Point Cloud Decoder Module (pointcloud.ts)

Module path: web_rviz/src/ros/pointcloud.ts

Purpose

Converts sensor_msgs/PointCloud2 payloads into Three.js-ready position/color buffers.

Public API

ParsedPointCloud

• frameId: source frame id.

• positions: Float32Array with length count * 3.

• colors: Float32Array with length count * 3.

• count: valid decoded point count.

decodePointCloud2(rawMessage: unknown, maxPoints: number): ParsedPointCloud | null

Behavior:

• Supports both base64 and number[] binary payloads.

• Requires x/y/z fields; returns null when missing.

• Uses rgb/rgba if present and meaningfully varied.

• Otherwise falls back to RViz-style depth coloring based on the decoded z range, with distance-based coloring as the last fallback when the depth range collapses.

• Samples points according to maxPoints for stable rendering performance.

• Skips invalid numeric values.