How to change lidar points color

[srikanth-kuriyala]

Am trying to change the color of lidar points in below way but it's not taking effect in the front end. All points color are showing in black. If I change 'point_color_mode' to 'elevation' then different colors are coming for points. I want to make all the points in the same color. Is it possible?

const xviz_style = { '/tracklets/objects': [{ name: 'highlighted', style: {fill_color: '#ff8000aa'} }], '/lidar/points': [{ style: { point_color_mode: 'default', radius_pixels: settings.dotSize, fill_color: '#ff8000aa' } }] }

I followed with the reference https://github.com/uber/xviz/blob/master/docs/protocol-schema/style-specification.md#point

Please suggest. Thank you

[twojtasz]

Can you try here: https://avs.auto/playground/

Setting the color in the metadata here works for me. Setting the color on the object does not seem to work :(

This is what I had in each of the text panels. Be sure to push metadata first, then the frame.

// frame
const timestamp = 1000;

function rnd(max) {
    return Math.random() * max;
}

function randomPoints(n) {
    const points = new Array(n).fill([])
    points.forEach((_, i, arr) => arr[i] = [0, 0, 0].map(v => Math.random() * 10))
    return points;
}

xvizBuilder
  .pose('/vehicle_pose')
  .timestamp(timestamp)
  .mapOrigin(-122.4, 37.8, 0)
  .orientation(0, 0, 0)

xvizBuilder
  .primitive('/points')
  .points(randomPoints(100), 1);

// metadata
xvizMetadataBuilder
  .startTime(1000)
  .endTime(1005)

  .stream('/vehicle_pose')
  .category('pose')

  .stream('/points')
  .category('primitive')
  .type('points')
  .coordinate('VEHICLE_RELATIVE')
  .streamStyle({
    radius_pixels: 5,
    fill_color: [255, 0, 0]
  })

[jlisee]

I was able to use colors with an array that matches the given size:

xvizBuilder
  .primitive('/points')
  .points(randomPoints(4), 1)
  .colors([[20, 100, 20],[20, 100, 20],[20, 100, 20],[20, 100, 20]])

According to the style spec point styles only apply when applied at the stream level not went sent with the object. I think we should consider fixing this if it doesn't complicate rendering clients too much.

[peppahjackk]

Is there a way to change the point cloud colors in the frontend after conversion?

I'm trying to use Deck.gl PointCloudLayer but the data format picked up from my converted pointcloud stream does not line up.