├── CppPluginPCL ├── CMakeLists.txt └── cpp_plugin_pcl.cpp ├── README.md └── UnityPluginPCL ├── Assembly-CSharp-firstpass-vs.csproj ├── Assembly-CSharp-firstpass.csproj ├── Assembly-CSharp-vs.csproj ├── Assembly-CSharp.csproj ├── Assembly-UnityScript-firstpass-vs.unityproj ├── Assembly-UnityScript-firstpass.unityproj ├── Assembly-UnityScript-vs.unityproj ├── Assembly-UnityScript.unityproj ├── Assets ├── MouseLook.cs ├── MouseLook.cs.meta ├── MyClickHandler.js ├── MyClickHandler.js.meta ├── PluginPCL.cs ├── PluginPCL.cs.meta ├── point.prefab ├── point.prefab.meta ├── scene.unity └── scene.unity.meta ├── Library ├── AnnotationManager ├── AssetImportState ├── AssetServerCacheV3 ├── AssetVersioning.db ├── BuildPlayer.prefs ├── BuildSettings.asset ├── CurrentLayout.dwlt ├── EditorUserBuildSettings.asset ├── EditorUserSettings.asset ├── FailedAssetImports.txt ├── InspectorExpandedItems.asset ├── MonoManager.asset ├── ProjectSettings.asset ├── ScriptAssemblies │ ├── Assembly-CSharp.dll │ ├── Assembly-CSharp.dll.mdb │ ├── Assembly-UnityScript.dll │ ├── Assembly-UnityScript.dll.mdb │ └── CompilationCompleted.txt ├── ScriptMapper ├── assetDatabase3 ├── expandedItems ├── guidmapper └── metadata │ ├── 22 │ └── 22edb08dd16935b4cab3f05099517a44 │ ├── 29 │ └── 29a93b50dfd27ce439a27da14f4ecded │ ├── 49 │ └── 4931afe5346754149bac769baea0d329 │ ├── 00 │ ├── 00000000000000001000000000000000 │ ├── 00000000000000002000000000000000 │ ├── 00000000000000003000000000000000 │ ├── 00000000000000004000000000000000 │ ├── 00000000000000004100000000000000 │ ├── 00000000000000005000000000000000 │ ├── 00000000000000005100000000000000 │ ├── 00000000000000006000000000000000 │ ├── 00000000000000006100000000000000 │ ├── 00000000000000007000000000000000 │ ├── 00000000000000008000000000000000 │ ├── 00000000000000009000000000000000 │ ├── 0000000000000000a000000000000000 │ ├── 0000000000000000b000000000000000 │ └── 0000000000000000c000000000000000 │ ├── 0c │ └── 0c25d456bde811243bc0df99563516b3 │ └── f6 │ └── f6c077b2fa8a0f246b14139b7197f2b1 ├── ProjectSettings ├── AudioManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshLayers.asset ├── NetworkManager.asset ├── Physics2DSettings.asset ├── ProjectSettings.asset ├── QualitySettings.asset ├── TagManager.asset └── TimeManager.asset ├── Temp ├── UnityLockfile └── __EditModeScene ├── UnityPluginPCL-csharp.sln ├── UnityPluginPCL.sln ├── UnityPluginPCL.userprefs ├── cloud_cluster_2.pcd ├── cloud_cluster_3.pcd ├── cloud_cluster_4.pcd ├── cpp_plugin_pcl.dll ├── table_scene_lms400.pcd ├── table_scene_lms400_0.pcd └── table_scene_lms400_1.pcd /CppPluginPCL/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8 FATAL_ERROR) 2 | 3 | project(cpp_plugin_pcl) 4 | 5 | find_package(PCL 1.2 REQUIRED) 6 | 7 | include_directories(${PCL_INCLUDE_DIRS}) 8 | link_directories(${PCL_LIBRARY_DIRS}) 9 | add_definitions(${PCL_DEFINITIONS}) 10 | 11 | add_executable (cpp_plugin_pcl cpp_plugin_pcl.cpp) 12 | target_link_libraries (cpp_plugin_pcl ${PCL_LIBRARIES}) -------------------------------------------------------------------------------- /CppPluginPCL/cpp_plugin_pcl.cpp: -------------------------------------------------------------------------------- 1 | #define EXPORT_API __declspec(dllexport) // Visual Studio needs annotating exported functions with this 2 | 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include // TODO uncomment 17 | #include 18 | 19 | // Link following functions C-style (required for plugins) 20 | extern "C" 21 | { 22 | 23 | class KinectCloudGrabber 24 | { 25 | pcl::Grabber* interface; 26 | bool viewerWasStopped; 27 | 28 | public: 29 | pcl::PointCloud::ConstPtr cloudFromKinect; 30 | 31 | KinectCloudGrabber () : viewerWasStopped (false) /*, cloudFromKinect (new pcl::PointCloud) */ { } 32 | 33 | void cloud_cb_ (const pcl::PointCloud::ConstPtr &cloud) 34 | { 35 | if (!viewerWasStopped) { 36 | cloudFromKinect = cloud; 37 | viewerWasStopped = true; 38 | } 39 | } 40 | 41 | pcl::PointCloud::ConstPtr grabCloud () 42 | { 43 | pcl::Grabber* interface = new pcl::OpenNIGrabber(); 44 | 45 | boost::function::ConstPtr&)> f = boost::bind (&KinectCloudGrabber::cloud_cb_, this, _1); 46 | 47 | interface->registerCallback (f); 48 | interface->start (); 49 | 50 | while (!viewerWasStopped) 51 | { 52 | boost::this_thread::sleep (boost::posix_time::seconds (1)); 53 | } 54 | 55 | interface->stop (); 56 | 57 | return cloudFromKinect; 58 | } 59 | }; 60 | 61 | pcl::PointCloud::Ptr maincloud (new pcl::PointCloud); 62 | 63 | pcl::PointCloud::Ptr *clusteredclouds; 64 | std::vector> clusteredcloudsindices; 65 | 66 | int clustersCount = 0; 67 | 68 | struct mycloud 69 | { 70 | int size; 71 | float *resultVertsX, *resultVertsY, *resultVertsZ; 72 | }; 73 | 74 | EXPORT_API bool structureTest(mycloud* myc) { 75 | mycloud mc; 76 | mc.size = 2; 77 | mc.resultVertsX = new float[mc.size]; 78 | mc.resultVertsX[0] = 1.1f; 79 | mc.resultVertsX[1] = 2.2f; 80 | mc.resultVertsY = new float[mc.size]; 81 | mc.resultVertsY[0] = 3.3f; 82 | mc.resultVertsY[1] = 4.4f; 83 | mc.resultVertsZ = new float[mc.size]; 84 | mc.resultVertsZ[0] = 5.1f; 85 | mc.resultVertsZ[1] = 5.2f; 86 | 87 | *myc = mc; 88 | return true; 89 | } 90 | 91 | /* 92 | int main() { 93 | mycloud m; 94 | structureTest(&m); 95 | 96 | std::cout << m.size << std::endl; 97 | getchar(); 98 | return 0; 99 | } 100 | */ 101 | 102 | EXPORT_API bool readCloud() { 103 | pcl::PCDReader reader; 104 | pcl::PointCloud::Ptr cloud (new pcl::PointCloud); 105 | reader.read ("table_scene_lms400.pcd", *cloud); 106 | 107 | if (cloud->empty()) { 108 | return false; 109 | } 110 | 111 | // Create the filtering object: downsample the dataset using a leaf size of 1cm 112 | pcl::VoxelGrid vg; 113 | vg.setInputCloud (cloud); 114 | vg.setLeafSize (0.01f, 0.01f, 0.01f); 115 | vg.filter (*maincloud); 116 | 117 | return true; 118 | } 119 | 120 | EXPORT_API bool readKinectCloud() { 121 | KinectCloudGrabber kinectCloudGrabber; 122 | pcl::PointCloud::ConstPtr cloud = kinectCloudGrabber.grabCloud (); 123 | // std::cout << "Cloudsize :" << cloud->points.size () << std::endl; 124 | 125 | if (cloud->empty()) { 126 | return false; 127 | } 128 | 129 | // Create the filtering object: downsample the dataset using a leaf size of 1cm 130 | pcl::VoxelGrid vg; 131 | vg.setInputCloud (cloud); 132 | vg.setLeafSize (0.01f, 0.01f, 0.01f); 133 | vg.filter (*maincloud); 134 | 135 | return true; 136 | } 137 | 138 | EXPORT_API bool removeBiggestPlane(int maxIterations, double distanceThreshold) { 139 | pcl::PointCloud::Ptr cloud_f (new pcl::PointCloud); 140 | 141 | // Create the segmentation object for the planar model and set all the parameters 142 | pcl::SACSegmentation seg; 143 | pcl::PointIndices::Ptr inliers (new pcl::PointIndices); 144 | pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients); 145 | pcl::PointCloud::Ptr cloud_plane (new pcl::PointCloud ()); 146 | pcl::PCDWriter writer; 147 | seg.setOptimizeCoefficients (true); 148 | seg.setModelType (pcl::SACMODEL_PLANE); 149 | seg.setMethodType (pcl::SAC_RANSAC); 150 | seg.setMaxIterations (maxIterations); // 100); 151 | seg.setDistanceThreshold (distanceThreshold); // 0.02); 152 | 153 | int i=0, nr_points = (int) maincloud->points.size (); 154 | while (maincloud->points.size () > 0.3 * nr_points) 155 | { 156 | // Segment the largest planar component from the remaining cloud 157 | seg.setInputCloud (maincloud); 158 | seg.segment (*inliers, *coefficients); 159 | if (inliers->indices.size () == 0) 160 | { 161 | // std::cout << "Could not estimate a planar model for the given dataset." << std::endl; 162 | break; 163 | } 164 | 165 | // Extract the planar inliers from the input cloud 166 | pcl::ExtractIndices extract; 167 | extract.setInputCloud (maincloud); 168 | extract.setIndices (inliers); 169 | extract.setNegative (false); 170 | 171 | // Get the points associated with the planar surface 172 | extract.filter (*cloud_plane); 173 | // std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size () << " data points." << std::endl; 174 | 175 | // Remove the planar inliers, extract the rest 176 | extract.setNegative (true); 177 | extract.filter (*cloud_f); 178 | *maincloud = *cloud_f; 179 | } 180 | 181 | return true; 182 | } 183 | 184 | EXPORT_API bool getClusters(double clusterTolerance, int minClusterSize, int maxClusterSize) { 185 | // Creating the KdTree object for the search method of the extraction 186 | pcl::search::KdTree::Ptr tree (new pcl::search::KdTree); 187 | tree->setInputCloud (maincloud); 188 | 189 | std::vector cluster_indices; 190 | pcl::EuclideanClusterExtraction ec; 191 | ec.setClusterTolerance (clusterTolerance); // 0.02); // 2cm 192 | ec.setMinClusterSize (minClusterSize); // 100); 193 | ec.setMaxClusterSize (maxClusterSize); // 25000); 194 | ec.setSearchMethod (tree); 195 | ec.setInputCloud (maincloud); 196 | ec.extract (cluster_indices); 197 | 198 | int j = 0; 199 | 200 | clustersCount = cluster_indices.size(); 201 | clusteredclouds = new pcl::PointCloud::Ptr[clustersCount]; 202 | clusteredcloudsindices.resize(clustersCount); 203 | 204 | for (std::vector::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it) 205 | { 206 | pcl::PointCloud::Ptr cloud_cluster (new pcl::PointCloud); 207 | 208 | for (std::vector::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++) { 209 | cloud_cluster->points.push_back (maincloud->points[*pit]); //* 210 | clusteredcloudsindices[j].push_back(*pit); 211 | } 212 | 213 | cloud_cluster->width = cloud_cluster->points.size (); 214 | cloud_cluster->height = 1; 215 | cloud_cluster->is_dense = true; 216 | 217 | // std::cout << "PointCloud representing the Cluster: " << cloud_cluster->points.size () << " data points." << std::endl; 218 | 219 | clusteredclouds[j] = cloud_cluster; 220 | 221 | j++; 222 | } 223 | 224 | return true; 225 | } 226 | 227 | EXPORT_API int getClustersCount() { 228 | return clustersCount; 229 | } 230 | 231 | EXPORT_API int getCloudSize() { 232 | return maincloud->points.size(); 233 | } 234 | 235 | EXPORT_API bool getCluster(int clusterIndex, float** resultVertsX, float** resultVertsY, float** resultVertsZ, int* resultVertLength) 236 | { 237 | pcl::PointCloud::Ptr cluster = clusteredclouds[clusterIndex]; 238 | 239 | if (cluster->empty()) { 240 | return false; 241 | } 242 | 243 | float* rVertsX = new float[cluster->points.size ()]; 244 | float* rVertsY = new float[cluster->points.size ()]; 245 | float* rVertsZ = new float[cluster->points.size ()]; 246 | 247 | for (size_t i = 0; i < cluster->points.size (); ++i) 248 | { 249 | rVertsX[i] = cluster->points[i].x; 250 | rVertsY[i] = cluster->points[i].y; 251 | rVertsZ[i] = cluster->points[i].z; 252 | } 253 | 254 | *resultVertsX = rVertsX; 255 | *resultVertsY = rVertsY; 256 | *resultVertsZ = rVertsZ; 257 | 258 | int rVertLength = cluster->points.size (); 259 | *resultVertLength = rVertLength; 260 | 261 | return true; 262 | } 263 | 264 | EXPORT_API bool getClusterIndices(int clusterIndex, float** indices, int* indicesLength) 265 | { 266 | std::vector clusteredcloudindices = clusteredcloudsindices[clusterIndex]; 267 | 268 | if (clusteredcloudindices.empty()) { 269 | return false; 270 | } 271 | 272 | float* inds = new float[clusteredcloudindices.size ()]; 273 | 274 | for (size_t i = 0; i < clusteredcloudindices.size (); ++i) 275 | { 276 | inds[i] = clusteredcloudindices[i]; 277 | } 278 | 279 | *indices = inds; 280 | 281 | int indLength = clusteredcloudindices.size (); 282 | *indicesLength = indLength; 283 | 284 | return true; 285 | } 286 | 287 | EXPORT_API bool getCloud(float** resultVertsX, float** resultVertsY, float** resultVertsZ, int* resultVertLength) 288 | { 289 | if (maincloud->empty()) { 290 | return false; 291 | } 292 | 293 | float* rVertsX = new float[maincloud->points.size ()]; 294 | float* rVertsY = new float[maincloud->points.size ()]; 295 | float* rVertsZ = new float[maincloud->points.size ()]; 296 | 297 | for (size_t i = 0; i < maincloud->points.size (); ++i) 298 | { 299 | rVertsX[i] = maincloud->points[i].x; 300 | rVertsY[i] = maincloud->points[i].y; 301 | rVertsZ[i] = maincloud->points[i].z; 302 | } 303 | 304 | *resultVertsX = rVertsX; 305 | *resultVertsY = rVertsY; 306 | *resultVertsZ = rVertsZ; 307 | 308 | int rVertLength = maincloud->points.size (); 309 | *resultVertLength = rVertLength; 310 | 311 | return true; 312 | } 313 | 314 | EXPORT_API bool readPointCloud(float** resultVertsX, float** resultVertsY, float** resultVertsZ, int* resultVertLength) 315 | { 316 | // Read in the cloud data 317 | pcl::PCDReader reader; 318 | pcl::PointCloud::Ptr cloud (new pcl::PointCloud); 319 | reader.read ("table_scene_lms400.pcd", *cloud); 320 | 321 | if (cloud->empty()) { 322 | return false; 323 | } 324 | 325 | float* rVertsX = new float[cloud->points.size ()]; 326 | float* rVertsY = new float[cloud->points.size ()]; 327 | float* rVertsZ = new float[cloud->points.size ()]; 328 | 329 | for (size_t i = 0; i < cloud->points.size (); ++i) 330 | { 331 | rVertsX[i] = cloud->points[i].x; 332 | rVertsY[i] = cloud->points[i].y; 333 | rVertsZ[i] = cloud->points[i].z; 334 | } 335 | 336 | *resultVertsX = rVertsX; 337 | *resultVertsY = rVertsY; 338 | *resultVertsZ = rVertsZ; 339 | 340 | int rVertLength = cloud->points.size (); 341 | *resultVertLength = rVertLength; 342 | 343 | return true; 344 | } 345 | 346 | /* 347 | EXPORT_API bool grabPointCloudFromKinect(float** resultVertsX, float** resultVertsY, float** resultVertsZ, int* resultVertLength) 348 | { 349 | 350 | KinectCloudGrabber kinectCloudGrabber; 351 | pcl::PointCloud::ConstPtr cloud = kinectCloudGrabber.grabCloud (); 352 | std::cout << "Cloudsize :" << cloud->points.size () << std::endl; 353 | 354 | if (cloud->empty()) { 355 | return false; 356 | } 357 | 358 | float* rVertsX = new float[cloud->points.size ()]; 359 | float* rVertsY = new float[cloud->points.size ()]; 360 | float* rVertsZ = new float[cloud->points.size ()]; 361 | 362 | for (size_t i = 0; i < cloud->points.size (); ++i) 363 | { 364 | rVertsX[i] = cloud->points[i].x; 365 | rVertsY[i] = cloud->points[i].y; 366 | rVertsZ[i] = cloud->points[i].z; 367 | } 368 | 369 | *resultVertsX = rVertsX; 370 | *resultVertsY = rVertsY; 371 | *resultVertsZ = rVertsZ; 372 | 373 | int rVertLength = cloud->points.size (); 374 | *resultVertLength = rVertLength; 375 | 376 | return true; 377 | } 378 | */ 379 | 380 | int main() { 381 | 382 | readCloud(); 383 | removeBiggestPlane (100, 0.02); 384 | getClusters (0.02, 100, 25000); 385 | getClustersCount(); 386 | 387 | for (size_t i = 0; i < clusteredcloudsindices[0].size (); ++i) 388 | { 389 | std::cout << " : " << clusteredcloudsindices[0][i]; 390 | } 391 | 392 | std::cout << std::endl; 393 | 394 | std::cout << "0 -> " << clusteredclouds[0]->size() << std::endl; 395 | std::cout << "1 -> " << clusteredclouds[1]->size() << std::endl; 396 | std::cout << "2 -> " << clusteredclouds[2]->size() << std::endl; 397 | std::cout << "3 -> " << clusteredclouds[3]->size() << std::endl; 398 | std::cout << "4 -> " << clusteredclouds[4]->size() << std::endl; 399 | 400 | getchar(); 401 | return 0; 402 | } 403 | 404 | } // end of export C block -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 2 | ************************************************************************************************ 3 | 4 | From Design to Software 2 5 | 6 | Miroslav Byrtus 7 | 1328167 8 | 9 | ************************************************************************************************ 10 | 11 | Description 12 | 13 | PCL Integration in Unity 14 | 15 | Unity: 16 | * Load pointclouds (from file / kinect) 17 | * Segment 18 | + Plane model segmentation (floor segmentation) 19 | http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation) 20 | + Euclidean Cluster Extraction (object segmentation) 21 | http://pointclouds.org/documentation/tutorials/cluster_extraction.php#cluster-extraction) 22 | + Store indices of segmented clusters 23 | * Display 24 | + enable in scene (arrows + mouse) 25 | * Make clusters (segmented pointclouds) clickable 26 | + after clicking on cluster - mark it and enable movement ( w a s d ) 27 | 28 | ------------------------------------------------------------------------------------------------ 29 | 30 | Requirements for compiling the project from source code: 31 | 32 | * PCL 1.7 installed on your PC 33 | ** To install PCL, follow the steps on the official website, according to your OS 34 | + http://pointclouds.org/downloads/linux.html 35 | + http://pointclouds.org/downloads/windows.html 36 | + http://pointclouds.org/downloads/macosx.html 37 | 38 | For development: 39 | * Unity3D (free version is enough) 40 | * MS Visual Studio - version compatible with PCL installed 41 | 42 | Optional: 43 | * Kinect 44 | * If you want to use Kinect in this project, you also will need to install 45 | + drivers for Kinect for your OS 46 | + OpenNI (In the list of optional dependencies for PCL) 47 | 48 | Requirements for running the project: 49 | 50 | * Unity3D (free version is enough) 51 | * Unity Project 52 | * cpp_plugin_pcl.dll coppied into the root directory of the project 53 | * dependent ddls for cpp_plugin_pcl.dll (Can vary depending on PCL version installed and on your OS) 54 | + For Windows 8 32bit with PCL 1.7. 