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issue and feature #6

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4de00e5
fix issue #3 :PCDReaderException.cs missing.
lanybass Mar 30, 2016
3b064c9
resolve issue #2:
lanybass Apr 5, 2016
8d52387
forgot some file..
lanybass Apr 11, 2016
ef97bd9
forgot some files...
lanybass Apr 20, 2016
81d6cb5
add binary pcd file writer
lanybass Apr 20, 2016
55fed58
add binary pcd file writer
lanybass Apr 20, 2016
017d510
little bug fix..
lanybass Apr 20, 2016
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Binary file added PointCloud.Test/NUnit-net-4.0/mock-assembly.exe
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17,337 changes: 17,337 additions & 0 deletions PointCloud.Test/NUnit-net-4.0/nunit.framework.xml
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19 changes: 19 additions & 0 deletions PointCloud.Test/PCDReaderTest.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -95,5 +95,24 @@ public void FileReadCompleteTest()
Assert.AreEqual(0, cloud[0].Z, 0.000001);
}

[Test]
public void BinFileReadCompleteTest()
{
PCDReader<PointXYZRGBA> reader = new PCDReader<PointXYZRGBA>();
PointCloud<PointXYZRGBA> cloud = reader.Read("testbin.pcd");

Assert.AreEqual(63940, cloud.Points.Count);


Assert.AreEqual(0, cloud[0].X, 0.000001);
Assert.AreEqual(1721.136, cloud[0].Y, 0.000001);
Assert.AreEqual(502.9354, cloud[0].Z, 0.000001);
Assert.AreEqual(0x00, cloud[0].R);
Assert.AreEqual(0x00, cloud[0].G);
Assert.AreEqual(0x80, cloud[0].B);
Assert.AreEqual(0x3f, cloud[0].A);
}


}
}
259 changes: 259 additions & 0 deletions PointCloud.Test/PCDWriterTest.cs
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@@ -0,0 +1,259 @@
/*
Pointcloud library for .NET
Copyright (C) 2013 M. Hofman

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using NUnit.Framework;
using PointCloud.io;

