Hello everybody,
For an engineering project, I'll be using depth camera. While waiting for them to arrive, I want to play with point cloud, and thus I want to generate point cloud data file using Godot.
This is the simple scene I'm using :
[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
And this is the script attached to the root node, named "Scene":
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
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("hit")
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
I expect to see "hit" multiple times in the output but no. And my output.pcd file only contains the header, the points array is empty. Do you know why it's not working?
Thanks for your help.