32bit installed, it is: 55 | + kernel32.dll 56 | + advapi32.dll 57 | + pcl_common_debug.dll 58 | + pcl_io_debug.dll 59 | + pcl_search_debug.dll 60 | + pcl_filters_debug.dll 61 | + pcl_segmentation_debug.dll 62 | + msvcp100d.dll 63 | + msvcr100d.dll 64 | * If you want to use Kinect in this project, you also will need drivers for Kinect, compatible with your OS 65 | 66 | ------------------------------------------------------------------------------------------------ 67 | 68 | How to use the plugin? 69 | 70 | 1. Create a DLL from the .cpp file 71 | 2. Make sure that the DLL is located in the root folder of your Unity Project (Copy it in Filesystem, not trough Unity) 72 | 3. Copy the pointcloud file into the project directory, or connect Kinect to your PC 73 | 3.1. If you want to use Kinect, you have to check the "Use Kinect" checkbox in the Plugin Script settings 74 | If it's not checked, it will load a Pointcloud from file "table_scene_lms400.pcd" (It's available in the UnityPCL directory) 75 | 4. Now you can use the plugin (Check the example script how to use it's functionality) 76 | 77 | ------------------------------------------------------------------------------------------------ 78 | 79 | Time measuring (Reading Pointcloud from File) 80 | 81 | * readCloud() : True in 2.539685 s. 82 | * getCloudSize() : 41049 in 0.006095648 s. 83 | * removeBiggestPlane() : True in 1.106412 s. 84 | * getClusters() : True in 0.6244252 s. 85 | * getClustersCount() : 5 in 0.001582623 s. 86 | * Clusters drawn in 0.8556294 s. (Drawn by instantiating prefabs - take 1) 87 | * Clusters drawn in 0.5284262 s. (Drawn by instantiating prefabs - take 2) 88 | * Clusters drawn in 0.7251348 s. (Drawn by creating cubes - take 1) 89 | * Clusters drawn in 0.6915045 s. (Drawn by creating cubes - take 2) 90 | 91 | Time measuring (Reading Pointcloud from Kinect) 92 | 93 | * readKinectCloud() : True in 6.001034 s. 94 | * getCloudSize() : 102713 in 0.004247189 s. 95 | * removeBiggestPlane() : True in 39.78041 s. 96 | * getClusters() : True in 1.613297 s. 97 | * getClustersCount() : 37 in 0.00138855 s. 98 | * Clusters drawn in 0.6203613 s. 99 | 100 | 101 | ------------------------------------------------------------------------------------------------ 102 | 103 | 104 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-CSharp-firstpass-vs.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {B6377EB5-A088-2755-A877-B2512172F17F} 9 | Library 10 | Properties 11 | 12 | Assembly-CSharp-firstpass 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-CSharp-firstpass.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {B6377EB5-A088-2755-A877-B2512172F17F} 9 | Library 10 | Properties 11 | 12 | Assembly-CSharp-firstpass 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-CSharp-vs.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508} 9 | Library 10 | Properties 11 | 12 | Assembly-CSharp 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-CSharp.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508} 9 | Library 10 | Properties 11 | 12 | Assembly-CSharp 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 60 | 61 | 62 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-UnityScript-firstpass-vs.unityproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {08553411-D5FC-1850-CDCC-6D9ED9E7B5F8} 9 | Library 10 | Properties 11 | 12 | Assembly-UnityScript-firstpass 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 62 | 63 | 64 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-UnityScript-firstpass.unityproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {08553411-D5FC-1850-CDCC-6D9ED9E7B5F8} 9 | Library 10 | Properties 11 | 12 | Assembly-UnityScript-firstpass 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files (x86)/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 62 | 63 | 64 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-UnityScript-vs.unityproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {2302DABF-C1F5-5344-2D1D-E657CA8BA1C3} 9 | Library 10 | Properties 11 | 12 | Assembly-UnityScript 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assembly-UnityScript.unityproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Debug 5 | AnyCPU 6 | 10.0.20506 7 | 2.0 8 | {2302DABF-C1F5-5344-2D1D-E657CA8BA1C3} 9 | Library 10 | Properties 11 | 12 | Assembly-UnityScript 13 | v3.5 14 | 512 15 | Assets 16 | 17 | 18 | true 19 | full 20 | false 21 | Temp\bin\Debug\ 22 | DEBUG;TRACE;UNITY_STANDALONE_WIN;ENABLE_MICROPHONE;ENABLE_TEXTUREID_MAP;ENABLE_AUDIO_FMOD;UNITY_STANDALONE;ENABLE_MONO;ENABLE_SPRITES;ENABLE_TERRAIN;ENABLE_GENERICS;ENABLE_SUBSTANCE;INCLUDE_WP8SUPPORT;ENABLE_MOVIES;ENABLE_WWW;ENABLE_IMAGEEFFECTS;ENABLE_WEBCAM;INCLUDE_METROSUPPORT;RENDER_SOFTWARE_CURSOR;ENABLE_NETWORK;ENABLE_PHYSICS;ENABLE_CACHING;ENABLE_CLOTH;ENABLE_2D_PHYSICS;ENABLE_SHADOWS;ENABLE_AUDIO;ENABLE_NAVMESH_CARVING;ENABLE_DUCK_TYPING;ENABLE_SINGLE_INSTANCE_BUILD_SETTING;UNITY_4_3_4;UNITY_4_3;ENABLE_PROFILER;UNITY_EDITOR;UNITY_EDITOR_WIN 23 | prompt 24 | 4 25 | 0169 26 | 27 | 28 | pdbonly 29 | true 30 | Temp\bin\Release\ 31 | TRACE 32 | prompt 33 | 4 34 | 0169 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | C:/Program Files/Unity/Editor/Data/Managed/UnityEngine.dll 43 | 44 | 45 | C:/Program Files/Unity/Editor/Data/Managed/UnityEditor.dll 46 | 47 | 48 | 49 | 50 | 51 | 52 | 59 | 60 | 61 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assets/MouseLook.