DataLoaders 3: add 3D point cloud DataLoader (.ply)

Cargo.toml

@@ -146,6 +146,7 @@ itertools = "0.11" # updating it
 js-sys = "0.3"
 # No lazy_static - use `std::sync::OnceLock` or `once_cell` instead
 libc = "0.2"
+linked-hash-map = { version = "0.5", default-features = false }
 log = "0.4"
 log-once = "0.4"
 lz4_flex = "0.11"
@@ -167,6 +168,7 @@ ordered-float = "4.2"
 parking_lot = "0.12"
 pathdiff = "0.2"
 pico-args = "0.5"
+ply-rs = { version = "0.1", default-features = false }
 polars-core = "0.29"
 polars-lazy = "0.29"
 polars-ops = "0.29"

crates/re_data_source/src/data_loader/loader_archetype.rs

@@ -80,22 +80,25 @@ impl DataLoader for ArchetypeLoader {
 
  let mut rows = Vec::new();
 
- if crate::SUPPORTED_MESH_EXTENSIONS.contains(&extension.as_str()) {
- re_log::debug!(?filepath, loader = self.name(), "Loading 3D model…",);
- rows.extend(load_mesh(
- filepath,
+ if crate::SUPPORTED_IMAGE_EXTENSIONS.contains(&extension.as_str()) {
+ re_log::debug!(?filepath, loader = self.name(), "Loading image…",);
+ rows.extend(load_image(
+ &filepath,
  timepoint,
  entity_path,
  contents.into_owned(),
  )?);
- } else if crate::SUPPORTED_IMAGE_EXTENSIONS.contains(&extension.as_str()) {
- re_log::debug!(?filepath, loader = self.name(), "Loading image…",);
- rows.extend(load_image(
- &filepath,
+ } else if crate::SUPPORTED_MESH_EXTENSIONS.contains(&extension.as_str()) {
+ re_log::debug!(?filepath, loader = self.name(), "Loading 3D model…",);
+ rows.extend(load_mesh(
+ filepath,
  timepoint,
  entity_path,
  contents.into_owned(),
  )?);
+ } else if crate::SUPPORTED_POINT_CLOUD_EXTENSIONS.contains(&extension.as_str()) {
+ re_log::debug!(?filepath, loader = self.name(), "Loading 3D point cloud…",);
+ rows.extend(load_point_cloud(timepoint, entity_path, &contents)?);
  } else if crate::SUPPORTED_TEXT_EXTENSIONS.contains(&extension.as_str()) {
  re_log::debug!(?filepath, loader = self.name(), "Loading text document…",);
  rows.extend(load_text_document(
@@ -118,6 +121,28 @@ impl DataLoader for ArchetypeLoader {
 
 // ---
 
+fn load_image(
+ filepath: &std::path::Path,
+ timepoint: TimePoint,
+ entity_path: EntityPath,
+ contents: Vec<u8>,
+) -> Result<impl ExactSizeIterator<Item = DataRow>, DataLoaderError> {
+ re_tracing::profile_function!();
+
+ let rows = [
+ {
+ let arch = re_types::archetypes::Image::from_file_contents(
+ contents,
+ image::ImageFormat::from_path(filepath).ok(),
+ )?;
+ DataRow::from_archetype(RowId::new(), timepoint, entity_path, &arch)?
+ },
+ //
+ ];
+
+ Ok(rows.into_iter())
+}
+
 fn load_mesh(
  filepath: std::path::PathBuf,
  timepoint: TimePoint,
@@ -140,21 +165,18 @@ fn load_mesh(
  Ok(rows.into_iter())
 }
 
-fn load_image(
- filepath: &std::path::Path,
+fn load_point_cloud(
  timepoint: TimePoint,
  entity_path: EntityPath,
- contents: Vec<u8>,
+ contents: &[u8],
 ) -> Result<impl ExactSizeIterator<Item = DataRow>, DataLoaderError> {
  re_tracing::profile_function!();
 
  let rows = [
  {
- let arch = re_types::archetypes::Image::from_file_contents(
- contents,
- image::ImageFormat::from_path(filepath).ok(),
- )?;
- DataRow::from_archetype(RowId::new(), timepoint, entity_path, &arch)?
+ // TODO(#4532): `.ply` data loader should support 2D point cloud & meshes
+ let points3d = re_types::archetypes::Points3D::from_file_contents(contents)?;
+ DataRow::from_archetype(RowId::new(), timepoint, entity_path, &points3d)?
  },
  //
  ];

crates/re_data_source/src/lib.rs

@@ -45,6 +45,9 @@ pub const SUPPORTED_IMAGE_EXTENSIONS: &[&str] = &[
 
 pub const SUPPORTED_MESH_EXTENSIONS: &[&str] = &["glb", "gltf", "obj"];
 
+// TODO(#4532): `.ply` data loader should support 2D point cloud & meshes
+pub const SUPPORTED_POINT_CLOUD_EXTENSIONS: &[&str] = &["ply"];
+
 pub const SUPPORTED_RERUN_EXTENSIONS: &[&str] = &["rrd"];
 
 // TODO(#4555): Add catch-all builtin `DataLoader` for text files
@@ -64,6 +67,7 @@ pub fn supported_extensions() -> impl Iterator<Item = &'static str> {
 pub fn is_supported_file_extension(extension: &str) -> bool {
  SUPPORTED_IMAGE_EXTENSIONS.contains(&extension)
  || SUPPORTED_MESH_EXTENSIONS.contains(&extension)
+ || SUPPORTED_POINT_CLOUD_EXTENSIONS.contains(&extension)
  || SUPPORTED_RERUN_EXTENSIONS.contains(&extension)
  || SUPPORTED_TEXT_EXTENSIONS.contains(&extension)
 }

crates/re_types/Cargo.toml

@@ -62,12 +62,14 @@ arrow2 = { workspace = true, features = [
 ] }
 bytemuck = { workspace = true, features = ["derive", "extern_crate_alloc"] }
 document-features.workspace = true
+half = { workspace = true, features = ["bytemuck"] }
 infer.workspace = true
 itertools.workspace = true
-half = { workspace = true, features = ["bytemuck"] }
+linked-hash-map.workspace = true
 mime_guess2.workspace = true
 ndarray.workspace = true
 once_cell.workspace = true
+ply-rs.workspace = true
 smallvec.workspace = true
 thiserror.workspace = true
 uuid = { workspace = true, features = ["serde", "v4", "js"] }
@@ -100,8 +102,6 @@ re_types_builder.workspace = true
 rayon.workspace = true
 
 # `machete` is not a fan of `build-dependencies`.
-
-
 [package.metadata.cargo-machete]
 ignored = ["rayon", "re_build_tools", "re_types_builder"]