namespace PointCloud.Test
{
[TestFixture]
public class PCDWriterTest
{
[Test]
public void BinaryFileWriteTest()
{
var pw = new PCDWriter();
List<PointXYZRGBA> plist = new List<PointXYZRGBA>(){
new PointXYZRGBA(0.93773f,0.33763f,0f, 0,0,0,0),
new PointXYZRGBA(0.90805f,0.35641f,0, 0,0,0,0),
new PointXYZRGBA(0.81915f,0.32f,0, 0,0,0,0),
new PointXYZRGBA(0.97192f,0.278f,0, 0,0,0,0),
new PointXYZRGBA(0.944f,0.29474f,0, 0,0,0,0),
new PointXYZRGBA(0.98111f,0.24247f,0, 0,0,0,0),
new PointXYZRGBA(0.93655f,0.26143f,0, 0,0,0,0),
new PointXYZRGBA(0.91631f,0.27442f,0, 0,0,0,0),
new PointXYZRGBA(0.81921f,0.29315f,0, 0,0,0,0),
new PointXYZRGBA(0.90701f,0.24109f,0, 0,0,0,0),
new PointXYZRGBA(0.83239f,0.23398f,0, 0,0,0,0),
new PointXYZRGBA(0.99185f,0.2116f,0, 0,0,0,0),
new PointXYZRGBA(0.89264f,0.21174f,0, 0,0,0,0),
new PointXYZRGBA(0.85082f,0.21212f,0, 0,0,0,0),
new PointXYZRGBA(0.81044f,0.32222f,0, 0,0,0,0),
new PointXYZRGBA(0.74459f,0.32192f,0, 0,0,0,0),
new PointXYZRGBA(0.69927f,0.32278f,0, 0,0,0,0),
new PointXYZRGBA(0.8102f,0.29315f,0, 0,0,0,0),
new PointXYZRGBA(0.75504f,0.29765f,0, 0,0,0,0),
new PointXYZRGBA(0.8102f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(0.74995f,0.24723f,0, 0,0,0,0),
new PointXYZRGBA(0.68049f,0.29768f,0, 0,0,0,0),
new PointXYZRGBA(0.66509f,0.29002f,0, 0,0,0,0),
new PointXYZRGBA(0.69441f,0.2526f,0, 0,0,0,0),
new PointXYZRGBA(0.62807f,0.22187f,0, 0,0,0,0),
new PointXYZRGBA(0.58706f,0.32199f,0, 0,0,0,0),
new PointXYZRGBA(0.52125f,0.31955f,0, 0,0,0,0),
new PointXYZRGBA(0.49351f,0.32282f,0, 0,0,0,0),
new PointXYZRGBA(0.44313f,0.32169f,0, 0,0,0,0),
new PointXYZRGBA(0.58678f,0.2929f,0, 0,0,0,0),
new PointXYZRGBA(0.53436f,0.29164f,0, 0,0,0,0),
new PointXYZRGBA(0.59308f,0.24134f,0, 0,0,0,0),
new PointXYZRGBA(0.5357f,0.2444f,0, 0,0,0,0),
new PointXYZRGBA(0.50043f,0.31235f,0, 0,0,0,0),
new PointXYZRGBA(0.44107f,0.29711f,0, 0,0,0,0),
new PointXYZRGBA(0.50727f,0.22193f,0, 0,0,0,0),
new PointXYZRGBA(0.43957f,0.23976f,0, 0,0,0,0),
new PointXYZRGBA(0.8105f,0.21112f,0, 0,0,0,0),
new PointXYZRGBA(0.73555f,0.2114f,0, 0,0,0,0),
new PointXYZRGBA(0.69907f,0.21082f,0, 0,0,0,0),
new PointXYZRGBA(0.63327f,0.21154f,0, 0,0,0,0),
new PointXYZRGBA(0.59165f,0.21201f,0, 0,0,0,0),
new PointXYZRGBA(0.52477f,0.21491f,0, 0,0,0,0),
new PointXYZRGBA(0.49375f,0.21006f,0, 0,0,0,0),
new PointXYZRGBA(0.4384f,0.19632f,0, 0,0,0,0),
new PointXYZRGBA(0.43425f,0.16052f,0, 0,0,0,0),
new PointXYZRGBA(0.3787f,0.32173f,0, 0,0,0,0),
new PointXYZRGBA(0.33444f,0.3216f,0, 0,0,0,0),
new PointXYZRGBA(0.23815f,0.32199f,0, 0,0,0,0),
new PointXYZRGBA(0.3788f,0.29315f,0, 0,0,0,0),
new PointXYZRGBA(0.33058f,0.31073f,0, 0,0,0,0),
