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fix: fix endianness for point cloud visualization #234

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Merged
krishauser merged 1 commit into from
May 16, 2025
Merged

fix: fix endianness for point cloud visualization #234

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13 changes: 7 additions & 6 deletions GEMstack/onboard/visualization/sr_viz/threeD/src/components/PointCloudPanel.tsx
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Original file line number Diff line number Diff line change
Expand Up @@ -7,33 +7,34 @@ import { OrbitControls } from "three-stdlib";
import { Select, SelectChangeEvent, MenuItem } from "@mui/material";

function parsePointCloud2(msg: any): THREE.Points {
const { data, point_step, fields } = msg;
const { data, point_step, is_bigendian, fields } = msg;
const positions: number[] = [];
const colors: number[] = [];
const littleEndian = !is_bigendian;

const fieldMap = Object.fromEntries(
fields.map((f: any) => [f.name, f.offset])
);
const dv = new DataView(data.buffer, data.byteOffset, data.byteLength);

for (let i = 0; i < data.length; i += point_step) {
const x = dv.getFloat32(i + fieldMap["x"], true);
const y = dv.getFloat32(i + fieldMap["y"], true);
const z = dv.getFloat32(i + fieldMap["z"], true);
const x = dv.getFloat32(i + fieldMap["x"], littleEndian);
const y = dv.getFloat32(i + fieldMap["y"], littleEndian);
const z = dv.getFloat32(i + fieldMap["z"], littleEndian);

if (!Number.isFinite(x) || !Number.isFinite(y) || !Number.isFinite(z))
continue;

positions.push(x, y, z);

if ("rgba" in fieldMap) {
const rgba = dv.getUint32(i + fieldMap["rgba"], true);
const rgba = dv.getUint32(i + fieldMap["rgba"], littleEndian);
const r = (rgba >> 24) & 0xff;
const g = (rgba >> 16) & 0xff;
const b = (rgba >> 8) & 0xff;
colors.push(r / 255, g / 255, b / 255);
} else if ("rgb" in fieldMap) {
const rgb = dv.getUint32(i + fieldMap["rgb"], true);
const rgb = dv.getUint32(i + fieldMap["rgb"], littleEndian);
const r = (rgb >> 16) & 0xff;
const g = (rgb >> 8) & 0xff;
const b = rgb & 0xff;
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