Add a sample that shows ALL feature points

Assets/Scenes/PointCloud/ARAllPointCloudPointsParticleVisualizer.cs

+using System;
+using System.Collections.Generic;
+using UnityEngine.XR.ARSubsystems;
+
+namespace UnityEngine.XR.ARFoundation
+{
+    /// <summary>
+    /// Renders all points in an <see cref="ARPointCloud"/> as a <c>ParticleSystem</c>, persisting them all.
+    /// </summary>
+    [RequireComponent(typeof(ARPointCloud))]
+    [RequireComponent(typeof(ParticleSystem))]
+    public sealed class ARAllPointCloudPointsParticleVisualizer : MonoBehaviour
+    {
+        public enum Mode
+        {
+            /// <summary>
+            /// Draw all the feature points from the start of the session
+            /// </summary>
+            All,
+
+            /// <summary>
+            /// Only draw the feature points from the current frame
+            /// </summary>
+            CurrentFrame,
+        }
+
+        [SerializeField]
+        [Tooltip("Whether to draw all the feature points or only the ones from the current frame.")]
+        Mode m_Mode;
+
+        public Mode mode
+        {
+            get => m_Mode;
+            set => m_Mode = value;
+        }
+
+        public int totalPointCount => m_Points.Count;
+
+        void SetParticlePosition(int index, Vector3 position)
+        {
+            m_Particles[index].startColor = m_ParticleSystem.main.startColor.color;
+            m_Particles[index].startSize = m_ParticleSystem.main.startSize.constant;
+            m_Particles[index].position = position;
+            m_Particles[index].remainingLifetime = 1f;
+        }
+
+        void OnPointCloudChanged(ARPointCloudUpdatedEventArgs eventArgs)
+        {
+            if (!m_PointCloud.positions.HasValue)
+                return;
+
+            var positions = m_PointCloud.positions.Value;
+
+            // Store all the positions over time associated with their unique identifiers
+            if (m_PointCloud.identifiers.HasValue)
+            {
+                var identifiers = m_PointCloud.identifiers.Value;
+                for (int i = 0; i < positions.Length; ++i)
+                {
+                    m_Points[identifiers[i]] = positions[i];
+                }
+            }
+
+            // Make sure we have enough particles to store all the ones we want to draw
+            int numParticles = (mode == Mode.All) ? m_Points.Count : positions.Length;
+            if (m_Particles == null || m_Particles.Length < numParticles)
+            {
+                m_Particles = new ParticleSystem.Particle[numParticles];
+            }
+
+            switch (mode)
+            {
+                case Mode.All:
+                {
+                    // Draw all the particles
+                    int particleIndex = 0;
+                    foreach (var kvp in m_Points)
+                    {
+                        SetParticlePosition(particleIndex++, kvp.Value);
+                    }
+                    break;
+                }
+                case Mode.CurrentFrame:
+                {
+                    // Only draw the particles in the current frame
+                    for (int i = 0; i < positions.Length; ++i)
+                    {
+                        SetParticlePosition(i, positions[i]);
+                    }
+                    break;
+                }
+            }
+
+            // Remove any existing particles by setting remainingLifetime
+            // to a negative value.
+            for (int i = numParticles; i < m_NumParticles; ++i)
+            {
+                m_Particles[i].remainingLifetime = -1f;
+            }
+
+            m_ParticleSystem.SetParticles(m_Particles, Math.Max(numParticles, m_NumParticles));
+            m_NumParticles = numParticles;
+        }
+
+        void Awake()
+        {
+            m_PointCloud = GetComponent<ARPointCloud>();
+            m_ParticleSystem = GetComponent<ParticleSystem>();
+        }
+
+        void OnEnable()
+        {
+            m_PointCloud.updated += OnPointCloudChanged;
+            UpdateVisibility();
+        }
+
+        void OnDisable()
+        {
+            m_PointCloud.updated -= OnPointCloudChanged;
+            UpdateVisibility();
+        }
+
+        void Update()
+        {
+            UpdateVisibility();
+        }
+
+        void UpdateVisibility()
+        {
+            var visible =
+                enabled &&
+                (m_PointCloud.trackingState != TrackingState.None);
+
+            SetVisible(visible);
+        }
+
+        void SetVisible(bool visible)
+        {
+            if (m_ParticleSystem == null)
+                return;
+
+            var renderer = m_ParticleSystem.GetComponent<Renderer>();
+            if (renderer != null)
+                renderer.enabled = visible;
+        }
+
+        ARPointCloud m_PointCloud;
+
+        ParticleSystem m_ParticleSystem;
+
+        ParticleSystem.Particle[] m_Particles;
+
+        int m_NumParticles;
+
+        Dictionary<ulong, Vector3> m_Points = new Dictionary<ulong, Vector3>();
+    }
+}

Assets/Scenes/PointCloud/ARAllPointCloudPointsParticleVisualizer.cs.meta

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