new PointXYZRGBA(0.3788f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(0.30249f,0.29189f,0, 0,0,0,0),
new PointXYZRGBA(0.23492f,0.29446f,0, 0,0,0,0),
new PointXYZRGBA(0.29465f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(0.23514f,0.24172f,0, 0,0,0,0),
new PointXYZRGBA(0.18836f,0.32277f,0, 0,0,0,0),
new PointXYZRGBA(0.15992f,0.32176f,0, 0,0,0,0),
new PointXYZRGBA(0.08642f,0.32181f,0, 0,0,0,0),
new PointXYZRGBA(0.039994f,0.32283f,0, 0,0,0,0),
new PointXYZRGBA(0.20039f,0.31211f,0, 0,0,0,0),
new PointXYZRGBA(0.1417f,0.29506f,0, 0,0,0,0),
new PointXYZRGBA(0.20921f,0.22332f,0, 0,0,0,0),
new PointXYZRGBA(0.13884f,0.24227f,0, 0,0,0,0),
new PointXYZRGBA(0.085123f,0.29441f,0, 0,0,0,0),
new PointXYZRGBA(0.048446f,0.31279f,0, 0,0,0,0),
new PointXYZRGBA(0.086957f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(0.3788f,0.21189f,0, 0,0,0,0),
new PointXYZRGBA(0.29465f,0.19323f,0, 0,0,0,0),
new PointXYZRGBA(0.23755f,0.19348f,0, 0,0,0,0),
new PointXYZRGBA(0.29463f,0.16054f,0, 0,0,0,0),
new PointXYZRGBA(0.23776f,0.16054f,0, 0,0,0,0),
new PointXYZRGBA(0.19016f,0.21038f,0, 0,0,0,0),
new PointXYZRGBA(0.15704f,0.21245f,0, 0,0,0,0),
new PointXYZRGBA(0.08678f,0.21169f,0, 0,0,0,0),
new PointXYZRGBA(0.012746f,0.32168f,0, 0,0,0,0),
new PointXYZRGBA(-0.075715f,0.32095f,0, 0,0,0,0),
new PointXYZRGBA(-0.10622f,0.32304f,0, 0,0,0,0),
new PointXYZRGBA(-0.16391f,0.32118f,0, 0,0,0,0),
new PointXYZRGBA(0.00088411f,0.29487f,0, 0,0,0,0),
new PointXYZRGBA(-0.057568f,0.29457f,0, 0,0,0,0),
new PointXYZRGBA(-0.0034333f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(-0.055185f,0.24185f,0, 0,0,0,0),
new PointXYZRGBA(-0.10983f,0.31352f,0, 0,0,0,0),
new PointXYZRGBA(-0.15082f,0.29453f,0, 0,0,0,0),
new PointXYZRGBA(-0.11534f,0.22049f,0, 0,0,0,0),
new PointXYZRGBA(-0.15155f,0.24381f,0, 0,0,0,0),
new PointXYZRGBA(-0.1912f,0.32173f,0, 0,0,0,0),
new PointXYZRGBA(-0.281f,0.3185f,0, 0,0,0,0),
new PointXYZRGBA(-0.30791f,0.32307f,0, 0,0,0,0),
new PointXYZRGBA(-0.33854f,0.32148f,0, 0,0,0,0),
new PointXYZRGBA(-0.21248f,0.29805f,0, 0,0,0,0),
new PointXYZRGBA(-0.26372f,0.29905f,0, 0,0,0,0),
new PointXYZRGBA(-0.22562f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(-0.25035f,0.2371f,0, 0,0,0,0),
new PointXYZRGBA(-0.29941f,0.31191f,0, 0,0,0,0),
new PointXYZRGBA(-0.35845f,0.2954f,0, 0,0,0,0),
new PointXYZRGBA(-0.29231f,0.22236f,0, 0,0,0,0),
new PointXYZRGBA(-0.36101f,0.24172f,0, 0,0,0,0),
new PointXYZRGBA(-0.0034393f,0.21129f,0, 0,0,0,0),
new PointXYZRGBA(-0.07306f,0.21304f,0, 0,0,0,0),
new PointXYZRGBA(-0.10579f,0.2099f,0, 0,0,0,0),
new PointXYZRGBA(-0.13642f,0.21411f,0, 0,0,0,0),
new PointXYZRGBA(-0.22562f,0.19323f,0, 0,0,0,0),
new PointXYZRGBA(-0.24439f,0.19799f,0, 0,0,0,0),
