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fix(pcd): sizeSum calculation + rgb parsing #3101

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fix(pcd): sizeSum calculation + rgb parsing #3101

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7a7003a
fix: sizeSum calculation
jclaessens97 Sep 27, 2024
0703ec4
fix: rgb parsing
jclaessens97 Sep 27, 2024
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25 changes: 11 additions & 14 deletions modules/pcd/src/lib/parse-pcd.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -240,20 +240,17 @@ function parsePCDHeader(data: string): PCDHeader {
pcdHeader.offset = {};

let sizeSum = 0;
if (pcdHeader.fields !== null && pcdHeader.size !== null) {
for (let i = 0; i < pcdHeader.fields.length; i++) {
if (pcdHeader.data === 'ascii') {
pcdHeader.offset[pcdHeader.fields[i]] = i;
} else {
pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
sizeSum += pcdHeader.size[i];
}
for (let i = 0, l = pcdHeader.fields.length; i < l; i++) {
if (pcdHeader.data === 'ascii') {
pcdHeader.offset[pcdHeader.fields[i]] = i;
} else {
pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
sizeSum += pcdHeader.size[i] * pcdHeader.count[i];
}
}

// for binary only
pcdHeader.rowSize = sizeSum;

return pcdHeader;
}

Expand Down Expand Up @@ -336,9 +333,9 @@ function parsePCDBinary(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttr
}

if (offset.rgb !== undefined) {
color.push(dataview.getUint8(row + offset.rgb + 0));
color.push(dataview.getUint8(row + offset.rgb + 1));
color.push(dataview.getUint8(row + offset.rgb + 2));
color.push(dataview.getUint8(row + offset.rgb + 2) / 255.0);
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Agree that using normalized colors is better. However this is a breaking change and should probably be mentioned in docs/upgrade-guide.md.

I am on the fence if it is worth it, but we could avoid breaking if we offered a pcd.normalizeColors loader option on the PCDLoader.

I have some concerns that we have code that creates a typed array from this array and if that typed array is Uint8Array it might fail (all values will be 0 or 1). Not sure if it is easy for you to find, I will try to dig more into this when I find some time.

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Hi, I'm perfectly fine by adding a normalizedColors option to avoid the breaking change!

Not sure what you mean by the last section about the Uint8Array. I think this is not applicable when we introduce a new array, right?

About the linting, I think I already ran the linter before pushing, but I can check again.

I wasn't able to run the tests so far. I had 2 failing thests from scratch, something to do with the paths I think, so if you have any pointers here, I'm happy to add some more tests with smaller examples!

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Not sure what you mean by the last section about the Uint8Array. I think this is not applicable when we introduce a new array, right?

There is code in loaders.gl that can convert parsed data to e.g. binary representations, in which case it might copy this JS array into a Uint8Array.

I'd have to dig into exactly what is implemented for meshes in terms of conversion right now to verify if it is an issue at this time.

color.push(dataview.getUint8(row + offset.rgb + 1) / 255.0);
color.push(dataview.getUint8(row + offset.rgb + 0) / 255.0);
}

if (offset.normal_x !== undefined) {
Expand Down Expand Up @@ -400,13 +397,13 @@ function parsePCDBinaryCompressed(pcdHeader: PCDHeader, data: ArrayBufferLike):

if (offset.rgb !== undefined) {
color.push(
dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0
dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0
);
color.push(
dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0
);
color.push(
dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0
dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0
);
}

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