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Record label edits as delta patches #360

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bfcd084
Record label edits as delta patches
nabeya11 Aug 16, 2026
de2dbc2
Harden label patch validation and drop forced GC on label edits
nabeya11 Aug 22, 2026
b964e52
Merge branch 'perf/patch-history' into perf/patch-label
nabeya11 Aug 22, 2026
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61 changes: 17 additions & 44 deletions command_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -318,7 +318,8 @@ func TestAddSurface(t *testing.T) {
})
}

func TestRelabelPointsInLabelRange(t *testing.T) {
func newLabeledTestCloud(t *testing.T) *pc.PointCloud {
t.Helper()
header := pc.PointCloudHeader{
Fields: []string{"x", "y", "z", "label"},
Size: []int{4, 4, 4, 4},
Expand Down Expand Up @@ -356,7 +357,10 @@ func TestRelabelPointsInLabelRange(t *testing.T) {
lt.Incr()
lt.SetUint32(3)
lt.Incr()
return pp
}

func TestRelabelPointsInLabelRange(t *testing.T) {
c := newCommandContext(&dummyPCDIO{}, nil)

testCases := map[string]struct {
Expand All @@ -380,13 +384,17 @@ func TestRelabelPointsInLabelRange(t *testing.T) {
for name, tt := range testCases {
tt := tt
t.Run(name, func(t *testing.T) {
c.SetPointCloud(pp, cloudMain)
// Edits mutate the cloud in place; use a fresh one per case.
c.SetPointCloud(newLabeledTestCloud(t), cloudMain)

if err := c.RelabelPointsInLabelRange(tt.minLabel, tt.maxLabel, tt.newLabel); err != nil {
t.Fatal(err)
}

lt, err = c.editor.pp.Uint32Iterator("label")
lt, err := c.editor.pp.Uint32Iterator("label")
if err != nil {
t.Fatal(err)
}
var labels []uint32
for ; lt.IsValid(); lt.Incr() {
labels = append(labels, lt.Uint32())
Expand All @@ -399,46 +407,7 @@ func TestRelabelPointsInLabelRange(t *testing.T) {
}

func TestUnlabelPoints(t *testing.T) {
header := pc.PointCloudHeader{
Fields: []string{"x", "y", "z", "label"},
Size: []int{4, 4, 4, 4},
Type: []string{"F", "F", "F", "U"},
Count: []int{1, 1, 1, 1},
Width: 4,
Height: 1,
}
pp := &pc.PointCloud{
PointCloudHeader: header,
Points: 4,
Data: make([]byte, 4*4*4),
}
it, err := pp.Vec3Iterator()
if err != nil {
t.Fatal(err)
}
it.SetVec3(mat.Vec3{1, 2, 3})
it.Incr()
it.SetVec3(mat.Vec3{4, 5, 6})
it.Incr()
it.SetVec3(mat.Vec3{7, 8, 9})
it.Incr()
it.SetVec3(mat.Vec3{10, 11, 12})

lt, err := pp.Uint32Iterator("label")
if err != nil {
t.Fatal(err)
}
lt.SetUint32(0)
lt.Incr()
lt.SetUint32(1)
lt.Incr()
lt.SetUint32(2)
lt.Incr()
lt.SetUint32(3)
lt.Incr()

c := newCommandContext(&dummyPCDIO{}, nil)
c.SetPointCloud(pp, cloudMain)

testCases := map[string]struct {
labelsToKeep []uint32
Expand All @@ -461,13 +430,17 @@ func TestUnlabelPoints(t *testing.T) {
for name, tt := range testCases {
tt := tt
t.Run(name, func(t *testing.T) {
c.SetPointCloud(pp, cloudMain)
// Edits mutate the cloud in place; use a fresh one per case.
c.SetPointCloud(newLabeledTestCloud(t), cloudMain)