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using System.Collections; 3 | 4 | [AddComponentMenu("Camera-Control/Mouse Look")] 5 | public class MouseLook : MonoBehaviour { 6 | 7 | // Mouse part 8 | 9 | public enum RotationAxes { MouseXAndY = 0, MouseX = 1, MouseY = 2 } 10 | public RotationAxes axes = RotationAxes.MouseXAndY; 11 | public float sensitivityX = 20F; 12 | public float sensitivityY = 20F; 13 | 14 | public float sensitivityKeyboard = 10f; 15 | 16 | public float minimumX = -360F; 17 | public float maximumX = 360F; 18 | 19 | public float minimumY = -60F; 20 | public float maximumY = 60F; 21 | 22 | float rotationX = 0F; 23 | float rotationY = 0F; 24 | 25 | // Keyboard part 26 | 27 | public float speed = 5.0f; 28 | 29 | Quaternion originalRotation; 30 | 31 | void Update () 32 | { 33 | if (Input.GetMouseButton (1)) { 34 | if (axes == RotationAxes.MouseXAndY) { 35 | // Read the mouse input axis 36 | rotationX += Input.GetAxis ("Mouse X") * sensitivityX; 37 | rotationY += Input.GetAxis ("Mouse Y") * sensitivityY; 38 | 39 | rotationX = ClampAngle (rotationX, minimumX, maximumX); 40 | rotationY = ClampAngle (rotationY, minimumY, maximumY); 41 | 42 | Quaternion xQuaternion = Quaternion.AngleAxis (rotationX, Vector3.up); 43 | Quaternion yQuaternion = Quaternion.AngleAxis (rotationY, -Vector3.right); 44 | 45 | transform.localRotation = originalRotation * xQuaternion * yQuaternion; 46 | } else if (axes == RotationAxes.MouseX) { 47 | rotationX += Input.GetAxis ("Mouse X") * sensitivityX; 48 | rotationX = ClampAngle (rotationX, minimumX, maximumX); 49 | 50 | Quaternion xQuaternion = Quaternion.AngleAxis (rotationX, Vector3.up); 51 | transform.localRotation = originalRotation * xQuaternion; 52 | } else { 53 | rotationY += Input.GetAxis ("Mouse Y") * sensitivityY; 54 | rotationY = ClampAngle (rotationY, minimumY, maximumY); 55 | 56 | Quaternion yQuaternion = Quaternion.AngleAxis (-rotationY, Vector3.right); 57 | transform.localRotation = originalRotation * yQuaternion; 58 | } 59 | } 60 | 61 | if(Input.GetKey(KeyCode.RightArrow)) 62 | { 63 | transform.Translate(new Vector3(1 / sensitivityKeyboard,0,0)); 64 | } 65 | if(Input.GetKey(KeyCode.LeftArrow)) 66 | { 67 | transform.Translate(new Vector3(-1 / sensitivityKeyboard,0,0)); 68 | } 69 | if(Input.GetKey(KeyCode.DownArrow)) 70 | { 71 | transform.Translate(new Vector3(0,0,-1 / sensitivityKeyboard)); 72 | } 73 | if(Input.GetKey(KeyCode.UpArrow)) 74 | { 75 | transform.Translate(new Vector3(0,0,1 / sensitivityKeyboard)); 76 | } 77 | } 78 | 79 | void Start () 80 | { 81 | // Make the rigid body not change rotation 82 | if (rigidbody) 83 | rigidbody.freezeRotation = true; 84 | originalRotation = transform.localRotation; 85 | } 86 | 87 | public static float ClampAngle (float angle, float min, float max) 88 | { 89 | if (angle < -360F) 90 | angle += 360F; 91 | if (angle > 360F) 92 | angle -= 360F; 93 | return Mathf.Clamp (angle, min, max); 94 | } 95 | } -------------------------------------------------------------------------------- /UnityPluginPCL/Assets/MouseLook.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 22edb08dd16935b4cab3f05099517a44 3 | MonoImporter: 4 | serializedVersion: 2 5 | defaultReferences: [] 6 | executionOrder: 0 7 | icon: {instanceID: 0} 8 | userData: 9 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assets/MyClickHandler.js: -------------------------------------------------------------------------------- 1 | function OnLeftClick() 2 | { 3 | Debug.Log("OnLeftClick triggered on "+gameObject.name+"!"); 4 | } 5 | 6 | function OnRightClick() 7 | { 8 | Debug.Log("OnRightClick triggered on "+gameObject.name+"!"); 9 | } 10 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assets/MyClickHandler.js.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 29a93b50dfd27ce439a27da14f4ecded 3 | MonoImporter: 4 | serializedVersion: 2 5 | defaultReferences: [] 6 | executionOrder: 0 7 | icon: {instanceID: 0} 8 | userData: 9 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assets/PluginPCL.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System; 5 | using System.Runtime.InteropServices; 6 | 7 | public class PluginPCL : MonoBehaviour { 8 | 9 | class Cloud { 10 | public Vector3[] points; 11 | public int length; 12 | 13 | // int cloudTag; 14 | 15 | public Cloud(int newLength) { 16 | length = newLength; 17 | points = new Vector3[length]; 18 | } 19 | } 20 | 21 | class Clouds { 22 | public Cloud[] clouds; 23 | public int length; 24 | 25 | public Clouds(int newLength) { 26 | length = newLength; 27 | clouds = new Cloud[length]; 28 | } 29 | } 30 | 31 | // [DllImport ("cpp_plugin_pcl")] 32 | // private static extern void getPointCloud(); 33 | 34 | [DllImport ("cpp_plugin_pcl")] 35 | private static extern IntPtr PrintHello(); 36 | 37 | [DllImport ("cpp_plugin_pcl")] 38 | private static extern IntPtr getIntArray(); 39 | 40 | [DllImport("cpp_plugin_pcl")] 41 | private static extern bool getPseudoPointCloud(ref IntPtr ptrResultVertsX, ref IntPtr ptrResultVertsY, ref IntPtr ptrResultVertsZ, ref int resultVertLength); 42 | 43 | [DllImport("cpp_plugin_pcl")] 44 | private static extern bool readPointCloud(ref IntPtr ptrResultVertsX, ref IntPtr ptrResultVertsY, ref IntPtr ptrResultVertsZ, ref int resultVertLength); 45 | 46 | [DllImport("cpp_plugin_pcl")] 47 | private static extern bool extractClusters(); 48 | 49 | [DllImport("cpp_plugin_pcl")] 50 | private static extern bool readCloud(); 51 | 52 | [DllImport("cpp_plugin_pcl")] 53 | private static extern bool readKinectCloud(); 54 | 55 | [DllImport("cpp_plugin_pcl")] 56 | private static extern bool removeBiggestPlane(int maxIterations, double distanceThreshold); 57 | 58 | [DllImport("cpp_plugin_pcl")] 59 | private static extern bool getClusters(double clusterTolerance, int minClusterSize, int maxClusterSize); 60 | 61 | [DllImport("cpp_plugin_pcl")] 62 | private static extern int getCloudSize(); 63 | 64 | [DllImport("cpp_plugin_pcl")] 65 | private static extern int getClustersCount(); 66 | 67 | [DllImport("cpp_plugin_pcl")] 68 | private static extern bool getCluster(int clusterIndex, ref IntPtr ptrResultVertsX, ref IntPtr