unity Point Cloud Viewer and Tool 那個插件不支持pcd二進制，而且網上到處都是AI

我恨這種AI濫用，提供不了一點價值

好了，言歸正傳

可以在Point Cloud Viewer and Tool這個插件報錯地方轉用這個代碼，具體咋結合請自行研究。

部分參考：

Unity PointCloud開發：Mesh渲染點云_unity 點云特效-CSDN博客

步驟大致為

按行讀取文件

發現是二進制文件

解碼，計算出是三維坐標點的位置

然后直接實例化對象

為了保證性能，用了上面鏈接的方案，這樣不用第三方庫，也能兼容統信和多種平臺

在一個空對象上直接掛載代碼，作者設置如下

全代碼+注釋如下：

using System.Collections;
using System.Collections.Generic;
using System.IO;
using UnityEngine;public class PCDReader :UnitySingleton<PCDReader> 
{public string filePath = "文件路徑"; // PCD文件路徑，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;}*/// 讀取文件流using (FileStream stream=new FileStream(path, FileMode.Open))using (BinaryReader reader = new BinaryReader(stream)){// Step 1: 解析頭部（ASCII格式）Dictionary<string, string> header = new Dictionary<string, string>();string line;while (true){line = ReadLine(reader); // 自定義方法讀取一行ASCII文本if (line == null || line.StartsWith("DATA binary"))break;string[] parts = line.Split(' ');if (parts.Length >= 2){header[parts[0]] = parts[1];}}// 驗證頭部關鍵字段if (!header.ContainsKey("FIELDS") || !header.ContainsKey("POINTS") || !header.ContainsKey("SIZE")){Debug.LogError("頭部信息不完整");}// 提取元數據string[] fields = header["FIELDS"].Split(' ');int pointCount = int.Parse(header["POINTS"]);string[] sizes = header["SIZE"].Split(' ');List<Vector3> points = new List<Vector3>(); // 存儲點坐標List<Color> colors = new List<Color>(); // 存儲點顏色（如果存在rgb字段）// 計算每個點的大小（基于SIZE和COUNT）int pointSize = 0;foreach (string size in sizes){pointSize += int.Parse(size); // SIZE每個值通常是4（字節）}// Step 2: 讀取二進制數據部分for (int i = 0; i < pointCount; i++){// 讀取坐標（假設前三個字段是x,y,z）float x = reader.ReadSingle(); // 4字節浮點數float y = reader.ReadSingle();float z = reader.ReadSingle();points.Add(new Vector3(x, y, z));// 如果存在rgb字段，讀取并轉換為Unity顏色/*if (fields.Length >= 4 &amp;&amp; fields[3] == "rgb"){uint rgb = reader.ReadUInt32(); // rgb通常以UInt32存儲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));}*/// 跳過其他字段（如有）int remainingSize = pointSize;//- 12 - 4; // 減去xyz（12字節）和rgb（4字節）reader.ReadBytes(remainingSize);}// Step 3: 在Unity中創建點云對象CreatePointCloud(points, colors);//return points;}}// 輔助方法：從二進制流讀取一行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') // 換行符結束行break;bytes.Add(nextByte);}return System.Text.Encoding.ASCII.GetString(bytes.ToArray());}// 輔助方法：創建點云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();// 設置顏色（如果存在）/*if (colors.Count == points.Count){mesh.colors = colors.ToArray();}#1#// 創建MeshRenderer和MeshFilterMeshFilter meshFilter = pointCloud.AddComponent<MeshFilter>();MeshRenderer meshRenderer = pointCloud.AddComponent<MeshRenderer>();meshFilter.mesh = mesh;// 使用默認材質（可通過Unity材質自定義）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("點云加載完成，點數: " + points.Count);}public  Mesh meshNeed;void CreateMesh(int num,List<Vector3> point){int _PointNum = num;GameObject pointObj = new GameObject();pointObj.name = "PointCloud";// 綁定Mesh組件pointObj.AddComponent<MeshFilter>();pointObj.AddComponent<MeshRenderer>();// 為點云創建新的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);// 設置Mesh的渲染類型為PointmeshNeed.SetIndexBufferParams(num, UnityEngine.Rendering.IndexFormat.UInt32);}}

更新一下:

代碼上加了個清理，為了重復調用，優化性能

meshNeed.Clear();

還得記得在外面加個try，catch。

大致如下

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