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Attention | Topic was automatically imported from the old Question2Answer platform. |
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Asked By | etne |
For an engineering project, I need to play with point cloud. While waiting the depth cameras, I thought I could just generate point cloud data file using Godot.
This is my simple scene:
[node name="Scene" type="Spatial"]
script = ExtResource( 1 )
[node name="CSGBox" type="CSGBox" parent="."]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, -5 )
use_collision = true
[node name="CSGBox2" type="CSGBox" parent="."]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 1, -8 )
use_collision = true
[node name="Camera" type="Camera" parent="."]
transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.5, 0 )
fov = 86.0
near = 0.11
On the parent node, “Scene”, I have attached the follwing script:
extends Spatial
var radius = 10
var max_height = 720
var origin = null
var ray_count = 1280
var points = []
var done = false
func _ready():
origin = self.get_node("Camera").transform.origin
print(origin)
for _i in range(0, max_height):
points.append([])
print("Point cloud generator launched.")
func _physics_process(_delta):
if not done:
var space_state = get_world().direct_space_state
for height in range(0, max_height):
for i in range(ray_count):
var theta = i / float(ray_count) * PI - PI
var destination = Vector3(radius * cos(theta), height, radius * sin(theta))
var result = space_state.intersect_ray(origin, destination)
if result:
print("hited")
points[height].append(result.position)
var width = len(points[0])
var output = File.new()
output.open("res://output.pcd", File.WRITE)
output.store_line("VERSION .7")
output.store_line("FIELDS x y z")
output.store_line("SIZE double double double")
output.store_line("TYPE F F F")
output.store_line("COUNT 1 1 1")
output.store_line("WIDTH %d" % width)
output.store_line("HEIGHT %d" % max_height)
output.store_line("VIEWPOINT 0 0 0 1 0 0 0")
output.store_line("POINTS %d" % (width * max_height))
output.store_line("DATA ascii")
for h in points:
for point in h:
output.store_line("%f %f %f" % [point.x, point.z, point.y])
output.close()
print("Done")
done = true
But it doesn’t work, I don’t know if it’s because my math is incorrect or if it’s because I don’t know how to do raycasting.
Do you know how can I generate a simple point cloud from a 3D environment in Godot?