ptrResultVertsY, ref IntPtr ptrResultVertsZ, ref int resultVertLength); 69 | 70 | [DllImport("cpp_plugin_pcl")] 71 | private static extern bool getClusterIndices(int clusterIndex, ref IntPtr indices, ref int indicesLength); 72 | 73 | [DllImport("cpp_plugin_pcl")] 74 | private static extern bool getCloud(ref IntPtr ptrResultVertsX, ref IntPtr ptrResultVertsY, ref IntPtr ptrResultVertsZ, ref int resultVertLength); 75 | 76 | // Struct test begin 77 | public struct MyCloud 78 | { 79 | public Int32 Size; 80 | public IntPtr pointsX, pointsY, pointsZ; 81 | } 82 | 83 | [DllImport("cpp_plugin_pcl")] 84 | public static extern bool structureTest(ref IntPtr myCloudStructure); 85 | 86 | public static void CallFunction() 87 | { 88 | MyCloud managedObj; 89 | managedObj.pointsX = IntPtr.Zero; 90 | managedObj.pointsY = IntPtr.Zero; 91 | managedObj.pointsZ = IntPtr.Zero; 92 | managedObj.Size = 0; 93 | 94 | IntPtr unmanagedAddr = Marshal.AllocHGlobal(Marshal.SizeOf(managedObj)); 95 | Marshal.StructureToPtr(managedObj, unmanagedAddr, true); 96 | 97 | structureTest(ref unmanagedAddr); 98 | 99 | Marshal.PtrToStructure(unmanagedAddr, managedObj); 100 | 101 | Debug.Log ("Structure = " + managedObj); 102 | 103 | Marshal.FreeHGlobal(unmanagedAddr); 104 | unmanagedAddr = IntPtr.Zero; 105 | } 106 | 107 | // Struct test end 108 | 109 | void drawMyCloud () { 110 | IntPtr ptrResultVertsX = IntPtr.Zero; 111 | IntPtr ptrResultVertsY = IntPtr.Zero; 112 | IntPtr ptrResultVertsZ = IntPtr.Zero; 113 | int resultVertLength = 0; 114 | 115 | bool success = getCloud (ref ptrResultVertsX, ref ptrResultVertsY, ref ptrResultVertsZ, ref resultVertLength); 116 | if (success) { 117 | // Load the results into a managed array. 118 | float[] resultVerticesX = new float[resultVertLength]; 119 | float[] resultVerticesY = new float[resultVertLength]; 120 | float[] resultVerticesZ = new float[resultVertLength]; 121 | 122 | Marshal.Copy ( 123 | ptrResultVertsX, 124 | resultVerticesX, 125 | 0, 126 | resultVertLength 127 | ); 128 | 129 | Marshal.Copy ( 130 | ptrResultVertsY, 131 | resultVerticesY, 132 | 0, 133 | resultVertLength 134 | ); 135 | 136 | Marshal.Copy ( 137 | ptrResultVertsZ, 138 | resultVerticesZ, 139 | 0, 140 | resultVertLength 141 | ); 142 | 143 | for (int i = 0; i < resultVertLength; i++) { 144 | createCube(resultVerticesX[i], resultVerticesY[i], resultVerticesZ[i]); 145 | } 146 | 147 | return; 148 | } else { 149 | Debug.Log("Ended not sucessfully."); 150 | return; 151 | } 152 | } 153 | 154 | Cloud readMyCloud () { 155 | IntPtr ptrResultVertsX = IntPtr.Zero; 156 | IntPtr ptrResultVertsY = IntPtr.Zero; 157 | IntPtr ptrResultVertsZ = IntPtr.Zero; 158 | int resultVertLength = 0; 159 | 160 | bool success = readPointCloud (ref ptrResultVertsX, ref ptrResultVertsY, ref ptrResultVertsZ, ref resultVertLength); 161 | if (success) { 162 | // Load the results into a managed array. 163 | float[] resultVerticesX = new float[resultVertLength]; 164 | float[] resultVerticesY = new float[resultVertLength]; 165 | float[] resultVerticesZ = new float[resultVertLength]; 166 | 167 | Marshal.Copy ( 168 | ptrResultVertsX, 169 | resultVerticesX, 170 | 0, 171 | resultVertLength 172 | ); 173 | 174 | Marshal.Copy ( 175 | ptrResultVertsY, 176 | resultVerticesY, 177 | 0, 178 | resultVertLength 179 | ); 180 | 181 | Marshal.Copy ( 182 | ptrResultVertsZ, 183 | resultVerticesZ, 184 | 0, 185 | resultVertLength 186 | ); 187 | 188 | Cloud result = new Cloud(resultVertLength); 189 | 190 | for (int i = 0; i < resultVertLength; i++) { 191 | result.points[i] = new Vector3(resultVerticesX[i], resultVerticesY[i], resultVerticesZ[i]); 192 | } 193 | 194 | return result; 195 | } else { 196 | Debug.Log("Ended not sucessfully."); 197 | return null; 198 | } 199 | } 200 | 201 | Clouds readCloudAndExtractClusters(Cloud cloud) { 202 | return null; 203 | // TODO 204 | } 205 | 206 | Vector3[] getPointData() { 207 | IntPtr ptrResultVertsX = IntPtr.Zero; 208 | IntPtr ptrResultVertsY = IntPtr.Zero; 209 | IntPtr ptrResultVertsZ = IntPtr.Zero; 210 | int resultVertLength = 0; 211 | 212 | // bool success = getPseudoPointCloud (ref ptrResultVertsX, ref ptrResultVertsY, ref ptrResultVertsZ, ref resultVertLength); 213 | bool success = readPointCloud (ref ptrResultVertsX, ref ptrResultVertsY, ref ptrResultVertsZ, ref resultVertLength); 214 | 215 | if (success) { 216 | // Load the results into a managed array. 217 | float[] resultVerticesX = new float[resultVertLength]; 218 | float[] resultVerticesY = new float[resultVertLength]; 219 | float[] resultVerticesZ = new float[resultVertLength]; 220 | 221 | Marshal.Copy ( 222 | ptrResultVertsX, 223 | resultVerticesX, 224 | 0, 225 | resultVertLength 226 | ); 227 | 228 | Marshal.Copy ( 229 | ptrResultVertsY, 230 | resultVerticesY, 231 | 0, 232 | resultVertLength 233 | ); 234 | 235 | Marshal.Copy ( 236 | ptrResultVertsZ, 237 | resultVerticesZ, 238 | 0, 239 | resultVertLength 240 | ); 241 | 242 | Vector3[] pseudoCloud = new Vector3[resultVertLength]; 243 | 244 | for (int i = 0; i < resultVertLength; i++) { 245 | pseudoCloud[i] = new Vector3(resultVerticesX[i], resultVerticesY[i], resultVerticesZ[i]); 246 | createCube(resultVerticesX[i], resultVerticesY[i], resultVerticesZ[i]); 247 | } 248 | 249 | return pseudoCloud; 250 | } else { 251 | Debug.Log("Ended not sucessfully."); 252 | return null; 253 | } 254 | 255 | /* 256 | * WARNING!!!! IMPORTANT!!! 257 | * In this example the plugin created an array allocated 258 | * in unmanged memory. The plugin will need to provide a 259 | * means to free the memory. 260 | */ 261 | 262 | // Do something with the array results. 