new PointXYZRGBA(-0.22591f,0.16041f,0, 0,0,0,0),
new PointXYZRGBA(-0.23466f,0.16082f,0, 0,0,0,0),
new PointXYZRGBA(-0.3077f,0.20998f,0, 0,0,0,0),
new PointXYZRGBA(-0.3413f,0.21239f,0, 0,0,0,0),
new PointXYZRGBA(-0.40551f,0.32178f,0, 0,0,0,0),
new PointXYZRGBA(-0.50568f,0.3218f,0, 0,0,0,0),
new PointXYZRGBA(-0.41732f,0.30844f,0, 0,0,0,0),
new PointXYZRGBA(-0.44237f,0.28859f,0, 0,0,0,0),
new PointXYZRGBA(-0.41591f,0.22004f,0, 0,0,0,0),
new PointXYZRGBA(-0.44803f,0.24236f,0, 0,0,0,0),
new PointXYZRGBA(-0.50623f,0.29315f,0, 0,0,0,0),
new PointXYZRGBA(-0.50916f,0.24296f,0, 0,0,0,0),
new PointXYZRGBA(-0.57019f,0.22334f,0, 0,0,0,0),
new PointXYZRGBA(-0.59611f,0.32199f,0, 0,0,0,0),
new PointXYZRGBA(-0.65104f,0.32199f,0, 0,0,0,0),
new PointXYZRGBA(-0.72566f,0.32129f,0, 0,0,0,0),
new PointXYZRGBA(-0.75538f,0.32301f,0, 0,0,0,0),
new PointXYZRGBA(-0.59653f,0.29315f,0, 0,0,0,0),
new PointXYZRGBA(-0.65063f,0.29315f,0, 0,0,0,0),
new PointXYZRGBA(-0.59478f,0.24245f,0, 0,0,0,0),
new PointXYZRGBA(-0.65063f,0.24399f,0, 0,0,0,0),
new PointXYZRGBA(-0.70618f,0.29525f,0, 0,0,0,0),
new PointXYZRGBA(-0.76203f,0.31284f,0, 0,0,0,0),
new PointXYZRGBA(-0.70302f,0.24183f,0, 0,0,0,0),
new PointXYZRGBA(-0.77062f,0.22133f,0, 0,0,0,0),
new PointXYZRGBA(-0.41545f,0.21099f,0, 0,0,0,0),
new PointXYZRGBA(-0.45004f,0.19812f,0, 0,0,0,0),
new PointXYZRGBA(-0.4475f,0.1673f,0, 0,0,0,0),
new PointXYZRGBA(-0.52031f,0.21236f,0, 0,0,0,0),
new PointXYZRGBA(-0.55182f,0.21045f,0, 0,0,0,0),
new PointXYZRGBA(-0.5965f,0.21131f,0, 0,0,0,0),
new PointXYZRGBA(-0.65064f,0.2113f,0, 0,0,0,0),
new PointXYZRGBA(-0.72216f,0.21286f,0, 0,0,0,0),
new PointXYZRGBA(-0.7556f,0.20987f,0, 0,0,0,0),
new PointXYZRGBA(-0.78343f,0.31973f,0, 0,0,0,0),
new PointXYZRGBA(-0.87572f,0.32111f,0, 0,0,0,0),
new PointXYZRGBA(-0.90519f,0.32263f,0, 0,0,0,0),
new PointXYZRGBA(-0.95526f,0.34127f,0, 0,0,0,0),
new PointXYZRGBA(-0.79774f,0.29271f,0, 0,0,0,0),
new PointXYZRGBA(-0.85618f,0.29497f,0, 0,0,0,0),
new PointXYZRGBA(-0.79975f,0.24326f,0, 0,0,0,0),
new PointXYZRGBA(-0.8521f,0.24246f,0, 0,0,0,0),
new PointXYZRGBA(-0.91157f,0.31224f,0, 0,0,0,0),
new PointXYZRGBA(-0.95031f,0.29572f,0, 0,0,0,0),
new PointXYZRGBA(-0.92223f,0.2213f,0, 0,0,0,0),
new PointXYZRGBA(-0.94979f,0.24354f,0, 0,0,0,0),
new PointXYZRGBA(-0.78641f,0.21505f,0, 0,0,0,0),
new PointXYZRGBA(-0.87094f,0.21237f,0, 0,0,0,0),
new PointXYZRGBA(-0.90637f,0.20934f,0, 0,0,0,0),
new PointXYZRGBA(-0.93777f,0.21481f,0, 0,0,0,0),
new PointXYZRGBA(0.22244f,-0.0296f,0, 0,0,0,0),
new PointXYZRGBA(0.2704f,-0.078167f,0, 0,0,0,0),
new PointXYZRGBA(0.24416f,-0.056883f,0, 0,0,0,0),
new PointXYZRGBA(0.27311f,-0.10653f,0, 0,0,0,0),
new PointXYZRGBA(0.26172f,-0.10653f,0, 0,0,0,0),
