feat(data_load_3d): static PLY/PCD 3D loader (PointCloud + Mesh3D)#189
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Task 1 wired only the subdirectory-mode loader list; the self-contained loaders (csv/mcap/parquet/ulog) are in both lists, so add data_load_3d to the standalone-mode else() block too. Plan Step 5 updated to match. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…dening Address findings from spec/code-quality/Codex reviews of the packing core: - Return a self-owning PJ::sdk::PointCloud (bytes held via BufferAnchor) instead of the copy-unsafe BuiltCloud wrapper whose data span dangled on copy; drop BuiltCloud entirely. - Guard width*height*point_step against integer overflow and oversize allocation before resize() (kMaxCloudBytes cap), and reject a positive point count with zero stride (would spin the ascii loop). Prevents heap OOB writes / DoS on crafted headers. - Overflow-safe computeLayout stride accumulation (uint64_t + uint32_t cap). - Parse ascii with std::locale::classic() so dot-decimals survive a global comma-decimal locale (Qt may install one). - Skip non-finite doubles when packing integer fields (cast would be UB). - static_assert little-endian host; fix computeCentroid doc. - Tests: overflow rejection, no-fields rejection, kUnknown/short-ascii errors, count>1 pack/byte-swap, and a copy-survives-destruction test that locks in the anchor ownership. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Parse .pcd header (FIELDS/SIZE/TYPE/COUNT/WIDTH/HEIGHT/DATA) into ParsedFields and funnel through cloud_common::buildPointCloud. ascii + binary supported; binary_compressed returns a clean error (deferred to a later task). Numeric header fields parsed with std::from_chars so malformed input returns an error instead of throwing. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Parse the ascii .ply header; vertices-only files become a self-owning PointCloud via cloud_common, files with faces become a self-owning Mesh3D holding the raw .ply bytes (renderer parses geometry). Element counts parsed with std::from_chars (no throwing); vertex-count uint32 narrowing guarded. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Dispatch by extension (.pcd/.ply) to the readers, push the serialized PointCloud/Mesh3D to the ObjectStore at t=0 with builtin_object_type metadata (kPointCloud/kMesh3D) so PJ4 classifies+renders it, and push a scalar summary (num_points, num_faces for meshes, centroid x/y/z). Falls back to summary-only when no object-write host is bound. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Vendor liblzf 3.6 (BSD-2-Clause) as separate C static libs (kept out of the C++ -Werror wall). Decode PCD binary_compressed: parse the compressed/ uncompressed size header, LZF-decompress, and transpose the field-major (SoA) buffer to packed AoS. The declared uncompressed size is validated against width*height*point_step (<= kMaxCloudBytes) BEFORE allocating, guarding against a decompression bomb. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Document the loader: PLY/PCD routing (cloud vs mesh), supported encodings (PCD ascii/binary/binary_compressed, PLY ascii/binary LE+BE), the t=0 single-snapshot behavior, the <stem> object topic + <stem>/summary scalars, and the VIEWPOINT-ignored limitation. Note the new (non-port) plugin in PORTING_PLAN. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Extract builtinObjectMetadata/lowerExtension/fileStem into loader_helpers.hpp
and unit-test them (house style: sibling data_load plugins test pure helpers).
Locks the {"builtin_object_type":"kPointCloud"|"kMesh3D"} JSON — the string
PJ4 classifies on to render the object — plus the extension/stem/dotfile logic,
against regression.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Summary
New
data_load_3dDataSource plugin: loads a static.ply/.pcdfile as a single 3D object at timestamp 0, plus a scalar summary. Not a port — a new plugin..pcd(any encoding)sdk::PointCloud.plyvertices-onlysdk::PointCloud.plywith facessdk::Mesh3D(raw asset bytes; renderer/Assimp parses geometry)DATA:ascii,binary,binary_compressed(LZF, via vendored liblzf 3.6, BSD-2-Clause).format:ascii,binary_little_endian,binary_big_endian.<stem>(tagged{"builtin_object_type":"kPointCloud"|"kMesh3D"}so PJ4 classifies + renders it) and a scalar topic<stem>/summary(num_pointsfor clouds,num_facesfor meshes,centroid/x,y,z). Degrades to summary-only when no object-write host is bound.Architecture
loader_3d.cpp(FileSourceBase) dispatches by extension to two hand-rolled header parsers (pcd_reader,ply_reader) that funnel through one shared packing core (cloud_common). All returned objects are self-owning (own their bytes viaanchor), so they are safe to copy/store past the reader call. The readers are total functions over untrusted input: malformed bytes return an error, never throw / read-or-write OOB / hang. Notable guards:from_charsnumeric parsing (no throwingstoul), akMaxCloudBytes(2 GiB) cap, a zero-stride-with-points reject, and a decompression-bomb guard (validate declared uncompressed size againstwidth*height*point_stepbefore allocating).Testing
cloud_common,pcd_reader,ply_reader,loader_helpers), all green under the strict-Werrorwall. Parsers are verified via serialize→deserialize round-trips through the real SDK codecs.builtin_object_typemetadata JSON — the string PJ4 classifies on to render the object — is pinned by a test.conanfile.py+manifest.json, noarrow/dep) into the standard build/test matrix; no workflow edit needed.Notes / follow-ups
pj_proto_app/GUI host in the per-plugin CI workspace) — recommended as a manual verification. The object-write seam and the metadata contract were verified against the actual SDK/PJ4 classifier headers.FileSourceBaseglue (summary-schema branching, null-host fallback) is verified by inspection + the pinned metadata/path-helper tests; aFakeHostloader test is a reasonable future addition (matchestoolbox_mosaico's pattern).🤖 Generated with Claude Code