Edit or remove points from ARPointCloud

Hi, I would like to remove multiple points from the ARPointCloud.

I am using ARFoundation 4.0.0-preview, ARKit 3.0 on a iPhone 8, with Unity 2019.3.5 .

When I capture the environnment in front of my phone, it create a point cloud with multiple points. But sometimes, it creates points in the air in front of my phone's camera, which are totally wrong, and do not represent a surface at all.

I would like to delete these misplaced points (automatically or manually with the user of my app).

Is is possible to do, if so, how ?

I searched the API, in the class ARPointCloud in ARFoundation :

Code (CSharp):

1. public NativeSlice<Vector3>? positions { get; }

There is no

{ set; }

accessor, so I can't modify the point cloud with the ARPointCloud class.

But in the XRPointCloudData in XRSubsystems :

Code (CSharp):

1. public NativeArray<Vector3> positions { get; set; }

There is the

{ set; }

accessor, but I can't find a way to access the XRPointCloudData of my point cloud.

 

Up !

 

is there a way to reset it? other than ARSession.Reset() ? After a couple of minutes in my scene the point cloud gets huge and hard to handle. I would need a constant flush so I either only have points of a specific "age" like 10 seconds or something. Or just reset it every 10 seconds so I get a new bunch of points