if err := c.UnlabelPoints(tt.labelsToKeep); err != nil {
t.Fatal(err)
}

lt, err = c.editor.pp.Uint32Iterator("label")
lt, err := c.editor.pp.Uint32Iterator("label")
if err != nil {
t.Fatal(err)
}
var labels []uint32
for ; lt.IsValid(); lt.Incr() {
labels = append(labels, lt.Uint32())
Expand Down
122 changes: 36 additions & 86 deletions editor.go
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Original file line number Diff line number Diff line change
Expand Up @@ -141,38 +141,50 @@ func (e *editor) SetPointCloud(pp *pc.PointCloud, id cloudID) error {
}

func (e *editor) label(fn func(int, mat.Vec3) (uint32, bool)) error {
pcNew := &pc.PointCloud{
PointCloudHeader: e.pp.PointCloudHeader.Clone(),
Points: e.pp.Points,
Data: make([]byte, len(e.pp.Data)),
}
copy(pcNew.Data, e.pp.Data)

it, err := pcNew.Vec3Iterator()
it, err := e.pp.Vec3Iterator()
if err != nil {
return err
}
itL, err := pcNew.Uint32Iterator("label")
itL, err := e.pp.Uint32Iterator("label")
if err != nil {
return err
}

p := &labelPatch{}
i := 0
for it.IsValid() {
l, ok := fn(i, it.Vec3())
if ok {
itL.SetUint32(l)
if l, ok := fn(i, it.Vec3()); ok {
if old := itL.Uint32(); old != l {
p.indices = append(p.indices, uint32(i))
p.oldLabels = append(p.oldLabels, old)
itL.SetUint32(l)
}
}
it.Incr()
itL.Incr()
i++
}
e.push(&replacePatch{
header: e.pp.PointCloudHeader.Clone(),
data: e.pp.Data,
})
e.pp = pcNew
runtime.GC()
e.push(p)
return nil
}

func (e *editor) mutateLabels(fn func(i int, l uint32) (uint32, bool)) error {
lt, err := e.pp.Uint32Iterator("label")
if err != nil {
return err
}

p := &labelPatch{}
for i := 0; lt.IsValid(); i++ {
old := lt.Uint32()
if l, ok := fn(i, old); ok && l != old {
p.indices = append(p.indices, uint32(i))
p.oldLabels = append(p.oldLabels, old)
lt.SetUint32(l)
}
lt.Incr()
}
e.push(p)
return nil
}

Expand Down Expand Up @@ -205,85 +217,23 @@ func (e *editor) passThroughByMask(sel []uint32, mask, val uint32) error {
}

func (e *editor) relabelPointsInLabelRange(minLabel, maxLabel, newLabel uint32) error {
_, err := e.pp.Uint32Iterator("label")
if err != nil {
return err
}

pcNew := &pc.PointCloud{
PointCloudHeader: e.pp.PointCloudHeader.Clone(),
Data: make([]byte, len(e.pp.Data)),
Points: e.pp.Points,
}
copy(pcNew.Data, e.pp.Data)
pcNew.Width = e.pp.Width
pcNew.Height = e.pp.Height

lt, err := pcNew.Uint32Iterator("label")
if err != nil {
return err
}

for ; lt.IsValid(); lt.Incr() {
l := lt.Uint32()
return e.mutateLabels(func(_ int, l uint32) (uint32, bool) {
if l == newLabel || l < minLabel || l > maxLabel {
continue
return 0, false
}
lt.SetUint32(newLabel)
}

e.push(&replacePatch{
header: e.pp.PointCloudHeader.Clone(),
data: e.pp.Data,
return newLabel, true
})
e.pp = pcNew
runtime.GC()
return nil
}

func (e *editor) unlabelPoints(labelsToKeep []uint32) error {
_, err := e.pp.Uint32Iterator("label")
if err != nil {
return err
}

pcNew := &pc.PointCloud{
PointCloudHeader: e.pp.PointCloudHeader.Clone(),
Data: make([]byte, len(e.pp.Data)),
Points: e.pp.Points,
}
copy(pcNew.Data, e.pp.Data)
pcNew.Width = e.pp.Width
pcNew.Height = e.pp.Height

