Point cloud importer & renderer for Unity

Pcx - Point Cloud Importer/Renderer for Unity Pcx is a custom importer and renderer that allows handling point cloud data in Unity. System Requirements Unity 2017.3 Pcx uses the 32-bit vertex index format tha

Information

Category: .NET / Game
Watchers: 53
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Fork: 178
Last update: Sep 21, 2023

Resource links

https://github.com/keijiro/Pcx

README
Issues 21

Pcx - Point Cloud Importer/Renderer for Unity

Pcx is a custom importer and renderer that allows for handling point cloud data in Unity.

System Requirements

Unity 2017.3

Pcx uses the 32-bit vertex index format that is newly introduced in Unity 2017.3, so it's not compatible with the previous versions of Unity.

Supported Formats

Currently Pcx only supports PLY binary little-endian format.

Installation

Download and import one of the .unitypackage files from Releases page.

You can also use Git support on Package Manager to import the package. Add the following line to the dependencies section in the package manifest file (Packages/manifest.json). Note that this feature is only available in Unity 2018.3. See the forum thread for futher details.

"jp.keijiro.pcx": "https://github.com/keijiro/Pcx.git#upm"

Container Types

There are three types of container for point clouds.

Mesh

Points are to be contained in a Mesh object. They can be rendered with the standard MeshRenderer component. It's recommended to use the custom shaders included in Pcx (Point Cloud/Point and Point Cloud/Disk).

ComputeBuffer

Points are to be contained in a PointCloudData object, which uses ComputeBuffer to store point data. It can be rendered with using the PointCloudRenderer component.

Texture

Points are baked into Texture2D objects that can be used as attribute maps in Visual Effect Graph.

Rendering Methods

There are two types of rendering methods in Pcx.

Point (point primitives)

Points are rendered as point primitives when using the Point Cloud/Point shader.

The size of points can be adjusted by changing the material properties.

These size properties are only supported on some platforms; It may work with OpenGLCore and Metal, but never work with D3D11/12.

This method is also used when the point size is set to zero in PointCloudRenderer.

Disk (geometry shader)

Points are rendered as small disks when using the Point Cloud/Disk shader or PointCloudRenderer.

This method requires geometry shader support.

Acknowledgements

The point cloud files used in the examples of Pcx are created by authors listed below. These files are licensed under the Creative Commons Attribution license (CC BY 4.0). Please see the following original pages for further details.

richmond-azaelias.ply - Azaleas, Isabella Plantation, Richmond Park. Created by Thomas Flynn. https://sketchfab.com/models/188576acfe89480f90c38d9df9a4b19a
anthidium-forcipatum.ply - Anthidium forcipatum ♀ (Point Cloud). Created by Thomas Flynn. https://sketchfab.com/models/3493da15a8db4f34929fc38d9d0fcb2c
Guanyin.ply - Guanyin (Avalokitesvara). Created by Geoffrey Marchal. https://sketchfab.com/models/9db9a5dfb6744a5586dfcb96cb8a7dc5

License

MIT

21 Open More issues

Closed

unity extremely lag and slow

I've import my ply point cloud model into Unity. It's a model of alley. As you can see in the pictures above.

But after I import the model, Unity became extremely lag. I can't even move my cursor.

My computer is M1 macbook air, and it got 16gb ram. Its ability should be good enough.

Is the model data too big for my computer? How can I fix this problem? I tried to change the project setting. I changed the quality into very low, but It doesn't help.

Can you help me? Thank you so much.

question

opened Aug 15, 2022 by Morrisssss 15

Closed

Save the Color map

Hello, Is there a way to save and edit manually the color map texture generated for the vfx graph ? I don't find any good way to edit colors properly inside the vfx graph Thanks

question

opened Jun 26, 2019 by Levrden 11

Closed

Unity MacOS error: Drawing with MeshTopology.Points, yet the vertex program 'Hidden/OpaqueSelection' does not have PSIZE output.

Hi Keijiro, First of all - HUGE thank you for all the work you've put into this, I really appreciate it.

I am currently working on a VR project using Unity and came across a problem that appears only on MacOS. Apologies if this issue already came up - I went through all of them and couldn't find anyone mentioning this nor providing a solution. Please see the details of the error below. Any help is more than welcome! Cheers

I successfully imported my point cloud on Windows, but this error keeps appearing when trying to do the same in MacOS. Point cloud is successfully imported as mesh but instead of points, i get these rectangles and a very low quality.

"Drawing with MeshTopology.Points, yet the vertex program 'Hidden/OpaqueSelection' does not have PSIZE output."

