PCDLoader: Get the byte length of the field correctly

[luoxuhai]

Description

Get the byte length of the field correctly in binary compressed PCD files.

PCD file format header Examples:

FIELDS x y z normal_x normal_y normal_z     # XYZ + surface normals

Current version of PCDLoader, the correct byte length index of normal are 3, 4 and 5:

normal.push( dataview.getFloat32( PCDheader.points * offset.normal_x + PCDheader.size[ 4 ] * i, this.littleEndian ) );
normal.push( dataview.getFloat32( PCDheader.points * offset.normal_y + PCDheader.size[ 5 ] * i, this.littleEndian ) );
normal.push( dataview.getFloat32( PCDheader.points * offset.normal_z + PCDheader.size[ 6 ] * i, this.littleEndian ) );

[Mugen87]

Can you please share a PCD files that breaks with the current version of PCDLoader but loads correctly with your PR?

[luoxuhai]

Can you please share a PCD files that breaks with the current version of PCDLoader but loads correctly with your PR?

Sorry, I can't share my PCD file.
If a PCD file does not have RGB but has Normal it cannot be parsed correctly in the current version of PCDLoader

[Mugen87]

The PR seems to be okay. The existing test file pcl_logo.pcd works with this change, too. Let's give it a try!

[mrdoob]

Thanks!