Merge pull request #70 from CecilHarvey/master

Fix pcd exporting when using binary_compressed pcds.
Hitachi-Automotive-And-Industry-Lab · Dec 18, 2019 · 34411db · 34411db
2 parents eba8160 + dd138fe
commit 34411db
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/imports/editor/3d/SsePCDLoader.js b/imports/editor/3d/SsePCDLoader.js
@@ -128,10 +128,11 @@ export default class SsePCDLoader {
                             sizeSum += PCDheader.size[i];
                         }
                     }
+                    PCDheader.rowSize = sizeSum;
                     return PCDheader;
                 }
 
-                var textData = this.serverMode ? data : THREE.LoaderUtils.decodeText(data);
+                var textData = this.serverMode ? (new Buffer(data)).toString() : THREE.LoaderUtils.decodeText(data);
 
                 // parse header (always ascii format)
                 var PCDheader = parseHeader(textData);
@@ -197,11 +198,11 @@ export default class SsePCDLoader {
                 // binary compressed PCD files organize their data as structure of arrays: XXYYZZRGBRGB
                 // that requires a totally different parsing approach compared to non-compressed data
                 if ( PCDheader.data === 'binary_compressed' ) {
-                    var sizes = new Uint32Array( data.slice( PCDheader.headerLen, PCDheader.headerLen + 8 ) );
-                    var compressedSize = sizes[ 0 ];
-                    var decompressedSize = sizes[ 1 ];
+                    var dataview = new DataView( data.slice( PCDheader.headerLen, PCDheader.headerLen + 8 ) );
+                    var compressedSize = dataview.getUint32( 0, true );
+                    var decompressedSize = dataview.getUint32( 4, true );
                     var decompressed = decompressLZF( new Uint8Array( data, PCDheader.headerLen + 8, compressedSize ), decompressedSize );
-                    var dataview = new DataView( decompressed.buffer );
+                    dataview = new DataView( decompressed.buffer );
 
                     var offset = PCDheader.offset;
                     let pt, item;
@@ -329,4 +330,4 @@ export default class SsePCDLoader {
         };
 
     }
-}
+}
diff --git a/server/api.js b/server/api.js
@@ -59,7 +59,7 @@ function generatePCDOutput(req, res, next) {
         }
 
         const loader = new THREE.PCDLoader(true);
-        const pcdContent = loader.parse(content.toString(), "");
+        const pcdContent = loader.parse(content.buffer, "");
 
         const head = pcdContent.header;
         const count = parseInt(pcdContent.position.length / 3);