lt, err := pcNew.Uint32Iterator("label")
if err != nil {
return err
}

isInLabelsToKeep := func(l uint32) bool {
return e.mutateLabels(func(_ int, l uint32) (uint32, bool) {
for _, kl := range labelsToKeep {
if kl == l {
return true
return 0, false
}
}
return false
}

for ; lt.IsValid(); lt.Incr() {
if isInLabelsToKeep(lt.Uint32()) {
continue
}
lt.SetUint32(0)
}

e.push(&replacePatch{
header: e.pp.PointCloudHeader.Clone(),
data: e.pp.Data,
return 0, true
})
e.pp = pcNew
runtime.GC()
return nil
}

func passThrough(pp *pc.PointCloud, fn func(int, mat.Vec3) bool) (*pc.PointCloud, error) {
Expand Down
81 changes: 81 additions & 0 deletions patch.go
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,55 @@ const (
var (
errBrokenPatch = errors.New("broken patch data")
errUnknownPatchType = errors.New("unknown patch type")
errNoLabelField = errors.New("point cloud has no label field")
)

func fieldByteOffset(h *pc.PointCloudHeader, name string) (int, bool) {
offset := 0
for i, fn := range h.Fields {
if fn == name {
return offset, true
}
offset += h.Size[i] * h.Count[i]
}
return 0, false
}

type labelPatch struct {
indices []uint32
oldLabels []uint32
}

func (p *labelPatch) revert(pp *pc.PointCloud) (*pc.PointCloud, error) {
if len(p.indices) != len(p.oldLabels) {
return nil, errBrokenPatch
}
off, ok := fieldByteOffset(&pp.PointCloudHeader, "label")
if !ok {
return nil, errNoLabelField
}
stride := pp.Stride()
for k, idx := range p.indices {
i := int(idx)*stride + off
if i+4 > len(pp.Data) {
return nil, errBrokenPatch
}
binary.LittleEndian.PutUint32(pp.Data[i:], p.oldLabels[k])
}
return pp, nil
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}

func (p *labelPatch) encodeHead(buf *bytes.Buffer) {
buf.WriteByte(patchTypeLabel)
writeUint32(buf, uint32(len(p.indices)))
writeUint32s(buf, p.indices)
writeUint32s(buf, p.oldLabels)
}

func (p *labelPatch) payload() []byte {
return nil
}

type replacePatch struct {
header pc.PointCloudHeader
data []byte
Expand Down Expand Up @@ -93,6 +140,16 @@ func decodePatch(b []byte) (patch, []byte, error) {
typ := b[0]
r := reader{b: b[1:]}
switch typ {
case patchTypeLabel:
n := int(r.uint32())
p := &labelPatch{
indices: r.uint32s(n),
oldLabels: r.uint32s(n),
}
if r.err != nil {
return nil, nil, r.err
}
return p, r.b, nil
case patchTypeReplace:
p := &replacePatch{}
p.header.Version = math.Float32frombits(r.uint32())
Expand Down Expand Up @@ -161,6 +218,14 @@ func writeUint32(buf *bytes.Buffer, v uint32) {
buf.Write(b[:])
}

func writeUint32s(buf *bytes.Buffer, vs []uint32) {
b := make([]byte, 4*len(vs))
for i, v := range vs {
binary.LittleEndian.PutUint32(b[i*4:], v)
}
buf.Write(b)
}

func writeString(buf *bytes.Buffer, s string) {
writeUint32(buf, uint32(len(s)))
buf.WriteString(s)
Expand All @@ -184,6 +249,22 @@ func (r *reader) uint32() uint32 {
return v
}

func (r *reader) uint32s(n int) []uint32 {
if r.err != nil {
return nil
}
if n < 0 || n > len(r.b)/4 {
r.err = errBrokenPatch
return nil
}
vs := make([]uint32, n)
for i := range vs {
vs[i] = binary.LittleEndian.Uint32(r.b[i*4:])
}
r.b = r.b[4*n:]
return vs
}
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func (r *reader) bytes(n int) []byte {
if r.err != nil {
return nil
Expand Down
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