new PointXYZRGBA(0.2704f,-0.1349f,0, 0,0,0,0),
new PointXYZRGBA(0.24428f,-0.15599f,0, 0,0,0,0),
new PointXYZRGBA(0.19017f,-0.025297f,0, 0,0,0,0),
new PointXYZRGBA(0.14248f,-0.02428f,0, 0,0,0,0),
new PointXYZRGBA(0.19815f,-0.037432f,0, 0,0,0,0),
new PointXYZRGBA(0.14248f,-0.03515f,0, 0,0,0,0),
new PointXYZRGBA(0.093313f,-0.02428f,0, 0,0,0,0),
new PointXYZRGBA(0.044144f,-0.02428f,0, 0,0,0,0),
new PointXYZRGBA(0.093313f,-0.03515f,0, 0,0,0,0),
new PointXYZRGBA(0.044144f,-0.03515f,0, 0,0,0,0),
new PointXYZRGBA(0.21156f,-0.17357f,0, 0,0,0,0),
new PointXYZRGBA(0.029114f,-0.12594f,0, 0,0,0,0),
new PointXYZRGBA(0.036583f,-0.15619f,0, 0,0,0,0),
new PointXYZRGBA(0.22446f,-0.20514f,0, 0,0,0,0),
new PointXYZRGBA(0.2208f,-0.2369f,0, 0,0,0,0),
new PointXYZRGBA(0.2129f,-0.208f,0, 0,0,0,0),
new PointXYZRGBA(0.19316f,-0.25672f,0, 0,0,0,0),
new PointXYZRGBA(0.14497f,-0.27484f,0, 0,0,0,0),
new PointXYZRGBA(0.030167f,-0.18748f,0, 0,0,0,0),
new PointXYZRGBA(0.1021f,-0.27453f,0, 0,0,0,0),
new PointXYZRGBA(0.1689f,-0.2831f,0, 0,0,0,0),
new PointXYZRGBA(0.13875f,-0.28647f,0, 0,0,0,0),
new PointXYZRGBA(0.086993f,-0.29568f,0, 0,0,0,0),
new PointXYZRGBA(0.044924f,-0.3154f,0, 0,0,0,0),
new PointXYZRGBA(-0.0066125f,-0.02428f,0, 0,0,0,0),
new PointXYZRGBA(-0.057362f,-0.02428f,0, 0,0,0,0),
new PointXYZRGBA(-0.0066125f,-0.03515f,0, 0,0,0,0),
new PointXYZRGBA(-0.057362f,-0.03515f,0, 0,0,0,0),
new PointXYZRGBA(-0.10653f,-0.02428f,0, 0,0,0,0),
new PointXYZRGBA(-0.15266f,-0.025282f,0, 0,0,0,0),
new PointXYZRGBA(-0.10653f,-0.03515f,0, 0,0,0,0),
new PointXYZRGBA(-0.16036f,-0.037257f,0, 0,0,0,0),
new PointXYZRGBA(0.0083286f,-0.1259f,0, 0,0,0,0),
new PointXYZRGBA(0.0007442f,-0.15603f,0, 0,0,0,0),
new PointXYZRGBA(-0.1741f,-0.17381f,0, 0,0,0,0),
new PointXYZRGBA(-0.18502f,-0.02954f,0, 0,0,0,0),
new PointXYZRGBA(-0.20707f,-0.056403f,0, 0,0,0,0),
new PointXYZRGBA(-0.23348f,-0.07764f,0, 0,0,0,0),
new PointXYZRGBA(-0.2244f,-0.10653f,0, 0,0,0,0),
new PointXYZRGBA(-0.23604f,-0.10652f,0, 0,0,0,0),
new PointXYZRGBA(-0.20734f,-0.15641f,0, 0,0,0,0),
new PointXYZRGBA(-0.23348f,-0.13542f,0, 0,0,0,0),
new PointXYZRGBA(0.0061083f,-0.18729f,0, 0,0,0,0),
new PointXYZRGBA(-0.066235f,-0.27472f,0, 0,0,0,0),
new PointXYZRGBA(-0.17577f,-0.20789f,0, 0,0,0,0),
new PointXYZRGBA(-0.10861f,-0.27494f,0, 0,0,0,0),
new PointXYZRGBA(-0.15584f,-0.25716f,0, 0,0,0,0),
new PointXYZRGBA(-0.0075775f,-0.31546f,0, 0,0,0,0),
new PointXYZRGBA(-0.050817f,-0.29595f,0, 0,0,0,0),
new PointXYZRGBA(-0.10306f,-0.28653f,0, 0,0,0,0),
new PointXYZRGBA(-0.1319f,-0.2831f,0, 0,0,0,0),
new PointXYZRGBA(-0.18716f,-0.20571f,0, 0,0,0,0),
new PointXYZRGBA(-0.18369f,-0.23729f,0, 0,0,0,0)
};

