fix(pcd): sizeSum calculation + rgb parsing #3101
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Description
rowSize calculation
I tried to drop-in replace our
PCDLoader
with the@loaders.gl
version, but I noticed a difference in therowSize
calculation forbinary
PCD's. When comparing to our version which was based on the threejs example, I noticed a difference in the calculation. Replacing it with that implementation makes this loader work for me as well.RGB calculation
In the original three implementation, color need to be normalized between 0 and 1 by dividing by
255.0
. Also the order of RGB needed to be reversed (BGR). This didn't happen for thebinary
version and the order was also wrong for thebinary_compressed
version.I'll provide 2 binary PCD's that were broken in the original implementation, that are now fixed.
pcd.zip