New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Adding red, green, blue field support to the binary, and ascii pcd lo… #28179
Closed
Closed
Changes from all commits
Commits
File filter
Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
The problem is your code is application specific since it does not implement a real standard. You are assuming here that R,G,B fields are floats but what if other tools export
uint8
values?Like mentioned above, such modifications are not reliable in library code.
PCDLoader
isn't a large module so it's best to copy the module and add custom properties on application level.There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
You are right, I can change this. But you are willing to add this capability in general aren't you?. Your first response read more like a hard no. Hence, I am asking.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I'm still not in favor of this change, no. If we merge this PR and similar ones, we end up with an overly complex
PCDLoader
supporting a huge number of potentially redundant fields.There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Um, I wonder if we eventually need a more generic approach in
PCDLoader
similar to what #27901 has suggested.The loader could parse the existing default fields like
x
,y
,z
and return a geometry as before. But now the loader also parses all other fields it finds in the PCD asset. The related data could be returned as a simple map (field name -> typed array) in theuserData
field of the geometry. Ideally the geometry only holds fields as attributes when they are relevant for rendering.