Wip: refactor PointcloudColorHandlerGenericField to deal with any field type #6309

themightyoarfish · 2025-07-14T08:29:54Z

Resolves #6306
Partially resolves #6186

themightyoarfish · 2025-07-14T08:33:36Z

I ran the formatter to put my changes in these files, but unfortunately this has resulted in a large diff, as they seemed to not have followed the clang-format style file before.

mvieth · 2025-07-15T08:57:26Z

I ran the formatter to put my changes in these files, but unfortunately this has resulted in a large diff, as they seemed to not have followed the clang-format style file before.

The style file has only been added a few years ago, and most of the code is not yet formatted according to it. We are slowly formatting more and more files, but we cannot format any files that are changed in any open pull request (otherwise the pull request would have merge conflicts and basically be lost).

Unfortunately, with the formatting changes mixed in, this pull request is very difficult to review, as it is very time consuming to look for the changes you wanted to make originally. Is there any way you can revert the formatting changes in this pull request?

It has a branch inside the getColor() function which skips points with non-finite x/y/z coordinates, unless the cloud has no x channel, in which case it checks the target field for finiteness. What exactly is the purpose of this and should I keep this? How does one display clouds without an X channel?

To be honest, I am not sure, but it is probably there for a reason so I would like to keep it. However, instead of the current structure (if-condition, then two for-loops, one for each case), you could probably merge the for-loops into one, then check something like x_idx != -1 && !pcl::isXYZFinite((*cloud_)[cp]) inside (similar for PCLPointCloud2 case). That would reduce code duplication, and the performance difference should be negligible.

themightyoarfish · 2025-07-15T13:28:10Z

I have recommitted without formatting changes outside of the affected class.

also added the handling of non-xyz data as suggested, but have not tested it yet.

…lerGenericField class

themightyoarfish · 2025-07-30T10:40:45Z

CI seems to pass, i guess i should add some kind of test?

mvieth · 2025-07-30T11:24:06Z

CI seems to pass, i guess i should add some kind of test?

That would be great. My suggestion: create a small cloud with maybe 4-5 points (manually), pass to color handler, then check if the array returned by getColor contains sensible values. Then convert the cloud to pcl::PCLPointCloud2 and repeat.

themightyoarfish · 2025-07-30T13:24:56Z

Added a test which passes for me locally, but I don't think CI builds the visualization tests.

(they are also disabled on macos, because the code only checks for UNIX + DISPLAY set, which doesn't exist on macos)

larshg · 2025-08-01T20:03:16Z

Added a test which passes for me locally, but I don't think CI builds the visualization tests.

(they are also disabled on macos, because the code only checks for UNIX + DISPLAY set, which doesn't exist on macos)

Its run on the ubuntu CI's using xvfb - so should be good 👍

themightyoarfish · 2025-08-19T08:40:32Z

Can I get a review?

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

larshg · 2025-08-20T11:03:33Z

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

+
+
+// Get point step. Does not directly exist in pcl::PointCloud
+template <typename CloudT> inline int getPointStep(const CloudT&)


I would add these getters to their respective classes - even though they currently only a used here, I don't see why it shouldn't belong to the point_cloud/PCLPointCloud2 classes.

I would rather not add these as getters, I don't think they would be used that often

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

mvieth

Sorry for the delay

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

mvieth · 2025-09-02T19:27:22Z

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

+
+
+// Get point step. Does not directly exist in pcl::PointCloud
+template <typename CloudT> inline int getPointStep(const CloudT&)


I would rather not add these as getters, I don't think they would be used that often

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

visualization/include/pcl/visualization/point_cloud_color_handlers.h

…types

themightyoarfish · 2025-09-11T13:59:46Z

I've moved some functions to io.h/hpp, but not kept some where they are since there are differing opinions it seems.

I'm a bit annoyed that due to the new getFields() specialization we now get many of these warnings for all code that uses it with PointCloud as the type, which does not need a value to determine the fields. Can we silence them somehow?

