/**
* @author Filipe Caixeta / http://filipecaixeta.com.br
* @author Mugen87 / https://github.com/Mugen87
*
* Description: A THREE loader for PCD ascii and binary files.
*/
import {
BufferGeometry,
FileLoader,
Float32BufferAttribute,
Loader,
LoaderUtils,
Points,
PointsMaterial,
VertexColors
} from "../../../build/three.module.js";
var PCDLoader = function ( manager ) {
Loader.call( this, manager );
this.littleEndian = true;
};
PCDLoader.prototype = Object.assign( Object.create( Loader.prototype ), {
constructor: PCDLoader,
load: function ( url, onLoad, onProgress, onError ) {
var scope = this;
var loader = new FileLoader( scope.manager );
loader.setPath( scope.path );
loader.setResponseType( 'arraybuffer' );
loader.load( url, function ( data ) {
try {
onLoad( scope.parse( data, url ) );
} catch ( e ) {
if ( onError ) {
onError( e );
} else {
throw e;
}
}
}, onProgress, onError );
},
parse: function ( data, url ) {
// from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
function decompressLZF( inData, outLength ) {
var inLength = inData.length;
var outData = new Uint8Array( outLength );
var inPtr = 0;
var outPtr = 0;
var ctrl;
var len;
var ref;
do {
ctrl = inData[ inPtr ++ ];
if ( ctrl < ( 1 << 5 ) ) {
ctrl ++;
if ( outPtr + ctrl > outLength ) throw new Error( 'Output buffer is not large enough' );
if ( inPtr + ctrl > inLength ) throw new Error( 'Invalid compressed data' );
do {
outData[ outPtr ++ ] = inData[ inPtr ++ ];
} while ( -- ctrl );
} else {
len = ctrl >> 5;
ref = outPtr - ( ( ctrl & 0x1f ) << 8 ) - 1;
if ( inPtr >= inLength ) throw new Error( 'Invalid compressed data' );
if ( len === 7 ) {
len += inData[ inPtr ++ ];
if ( inPtr >= inLength ) throw new Error( 'Invalid compressed data' );
}
ref -= inData[ inPtr ++ ];
if ( outPtr + len + 2 > outLength ) throw new Error( 'Output buffer is not large enough' );
if ( ref < 0 ) throw new Error( 'Invalid compressed data' );
if ( ref >= outPtr ) throw new Error( 'Invalid compressed data' );
do {
outData[ outPtr ++ ] = outData[ ref ++ ];
} while ( -- len + 2 );
}
} while ( inPtr < inLength );
return outData;
}
function parseHeader( data ) {
var PCDheader = {};
var result1 = data.search( /[\r\n]DATA\s(\S*)\s/i );
var result2 = /[\r\n]DATA\s(\S*)\s/i.exec( data.substr( result1 - 1 ) );
PCDheader.data = result2[ 1 ];
PCDheader.headerLen = result2[ 0 ].length + result1;
PCDheader.str = data.substr( 0, PCDheader.headerLen );
// remove comments
PCDheader.str = PCDheader.str.replace( /\#.*/gi, '' );
// parse
PCDheader.version = /VERSION (.*)/i.exec( PCDheader.str );
PCDheader.fields = /FIELDS (.*)/i.exec( PCDheader.str );
PCDheader.size = /SIZE (.*)/i.exec( PCDheader.str );
PCDheader.type = /TYPE (.*)/i.exec( PCDheader.str );
PCDheader.count = /COUNT (.*)/i.exec( PCDheader.str );
PCDheader.width = /WIDTH (.*)/i.exec( PCDheader.str );
PCDheader.height = /HEIGHT (.*)/i.exec( PCDheader.str );
PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec( PCDheader.str );
PCDheader.points = /POINTS (.*)/i.exec( PCDheader.str );
// evaluate
if ( PCDheader.version !== null )
PCDheader.version = parseFloat( PCDheader.version[ 1 ] );
if ( PCDheader.fields !== null )
PCDheader.fields = PCDheader.fields[ 1 ].split( ' ' );
if ( PCDheader.type !== null )
PCDheader.type = PCDheader.type[ 1 ].split( ' ' );
if ( PCDheader.width !== null )
PCDheader.width = parseInt( PCDheader.width[ 1 ] );
if ( PCDheader.height !== null )
PCDheader.height = parseInt( PCDheader.height[ 1 ] );
if ( PCDheader.viewpoint !== null )
PCDheader.viewpoint = PCDheader.viewpoint[ 1 ];
