (string size in sizes){pointSize += int.Parse(size); // SIZE每个值通常是4（字节）}// Step 2: 读取二进制数据部分for (int i = 0; i < pointCount; i++){// 读取坐标（假设前三个字段是x,y,z）float x = reader.ReadSingle(); // 4字节浮点数float y = reader.ReadSingle();float z = reader.ReadSingle();points.Add(new Vector3(x, y, z));// 如果存在rgb字段，读取并转换为Unity颜色/*if (fields.Length >= 4 &amp;&amp; fields[3] == "rgb"){uint rgb = reader.ReadUInt32(); // rgb通常以UInt32存储float r = ((rgb >> 16) &amp; 0xFF) / 255.0f;float g = ((rgb >> 8) &amp; 0xFF) / 255.0f;float b = (rgb &amp; 0xFF) / 255.0f;colors.Add(new Color(r, g, b));}*/// 跳过其他字段（如有）int remainingSize = pointSize;//- 12 - 4; // 减去xyz（12字节）和rgb（4字节）reader.ReadBytes(remainingSize);}// Step 3: 在Unity中创建点云对象CreatePointCloud(points, colors);//return points;}}// 辅助方法：从二进制流读取一行ASCII文本private string ReadLine(BinaryReader reader){List<byte> bytes = new List<byte>();byte nextByte;while (reader.BaseStream.Position < reader.BaseStream.Length){nextByte = reader.ReadByte();if (nextByte == '\n') // 换行符结束行break;bytes.Add(nextByte);}return System.Text.Encoding.ASCII.GetString(bytes.ToArray());}// 辅助方法：创建点云GameObject（使用Mesh）private void CreatePointCloud(List<Vector3> points, List<Color> colors){GameObject pointCloud = _obj;/*new GameObject("PointCloud");Mesh mesh = new Mesh();// mesh.vertices = points.ToArray();// 设置颜色（如果存在）/*if (colors.Count == points.Count){mesh.colors = colors.ToArray();}#1#// 创建MeshRenderer和MeshFilterMeshFilter meshFilter = pointCloud.AddComponent<MeshFilter>();MeshRenderer meshRenderer = pointCloud.AddComponent<MeshRenderer>();meshFilter.mesh = mesh;// 使用默认材质（可通过Unity材质自定义）meshRenderer.material = new Material(Shader.Find("Standard"));*/CreateMesh(points.Count,points);/*for (int i = 0; i < points.Count; i++){GameObject _obj=GameObject.Instantiate(pointCloud);_obj.transform.position = points[i];}*/Debug.Log("点云加载完成，点数: " + points.Count);}public  Mesh meshNeed;void CreateMesh(int num,List<Vector3> point){int _PointNum = num;GameObject pointObj = new GameObject();pointObj.name = "PointCloud";// 绑定Mesh组件pointObj.AddComponent<MeshFilter>();pointObj.AddComponent<MeshRenderer>();// 为点云创建新的MeshMaterial mat = new Material(Shader.Find("Custom/VertexColor"));pointObj.GetComponent<MeshFilter>().mesh = meshNeed;pointObj.GetComponent<MeshRenderer>().material = mat;Vector3[] points = new Vector3[num];Color[] colors = new Color[num];int[] indecies = new int[num];for (int i = 0; i < num; ++i){points[i] = point[i];indecies[i] = i;colors[i] = Color.white;}meshNeed.vertices = points;meshNeed.colors = colors;meshNeed.SetIndices(indecies, MeshTopology.Points, 0);// 设置Mesh的渲染类型为PointmeshNeed.SetIndexBufferParams(num, UnityEngine.Rendering.IndexFormat.UInt32);}}