[260/578] Building CXX object tools/CMakeFiles/pcl_generate.dir/generate.cpp.o
In file included from /Users/rasmus/Downloads/source_builds/pcl/tools/generate.cpp:42:
In file included from /Users/rasmus/Downloads/source_builds/pcl/io/include/pcl/io/pcd_io.h:801:
In file included from /Users/rasmus/Downloads/source_builds/pcl/io/include/pcl/io/impl/pcd_io.hpp:48:
In file included from /Users/rasmus/Downloads/source_builds/pcl/common/include/pcl/common/io.h:593:
/Users/rasmus/Downloads/source_builds/pcl/common/include/pcl/common/impl/io.hpp:106:26: warning: unused parameter 'cloud' [-Wunused-parameter]
  106 | getFields (const CloudT& cloud)

…mmon/io.h

common/include/pcl/common/impl/io.hpp

mvieth · 2025-09-13T17:29:47Z

visualization/include/pcl/visualization/point_cloud_color_handlers.h

-        virtual std::string
-        getName () const { return ("PointCloudColorHandlerGenericField"); }
+      /** \brief Name of the field used to create the color handler. */
+      std::string field_name_;


Could this be private, like before?

Co-authored-by: Markus Vieth <[email protected]>

larshg · 2025-09-17T05:45:04Z

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

+  return std::distance(fields.begin(), result);
+}
+
+// Cloud type agnostic isXYZFinite wrappers to check if pointcloud or PCLPointCloud2 at


Should we move these XYZFinite next to the others in https://github.com/PointCloudLibrary/pcl/blob/f5fd21531b6cb19724227490949e66b5ce171075/common/include/pcl/common/point_tests.h ?

Hmm, maybe not, since one of the methods require getFieldIndex, which would give circular dependency.

larshg · 2025-09-17T05:47:33Z

Resolve conflict and its 👍 from here.

mvieth · 2025-09-17T18:45:45Z

visualization/include/pcl/visualization/impl/point_cloud_color_handlers.hpp

+    }
+  }
+
+  int point_offset = this->fields_[this->field_idx_].offset;


A rather minor thing, but could make sense to use std::size_t here to also make it work with larger clouds (because it holds the offset in bytes, for every point).

themightyoarfish mentioned this pull request Jul 14, 2025

[visualization] (with wip implementation) Support arbitrary field data types for visualization #6306

Open

refactor PointcloudColorHandlerGenericField to deal with any field type

2556e89

themightyoarfish force-pushed the colorhandler-field-types branch from 88d0563 to 2556e89 Compare July 15, 2025 13:25

Cover both PointCloud and PCLPointCloud2 with one PointCloudColorHand…

7e7f343

…lerGenericField class

themightyoarfish force-pushed the colorhandler-field-types branch from b5bfae2 to 7e7f343 Compare July 21, 2025 15:43

themightyoarfish marked this pull request as ready for review July 30, 2025 10:40

themightyoarfish added 2 commits July 30, 2025 15:23

Fix field access to pclpointcloud in generic color handler

ee5ff7e

Add tests for generic color handler

7286269

larshg reviewed Aug 20, 2025

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mvieth reviewed Sep 2, 2025

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Merge remote-tracking branch 'origin/master' into colorhandler-field-…

0bcadd5

…types

Cleanup and reorganize functions between color_handler headers and co…

230e469

…mmon/io.h

themightyoarfish force-pushed the colorhandler-field-types branch from 275ea83 to 230e469 Compare September 11, 2025 14:01

Fix error message

b5f4ea3

mvieth reviewed Sep 13, 2025

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Update common/include/pcl/common/impl/io.hpp

a9e3fcd

Co-authored-by: Markus Vieth <[email protected]>

make field_name_ private in colorhandlergenericfield

f5d769a

larshg reviewed Sep 17, 2025

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larshg added this to the pcl-1.16.0 milestone Sep 17, 2025

larshg added the changelog: enhancement Meta-information for changelog generation label Sep 17, 2025

mvieth reviewed Sep 17, 2025

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		// Get point step. Does not directly exist in pcl::PointCloud
		template <typename CloudT> inline int getPointStep(const CloudT&)

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Wip: refactor PointcloudColorHandlerGenericField to deal with any field type #6309

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Wip: refactor PointcloudColorHandlerGenericField to deal with any field type #6309

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themightyoarfish commented Jul 14, 2025 •

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