System details: macOS: Big Sur GPU: AMD Radeon Pro 5500M Metal Family: Metal GPUFamily macOS 2 Unity: 2020.3.12f1

question

opened Jul 6, 2021 by svjetlonosha141 9

Closed

How can I make ply file to import?

I make ply file base on RealSense.

However, I can't Import this and I don't know how to debug this file.

ply file what I make has ascii type header and binary_little_endian type body.

[Source code]

public void SaveToPLY(string fileName)
        {
            Thread thread = new Thread(() =>
            {

                using (StreamWriter sw = new StreamWriter(@".\" + fileName, false, Encoding.ASCII))
                {
                    sw.Write("ply\n" +
                             "format binary_little_endian 1.0\n" +
                             "comment author: Jaeu Jeong\n" +
                             "comment object: Point Cloud\n" +
                             "element vertex " + vertices.Length.ToString() + "\n" + 
                             "property float x\n" +
                             "property float y\n" +
                             "property float z\n" +
                             "property uchar red\n" +
                             "property uchar green\n" +
                             "property uchar blue\n" +
                             "element face 0\n" +
                             "property list uchar int vertex_indices\n" +
                             "end_header\n");
                }
                
                FileStream fs = File.Open(@".\" + fileName, FileMode.Append);

                using (BinaryWriter wr = new BinaryWriter(fs))
                {
                    
                    foreach (var element in vertices)    // vertices is Vector3[] type
                    {
                        wr.Write(element.x);
                        //wr.Write(" ");
                        wr.Write(element.y);
                        //wr.Write(" ");
                        wr.Write(element.z);
                        //wr.Write(" ");
                    }

                    for (int i = 0; i < vertices.Length; i++)    // Texture is byte[] type
                    {
                        wr.Write(texture[i * 3]);
                        //wr.Write(" ");
                        wr.Write(texture[i * 3 + 1]);
                        //wr.Write(" ");
                        wr.Write(texture[i * 3 + 2]);
                        //wr.Write("\n");
                    }
                }
                
                Debug.Log("File save finished");
            });
            
            thread.Start();
        }

[Error Message]

Mesh 'test': abnormal mesh bounds - most likely it has some invalid vertices (+/-inifinity or NANs) due to errors exporting.
Mesh bounds min=(-inf, -inf, -inf), max=(inf, inf, inf). Please make sure the mesh is exported without any errors.
UnityEngine.Mesh:UploadMeshData(Boolean)
Pcx.PlyImporter:ImportAsMesh(String) (at Assets/Pcx/Editor/PlyImporter.cs:181)
Pcx.PlyImporter:OnImportAsset(AssetImportContext) (at Assets/Pcx/Editor/PlyImporter.cs:32)
UnityEditor.Experimental.AssetImporters.ScriptedImporter:GenerateAssetData(AssetImportContext)
UnityEditorInternal.InternalEditorUtility:ProjectWindowDrag(HierarchyProperty, Boolean)
UnityEngine.GUIUtility:ProcessEvent(Int32, IntPtr)

question

opened May 27, 2019 by wodndb 9

Closed

real-time pointcloud update

Hi @keijiro Thank you for sharing the awesome code. Im trying to use pcx for real-time visualisation of our continously updated pointcloud. we update sourceBuffer when we get and updated pointcloud, but the unity doesn't seem to update the poincloud.

do we need to clean the cloud before updating the new one? if yes, how do we do it?

Many thank you in advance.

Chang

question

opened Aug 23, 2019 by Changliu52 7

Closed

ply using float double value

Thanks for this add ones, it's running perfectly but There are any chance that ply importer can read ply with float double value ? thanks francois

question

opened Oct 18, 2018 by tarrabass 7

Open

Point Size

Really lost on how to edit this

I'm using Windows 11, I know the point size doesn't work with DirectX so I'm using OpenGLCore

Is there something I'm not doing correctly? I'm hoping to have them run on my phone yet due to the point size it keeps crashing I think.

OpenGLCore version

DirectX version

Not sure where else to ask so hope it's ok to ask here.

opened Apr 29, 2023 by StirlandPhotography 1

Open

color encoding not working correctly on kinect rgb images

Hi, I'm trying to render Pointclouds from Depth and RGB images which are captured by the azure kinect dk. While using the compute buffer method of the PointCloudRenderer the positions are rendered correctly but the color encoding isn't working correctly.

