@viamrobotics/motion-tools 1.19.0 → 1.19.1

package/dist/components/Entities/Entities.svelte

@@ -31,6 +31,7 @@
 	 */
 	const worldStateEntities = useQuery(
 		traits.WorldStateStoreAPI,
+		Not(traits.Points, traits.LinePositions, traits.GLTF),
 		Or(traits.Box, traits.Capsule, traits.Sphere, traits.BufferGeometry, traits.ReferenceFrame)
 	)
 

package/dist/draw.js

@@ -109,11 +109,10 @@ export const updateMetadata = (entity, metadata, { pointCloud = false } = {}) =>
     const { colors, opacities } = metadata;
     if (colors) {
         if (pointCloud) {
-            updateColors(entity, metadata);
-        }
-        else {
-            setColorTraits(entity, colors);
+            updatePointCloudColors(entity, metadata);
         }
+        // Always set color traits so any subsequent async work can read them
+        setColorTraits(entity, colors);
     }
     entity.set(traits.Opacity, asOpacity(opacities, DEFAULT_OPACITY));
 };
@@ -315,7 +314,7 @@ const parsePointCloud = (world, entity, pointCloud, metadata) => {
         entity.add(traits.Points);
     });
 };
-const updateColors = (entity, metadata) => {
+const updatePointCloudColors = (entity, metadata) => {
     const buffer = entity.get(traits.BufferGeometry);
     if (!buffer) {
         if (metadata.colors)

package/dist/ecs/traits.js

@@ -1,7 +1,10 @@
 import { Geometry as ViamGeometry } from '@viamrobotics/sdk';
 import { trait } from 'koota';
 import { BufferGeometry as ThreeBufferGeometry } from 'three';
+import { createBufferGeometry, updateBufferGeometry } from '../attribute';
+import { ColorFormat } from '../buf/draw/v1/metadata_pb';
 import { createBox, createCapsule, createSphere } from '../geometry';
+import { parsePcdInWorker } from '../loaders/pcd';
 import { parsePlyInput } from '../ply';
 export const Name = trait(() => '');
 export const Parent = trait(() => 'world');
@@ -203,4 +206,62 @@ export const updateGeometryTrait = (entity, geometry) => {
             entity.add(BufferGeometry(parsePlyInput(geometry.geometryType.value.mesh)));
         }
     }
+    else if (geometry.geometryType.case === 'pointcloud') {
+        updatePointCloud(entity, geometry.geometryType.value.pointCloud);
+    }
+};
+const updatePointCloud = (entity, pointCloud) => {
+    parsePcdInWorker(new Uint8Array(pointCloud))
+        .then((parsed) => {
+        if (!entity.isAlive())
+            return;
+        const buffer = entity.get(BufferGeometry);
+        let colors = parsed.colors;
+        if (buffer) {
+            // Reapply single color trait if the point count changed
+            if (parsed.colors === undefined) {
+                const color = entity.get(Color);
+                if (color) {
+                    const newCount = parsed.positions.length / 3;
+                    colors = new Uint8Array(newCount * 3);
+                    const r = Math.round(color.r * 255);
+                    const g = Math.round(color.g * 255);
+                    const b = Math.round(color.b * 255);
+                    for (let i = 0; i < newCount; i++) {
+                        colors[i * 3] = r;
+                        colors[i * 3 + 1] = g;
+                        colors[i * 3 + 2] = b;
+                    }
+                }
+            }
+            // When the point count changes, attributes must be reallocated.
+            const oldCount = buffer.getAttribute('position').count;
+            const newCount = parsed.positions.length / 3;
+            if (oldCount === newCount) {
+                updateBufferGeometry(buffer, parsed.positions, {
+                    colors,
+                    colorFormat: ColorFormat.RGB,
+                });
+            }
+            else {
+                const fresh = createBufferGeometry(parsed.positions, {
+                    colors,
+                    colorFormat: ColorFormat.RGB,
+                });
+                buffer.dispose();
+                entity.set(BufferGeometry, fresh);
+            }
+            return;
+        }
+        entity.remove(Box, Capsule, Sphere);
+        entity.add(BufferGeometry(createBufferGeometry(parsed.positions, {
+            colors: parsed.colors,
+            colorFormat: ColorFormat.RGB,
+        })));
+        if (!entity.has(Points))
+            entity.add(Points);
+    })
+        .catch((error) => {
+        console.error('Failed to update pointcloud buffer geometry:', error);
+    });
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@viamrobotics/motion-tools",
-  "version": "1.19.0",
+  "version": "1.19.1",
   "description": "Motion visualization with Viam",
   "license": "Apache-2.0",
   "type": "module",