var result = pw.WriteBinData(plist, "write_test.pcd");

Assert.AreEqual(true, result);
}


}
}
8 changes: 6 additions & 2 deletions PointCloud.Test/PointCloud.Test.csproj
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,9 @@
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
<Reference Include="nunit.framework, Version=2.6.2.12296, Culture=neutral, PublicKeyToken=96d09a1eb7f44a77, processorArchitecture=MSIL">
<Reference Include="nunit.framework, Version=3.2.0.0, Culture=neutral, PublicKeyToken=2638cd05610744eb, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\packages\NUnit.2.6.2\lib\nunit.framework.dll</HintPath>
<HintPath>NUnit-net-4.0\nunit.framework.dll</HintPath>
</Reference>
<Reference Include="System" />
<Reference Include="System.Core" />
Expand All @@ -44,6 +44,7 @@
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="PCDWriterTest.cs" />
<Compile Include="PCDReaderTest.cs" />
<Compile Include="PointTypeTest.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
Expand All @@ -53,6 +54,9 @@
<None Include="test.pcd">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
<None Include="testbin.pcd">
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
</None>
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\PointCloud\PointCloud.csproj">
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16 changes: 16 additions & 0 deletions PointCloud.Test/PointTypeTest.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -42,5 +42,21 @@ public void PointConvertToTest()

Assert.AreEqual("1 2 3", TypeDescriptor.GetConverter(point).ConvertTo(point, typeof(string)));
}

[Test]
public void PointRGBAConvertFromTest()
{

var bytes = new byte[] { 0x00, 0x00, 0x00, 0x00, 0x5a, 0x24, 0xd7, 0x44, 0xbc, 0x77, 0xfb, 0x43, 0x00, 0x00, 0x80, 0x3f };
PointXYZRGBA point = (PointXYZRGBA)TypeDescriptor.GetConverter(typeof(PointXYZRGBA)).ConvertFrom(bytes);

Assert.AreEqual(0, point.X, 0.000001);
Assert.AreEqual(1721.136, point.Y, 0.000001);
Assert.AreEqual(502.9354, point.Z, 0.000001);
Assert.AreEqual(0x00, point.R);
Assert.AreEqual(0x00, point.G);
Assert.AreEqual(0x80, point.B);
Assert.AreEqual(0x3f, point.A);
}
}
}
Binary file added PointCloud.Test/testbin.pcd
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