This is the compute shader I'm using:

#pragma kernel BakeVertexTex

uint2 DepthRes;
float2 DepthScale;

uint MinDepth;
uint MaxDepth;

StructuredBuffer<float> SpaceTable;
StructuredBuffer<uint> DepthMap;

RWStructuredBuffer<float4> PointCloudVertexBuffer;
RWTexture2D<float4> ColorRenderTexture;

[numthreads(8, 8, 1)]
void BakeVertexTex(uint3 id : SV_DispatchThreadID)
{
        //point position calculation
	uint i = id.x + id.y * DepthRes.x;

	//bool isOdd = i % 2 == 1;
	//uint iDepth2 = DepthMap[i >> 1];
	//uint iDepth = (isOdd ? iDepth2 <<= 16 : iDepth2) >> 16;

	uint depth2 = DepthMap[i >> 1];
	uint depth = (i % 2 == 0 ? depth2 <<= 16 : depth2) >> 16;
	depth = depth >= MinDepth && depth <= MaxDepth ? depth : 0;

	float fDepth = (float)depth / 1000;
	bool mask = depth != 0;

	float3 pos = float3(
		SpaceTable[i * 3] * fDepth * DepthScale.x,
		SpaceTable[i * 3 + 1] * fDepth * DepthScale.y,
		mask ? fDepth : 1000
		);

        //Color Encoding
	half3 rgb = asuint(ColorRenderTexture[id.xy]);

	half y = max(max(rgb.r, rgb.g), rgb.b);
	y = clamp(ceil(y * 255 / 16), 1, 255);
	rgb *= 255 * 255 / (y * 16);
	uint4 n = half4(rgb, y);
	uint m = ((uint)rgb.r) | ((uint)rgb.g << 8) | ((uint)rgb.b << 16) | ((uint)y << 24);
        
        //Write position and color in output buffer
	PointCloudVertexBuffer[i] = float4(pos, m);
}

Shader dispatch:

        SetComputeBufferData(pointCloudDepthBuffer, depthImage, depthImage.Length >> 1, sizeof(uint));
        SetComputeShaderInt2(pointCloudVertexShader, "DepthRes", width, height);
        SetComputeShaderFloat2(pointCloudVertexShader, "DepthScale", -1, -1);

        pointCloudVertexShader.SetInt("MinDepth", (int)(0.5f * 1000f));
        pointCloudVertexShader.SetInt("MaxDepth", (int)(10 * 1000f));
        pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "SpaceTable", pointCloudSpaceBuffer);
        pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "DepthMap", pointCloudDepthBuffer);
        pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "PointCloudVertexBuffer", pointCloudVertexBuffer);
        pointCloudVertexShader.SetBuffer(pointCloudVertexKernel, "PointCloudColorBuffer", pointCloudColorBuffer);
        pointCloudVertexShader.SetTexture(pointCloudVertexKernel, "ColorRenderTexture", colorRenderTexture);
        pointCloudVertexShader.Dispatch(pointCloudVertexKernel, width / 8, height / 8, 1);

        PointCloudRenderer.Instance.sourceBuffer = pointCloudVertexBuffer;

I took the color encoding part from the common.cginc of this project.

This is the result when using the PointCloudRendererwith the PointCloudVertexBuffer:

I've confirmed that the ColorRenderTextureis displayed correctly and the render texture format is ARGB32. I've tried switching the channels around but no luck so far.

question

opened Feb 8, 2023 by AR-Vsx 0

Open

Unity Newbie needs help to use your package

Hello I'm really new to Unity and I can't find any tutorial either on youtube or on the web that explains how to use PCS package. I've converted my .laz file to .ply binary file in CloudCompare, imported the .ply file in Unity as a new asset and dragged it on the scene and it won't appear. Is there any parameters or scripting to make the link between PCX package and point cloud assets ? Any help would be greatly appreciated. Kind regards, Nicolas

question

opened Apr 15, 2022 by nicktruch 1

Open

.ply file not generating particles in vfx graph

Hi Keijiro,

Im testing VFX Graph in the PcxEffect3 project file with my own .ply file. The .ply's container type was selected as Texture. Already connected position & color map to set position & color from the map but particles were not generating/ showing in the Inspector.

I'm suspecting the color&position map which my .ply file contained has some missing information. (the .ply was generated from .obj in meshlab by using Monrecarlo Sampling). The .ply could be presented & rendered perfectly when the container type was selected as 'Mesh' in Unity.

Would definitely be great to have your advice! Thank you very much in advance.

question

opened Mar 31, 2022 by sushicab 5

Open

add read write enable toggl

allow editing the generated point cloud mesh

opened Aug 31, 2021 by simonbroggi 0

Open

Shaders does not work for Single Pass Stereo rendering (VR)

Would love to use this in VR. But to make it work with single pass stereo rendering the shaders would need some changes. Does anybody know a fix for that? I know it will work for multi pass stereo rendering, but that will be not really the way to go for VR.

No idea right now how to change the shader and make it work. This would be the reference for what I am talking about: https://docs.unity3d.com/Manual/SinglePassStereoRendering.html

question

opened Feb 25, 2021 by elwes 9

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