263 | } 264 | 265 | void createCube(float x, float y, float z) { 266 | createCube (x, y, z, Color.black, 0); 267 | } 268 | 269 | public Transform point; 270 | public bool usePrefabs = true; 271 | 272 | void createCube(float x, float y, float z, Color color, int tag) { 273 | if (usePrefabs) { 274 | Transform t = ((Transform)Instantiate(point, new Vector3(x, y, z), Quaternion.identity)); 275 | t.renderer.material.color = color; 276 | t.name = "point_in_cloud_" + tag; 277 | 278 | } else { 279 | GameObject cube = GameObject.CreatePrimitive (PrimitiveType.Cube); 280 | cube.transform.position = new Vector3 (x, y, z); 281 | 282 | cube.name = "point_in_cloud_" + tag; 283 | // cube.AddComponent ("MyClickHandler"); 284 | cube.renderer.material.color = color; 285 | 286 | float scale = 0.005F; 287 | cube.transform.localScale = new Vector3 (scale, scale, scale); 288 | } 289 | } 290 | 291 | void drawCluster(int clusterIndex) { 292 | IntPtr ptrResultVertsX = IntPtr.Zero; 293 | IntPtr ptrResultVertsY = IntPtr.Zero; 294 | IntPtr ptrResultVertsZ = IntPtr.Zero; 295 | int resultVertLength = 0; 296 | 297 | bool success = getCluster (clusterIndex, ref ptrResultVertsX, ref ptrResultVertsY, ref ptrResultVertsZ, ref resultVertLength); 298 | if (success) { 299 | // Debug.Log ("ResultVertLenght = " + resultVertLength); 300 | 301 | // Load the results into a managed array. 302 | float[] resultVerticesX = new float[resultVertLength]; 303 | float[] resultVerticesY = new float[resultVertLength]; 304 | float[] resultVerticesZ = new float[resultVertLength]; 305 | 306 | Marshal.Copy ( 307 | ptrResultVertsX, 308 | resultVerticesX, 309 | 0, 310 | resultVertLength 311 | ); 312 | 313 | Marshal.Copy ( 314 | ptrResultVertsY, 315 | resultVerticesY, 316 | 0, 317 | resultVertLength 318 | ); 319 | 320 | Marshal.Copy ( 321 | ptrResultVertsZ, 322 | resultVerticesZ, 323 | 0, 324 | resultVertLength 325 | ); 326 | 327 | System.Random r = new System.Random(); 328 | Color color = new Color((float)r.Next(0, 255) / 255, (float)r.Next(0, 255) / 255, (float)r.Next(0, 255) / 255, 1f); 329 | int tag = clusterIndex; 330 | 331 | // TODO create unique tag and add it into tags 332 | for (int i = 0; i < resultVertLength; i++) { 333 | createCube(resultVerticesX[i], resultVerticesY[i], resultVerticesZ[i], color, tag); 334 | } 335 | 336 | resultVerticesX = null; 337 | resultVerticesY = null; 338 | resultVerticesZ = null; 339 | 340 | /* 341 | * WARNING!!!! IMPORTANT!!! 342 | * In this example the plugin created an array allocated 343 | * in unmanged memory. The plugin will need to provide a 344 | * means to free the memory. 345 | */ 346 | 347 | } else { 348 | Debug.Log("Ended not sucessfully."); 349 | } 350 | 351 | ptrResultVertsX = IntPtr.Zero; 352 | ptrResultVertsY = IntPtr.Zero; 353 | ptrResultVertsZ = IntPtr.Zero; 354 | 355 | return; 356 | } 357 | 358 | void debugIndices(int clusterIndex) { 359 | IntPtr ptrIndices = IntPtr.Zero; 360 | int resultIndicesLength = 0; 361 | 362 | bool success = getClusterIndices (clusterIndex, ref ptrIndices, ref resultIndicesLength); 363 | if (success) { 364 | // Debug.Log ("ResultVertLenght = " + resultVertLength); 365 | 366 | // Load the results into a managed array. 367 | float[] resultIndices = new float[resultIndicesLength]; 368 | 369 | Marshal.Copy ( 370 | ptrIndices, 371 | resultIndices, 372 | 0, 373 | resultIndicesLength 374 | ); 375 | 376 | String indicesStr = "Indices Debug : "; 377 | 378 | for (int i = 0; i < resultIndicesLength; i++) { 379 | indicesStr += " : " + resultIndices[i]; 380 | } 381 | 382 | // Debug.Log(indicesStr + "."); 383 | 384 | resultIndices = null; 385 | 386 | /* 387 | * WARNING!!!! IMPORTANT!!! 388 | * In this example the plugin created an array allocated 389 | * in unmanged memory. The plugin will need to provide a 390 | * means to free the memory. 391 | */ 392 | 393 | } else { 394 | Debug.Log("Ended not sucessfully."); 395 | } 396 | 397 | ptrIndices = IntPtr.Zero; 398 | 399 | return; 400 | } 401 | 402 | void refreshKinect() { 403 | Debug.Log ("Refreshing kinect .."); 404 | 405 | // Clean pointcloud 406 | readKinectCloud (); 407 | 408 | /* 409 | // Clean scene (delete old cubes) 410 | // Move whole cloud to left 411 | GameObject[] myPoints = (GameObject[])FindObjectsOfType (typeof(GameObject)); 412 | for (int i=0; i < myPoints.Length; i++) { 413 | 414 | if (myPoints[i].name.StartsWith("point_in_cloud")) { 415 | Destroy (myPoints[i]); 416 | } 417 | } 418 | 419 | getCloudSize (); 420 | removeBiggestPlane (); 421 | getClusters (); 422 | getClustersCount (); 423 | 424 | for (int i = 0; i < getClustersCount(); i++) { 425 | drawCluster (i); 426 | } 427 | */ 428 | } 429 | 430 | float totaltime; 431 | string printTimeDelta() { 432 | float ms = Time.realtimeSinceStartup - totaltime; 433 | totaltime = Time.realtimeSinceStartup; 434 | return " in " + ms + " s."; 435 | } 436 | 437 | public bool useKinect; 438 | public bool kinectRealtime; 439 | public bool debug_indices; 440 | 441 | // removeBiggestPlane parameters 442 | public int maxIterations = 100; 443 | public double distanceThreshold = 0.02; 444 | 445 | // getClusters parameters 446 | public double clusterTolerance = 0.02; 447 | public int minClusterSize = 100; 448 | public int maxClusterSize = 25000; 449 | 450 | void Start () 451 | { 452 | totaltime = Time.realtimeSinceStartup; 453 | 454 | if (useKinect) { 455 | Debug.Log ("readKinectCloud() : " + readKinectCloud () + printTimeDelta()); 456 | } else { 457 | Debug.Log ("readCloud() : " + readCloud () + printTimeDelta()); 458 | } 459 | 460 | if (true) { 461 | Debug.Log ("getCloudSize() : " + getCloudSize () + printTimeDelta()); 462 | Debug.Log ("removeBiggestPlane() : " + removeBiggestPlane (maxIterations, distanceThreshold) + printTimeDelta()); 463 | Debug.Log ("getClusters() : " + getClusters (clusterTolerance, minClusterSize, maxClusterSize) + printTimeDelta()); 464 | Debug.Log ("getClustersCount() : " + getClustersCount () + printTimeDelta()); 465 | 466 | for (int i = 0; i < getClustersCount(); i++) { 467 | drawCluster (i); 468 | 469 | if (debug_indices) { 470 | debugIndices (i); 471 | } 472 | } 473 | 474 | Debug.Log ("Clusters drawn" + printTimeDelta()); 475 | 476 | } else { 477 | // Just for testing... dont use that 478 | drawMyCloud(); 479 | 480 | } 481 | 482 | totaltime = Time.realtimeSinceStartup; 483 | } 484 | 485 | int selectedTag = -1; 486 | float keyboardMoveSensitivity = 100f; 487 | 488 | 489 | void Update () 490 | { 491 | // Debug.Log ("Time = " + (Time.realtimeSinceStartup - totaltime)); 492 | if (useKinect && kinectRealtime) { 493 | if ((Time.realtimeSinceStartup - totaltime) > 5f) { 494 | Debug.Log ("refresh now?"); 495 | totaltime = Time.realtimeSinceStartup; 496 | 497 | refreshKinect (); 498 | } 499 | } 500 | 501 | if (Input.GetMouseButtonUp (0)) { 502 | 503 | GameObject clickedGmObj = GetClickedGameObject(); 504 | 505 | if (clickedGmObj != null) { 506 | String objectName = clickedGmObj.name; 507 | int underline_index = objectName.LastIndexOf("_"); 508 | if (underline_index >= 0) { 509 | String tagName = objectName.Substring(underline_index + 1); 510 | 511 | selectedTag = Convert.ToInt32(tagName); 512 | Debug.Log("Selecting tag " + selectedTag); 513 | 514 | } else { 515 | Debug.Log("Name of clicked object has wrong format"); 516 | selectedTag = -1; 517 | } 518 | } else { 519 | selectedTag = -1; 520 | } 521 | } 522 | 523 | if (Input.GetKey ("a")) { 524 | if (selectedTag >= 0) { 525 | // Move whole cloud to left 526 | GameObject[] myPoints = (GameObject[])FindObjectsOfType (typeof(GameObject)); 527 | Debug.Log("myPoints length = " + myPoints.Length); 528 | for (int i=0; i < myPoints.Length; i++) { 529 | 530 | if (myPoints[i].name.Equals("point_in_cloud_" + selectedTag)) { 531 | myPoints[i].transform.Translate(new Vector3(1 / keyboardMoveSensitivity , 0, 0)); 532 | } 533 | 534 | } 535 | 536 | Debug.Log("Cloud segment moved!"); 537 | } 538 | } 539 | } 540 | 541 | public LayerMask layerMask; 542 | 543 | GameObject GetClickedGameObject() 544 | { 545 | // Builds a ray from camera point of view to the mouse position 546 | Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition); 547 | RaycastHit hit; 548 | // Casts the ray and get the first game object hit 549 | if (Physics.Raycast(ray, out hit, Mathf.Infinity, layerMask)) 550 | return hit.transform.gameObject; 551 | else 552 | return null; 553 | } 554 | } 555 | -------------------------------------------------------------------------------- /UnityPluginPCL/Assets/PluginPCL.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: f6c077b2fa8a0f246b14139b7197f2b1 3 | MonoImporter: 4 | serializedVersion: 2 5 | defaultReferences: [] 6 | 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-------------------------------------------------------------------------------- 1 | Microsoft Visual Studio Solution File, Format Version 11.00 2 | # Visual Studio 2008 3 | 4 | Project("{C82BC064-F442-AC7A-61DC-31FFE16F9473}") = "UnityPluginPCL", "Assembly-CSharp-vs.csproj", "{DC71E67A-CFE5-6E91-BF02-7D60891DD508}" 5 | EndProject 6 | Global 7 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 8 | Debug|Any CPU = Debug|Any CPU 9 | Release|Any CPU = Release|Any CPU 10 | EndGlobalSection 11 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 12 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 13 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Debug|Any CPU.Build.0 = Debug|Any CPU 14 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Release|Any CPU.ActiveCfg = Release|Any CPU 15 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Release|Any CPU.Build.0 = Release|Any CPU 16 | EndGlobalSection 17 | GlobalSection(SolutionProperties) = preSolution 18 | HideSolutionNode = FALSE 19 | EndGlobalSection 20 | GlobalSection(MonoDevelopProperties) = preSolution 21 | StartupItem = Assembly-CSharp.csproj 22 | Policies = $0 23 | $0.TextStylePolicy = $1 24 | $1.inheritsSet = null 25 | $1.scope = text/x-csharp 26 | $0.CSharpFormattingPolicy = $2 27 | $2.inheritsSet = Mono 28 | $2.inheritsScope = text/x-csharp 29 | $2.scope = text/x-csharp 30 | $0.TextStylePolicy = $3 31 | $3.FileWidth = 120 32 | $3.TabWidth = 4 33 | $3.EolMarker = Unix 34 | $3.inheritsSet = Mono 35 | $3.inheritsScope = text/plain 36 | $3.scope = text/plain 37 | EndGlobalSection 38 | 39 | EndGlobal 40 | -------------------------------------------------------------------------------- /UnityPluginPCL/UnityPluginPCL.sln: -------------------------------------------------------------------------------- 1 | Microsoft Visual Studio Solution File, Format Version 11.00 2 | # Visual Studio 2008 3 | 4 | Project("{C82BC064-F442-AC7A-61DC-31FFE16F9473}") = "UnityPluginPCL", "Assembly-CSharp.csproj", "{DC71E67A-CFE5-6E91-BF02-7D60891DD508}" 5 | EndProject 6 | Project("{C82BC064-F442-AC7A-61DC-31FFE16F9473}") = "UnityPluginPCL", "Assembly-UnityScript.unityproj", "{2302DABF-C1F5-5344-2D1D-E657CA8BA1C3}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|Any CPU = Debug|Any CPU 11 | Release|Any CPU = Release|Any CPU 12 | EndGlobalSection 13 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 14 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 15 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Debug|Any CPU.Build.0 = Debug|Any CPU 16 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Release|Any CPU.ActiveCfg = Release|Any CPU 17 | {DC71E67A-CFE5-6E91-BF02-7D60891DD508}.Release|Any CPU.Build.0 = Release|Any CPU 18 | {2302DABF-C1F5-5344-2D1D-E657CA8BA1C3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 19 | {2302DABF-C1F5-5344-2D1D-E657CA8BA1C3}.Debug|Any CPU.Build.0 = Debug|Any CPU 20 | 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