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Add PCD to WorldStateStore service fake with color visualization #5311

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Add PCD to WorldStateStore service fake with color visualization #5311

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714594f
Add pcd to wss fake with color visualization
DTCurrie Sep 22, 2025
7545618
cleanup and update animation to add noise to 1000 points per tick
DTCurrie Sep 30, 2025
99458f7
Update noise and apply color by height on update
DTCurrie Sep 30, 2025
b61b3cc
persist changes
DTCurrie Sep 30, 2025
914069e
Update chunk sizes based on fps, restrict fps to reasonable range
DTCurrie Oct 1, 2025
848e35d
cleanup, generate terrain to avoid embedding large pcd file
DTCurrie Oct 6, 2025
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persist changes
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@DTCurrie
DTCurrie committed Sep 30, 2025
commit b61b3cc39af78059587a75b1416bccf58586cc2a
16 changes: 16 additions & 0 deletions services/worldstatestore/fake/fake.go
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Original file line number Diff line number Diff line change
Expand Up @@ -931,6 +931,22 @@ func (worldState *WorldStateStore) updatePointCloud(elapsed time.Duration) {
return
}

worldState.mu.Lock()
if transform, exists := worldState.transforms[pointcloudUUID]; exists {
pc := transform.PhysicalObject.GetPointcloud()
if pc != nil && pc.PointCloud != nil {
for i := 0; i < count; i++ {
pointIdx := startIdx + i
srcOffset := i * stride
dstOffset := pointIdx * stride
if dstOffset+stride <= len(pc.PointCloud) && srcOffset+stride <= len(chunkData) {
copy(pc.PointCloud[dstOffset:dstOffset+stride], chunkData[srcOffset:srcOffset+stride])
}
}
}
}
worldState.mu.Unlock()

updatedFields := []string{
"physicalObject.geometryType.value.pointCloud.pointCloud",
"physicalObject.geometryType.value.pointCloud.header",
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