RAZR Point Cloud Representation - RAZR_PointCRep

Table of Contents

• About
• Getting Setup
  • Headset setup
  • Software setup
  • Opening & Running the project
• Features
• FAQ
• Documents

About

RAZR_PointCRep is a simple VR application for turning pcd file data into visible 3d point clouds. The application uses the open source library Stereokit
Made June 2nd - August 9th 2025 for summer internship by Lorelai Davis

Getting setup

Headset setup

Note : These are required to install applications on specifically on the Meta Quest

1. Join/Create an organization for meta quest account
2. Enable developer mode
   • Settings > Advanced Settings > Enable developer settings

Software setup

More in-depth instruction can be found on meta & Stereokit's own website

1. Install adb
   • Meta developer website
   • Android developer website
   • Using Chocolatey and installing via command line

     choco install adb
     

2. Install .NET sdk

   winget install Microsoft.DotNet.SDK.9
   

3. Install Visual Studio 2022
   Make sure to install the workloads
   
   • Azure development
   • .Net multiplatform app UI Development
   • .Net desktop development
     ++Individual Components
     
   • USB device connectivity

Opening & running the project

1. Copy this github repository onto your computer
2. Locate the RAZR_PointCRep.Android.csproj in file explorer and double click the csproj file to open in visual studio
   • enable show all files if not all files are appearing in the solution explorer
   • If you want access to the assets folder, additionally open the other csproj in the same solution explorer
3. Set Android as setup project, if everything is set up correctly you should be able to run it in the editor

Features

This project has 3 main features

1. ShowPointCloud
   • Creates a point cloud using a model or from a pcd file (binary of ascii)
   • Adjustable point cloud size, point size, & ability to switch between perspective and fixed
   • HTML loading option to get pcd data from website
2. ShowModel
   • Prints model into world you can grab & move around
3. Spatial Anchors
   • User can manually place spatial anchors into the world for digital objects to be placed at

FAQ

My visual studio isn't showing an option for me to run

That's alright! There are other ways to install the application into the headset both include creating an apk file of our android csproj
you can use adb install via command line

adb devices
# check out device is recognized
adb install .\path\to\file\name_of_apk.apk

or you can use the Meta Quest Developer Hub, my personal reccomendation out of the two

Which files do what

Program.cs

• Think of this almost as your "main class", stuff implemented here will stay throughout the entire play time. This is where spatial anchors and passthrough are called

Program Classes folder

• These contain classes implementing the IClass interface that will appear in the class menu when using the application

Spatial Anchor folder

• Contains all files related to spatial anchors

Tools folder

• Files such as IClass, Menu Sort for the Asset Menu's, and PassthroughFBExt to enable passthrough on the meta quest

When I'm using the binary point cloud in play, it's freezing

As of the most recent commit the binary point cloud, on release builds, takes about 8 seconds to load and, on debug builds, about 16.
My best tip is as it loads, stay still as the point cloud loads to reduce visual strain and wait a maximum of 20 seconds. If it has not loaded by then, exit out of the program and rebuild it to try again.

The application exits when I exit out of the HTTP point cloud

The application sometimes crashes when you try to switch out of the HTTP point cloud. If this happens rebuild it on a debug build instead of release.

Documents

Test Video
Current github for HTTP Loading - using github raw link of the pcd file
Powerpoint Presentation - final presentation of project
Research Document - Initial Research, includes other platforms that can be used and a list of stereokit dependencies