if ( PCDheader.points !== null )
PCDheader.points = parseInt( PCDheader.points[ 1 ], 10 );
if ( PCDheader.points === null )
PCDheader.points = PCDheader.width * PCDheader.height;
if ( PCDheader.size !== null ) {
PCDheader.size = PCDheader.size[ 1 ].split( ' ' ).map( function ( x ) {
return parseInt( x, 10 );
} );
}
if ( PCDheader.count !== null ) {
PCDheader.count = PCDheader.count[ 1 ].split( ' ' ).map( function ( x ) {
return parseInt( x, 10 );
} );
} else {
PCDheader.count = [];
for ( var i = 0, l = PCDheader.fields.length; i < l; i ++ ) {
PCDheader.count.push( 1 );
}
}
PCDheader.offset = {};
var sizeSum = 0;
for ( var i = 0, l = PCDheader.fields.length; i < l; i ++ ) {
if ( PCDheader.data === 'ascii' ) {
PCDheader.offset[ PCDheader.fields[ i ] ] = i;
} else {
PCDheader.offset[ PCDheader.fields[ i ] ] = sizeSum;
sizeSum += PCDheader.size[ i ];
}
}
// for binary only
PCDheader.rowSize = sizeSum;
return PCDheader;
}
var textData = LoaderUtils.decodeText( new Uint8Array( data ) );
// parse header (always ascii format)
var PCDheader = parseHeader( textData );
// parse data
var position = [];
var normal = [];
var color = [];
// ascii
if ( PCDheader.data === 'ascii' ) {
var offset = PCDheader.offset;
var pcdData = textData.substr( PCDheader.headerLen );
var lines = pcdData.split( '\n' );
for ( var i = 0, l = lines.length; i < l; i ++ ) {
if ( lines[ i ] === '' ) continue;
var line = lines[ i ].split( ' ' );
if ( offset.x !== undefined ) {
position.push( parseFloat( line[ offset.x ] ) );
position.push( parseFloat( line[ offset.y ] ) );
position.push( parseFloat( line[ offset.z ] ) );
}
if ( offset.rgb !== undefined ) {
var rgb = parseFloat( line[ offset.rgb ] );
var r = ( rgb >> 16 ) & 0x0000ff;
var g = ( rgb >> 8 ) & 0x0000ff;
var b = ( rgb >> 0 ) & 0x0000ff;
color.push( r / 255, g / 255, b / 255 );
}
if ( offset.normal_x !== undefined ) {
normal.push( parseFloat( line[ offset.normal_x ] ) );
normal.push( parseFloat( line[ offset.normal_y ] ) );
normal.push( parseFloat( line[ offset.normal_z ] ) );
}
}
}
// binary-compressed
// normally data in PCD files are organized as array of structures: XYZRGBXYZRGB
// binary compressed PCD files organize their data as structure of arrays: XXYYZZRGBRGB
// that requires a totally different parsing approach compared to non-compressed data
if ( PCDheader.data === 'binary_compressed' ) {
var sizes = new Uint32Array( data.slice( PCDheader.headerLen, PCDheader.headerLen + 8 ) );
var compressedSize = sizes[ 0 ];
var decompressedSize = sizes[ 1 ];
var decompressed = decompressLZF( new Uint8Array( data, PCDheader.headerLen + 8, compressedSize ), decompressedSize );
var dataview = new DataView( decompressed.buffer );
var offset = PCDheader.offset;
for ( var i = 0; i < PCDheader.points; i ++ ) {
if ( offset.x !== undefined ) {
position.push( dataview.getFloat32( ( PCDheader.points * offset.x ) + PCDheader.size[ 0 ] * i, this.littleEndian ) );
position.push( dataview.getFloat32( ( PCDheader.points * offset.y ) + PCDheader.size[ 1 ] * i, this.littleEndian ) );
position.push( dataview.getFloat32( ( PCDheader.points * offset.z ) + PCDheader.size[ 2 ] * i, this.littleEndian ) );
}
if ( offset.rgb !== undefined ) {
color.push( dataview.getUint8( ( PCDheader.points * ( offset.rgb + 2 ) + PCDheader.size[ 3 ] * i ) / 255.0 ) );
color.push( dataview.getUint8( ( PCDheader.points * ( offset.rgb + 1 ) + PCDheader.size[ 3 ] * i ) / 255.0 ) );
color.push( dataview.getUint8( ( PCDheader.points * ( offset.rgb + 0 ) + PCDheader.size[ 3 ] * i ) / 255.0 ) );
}
if ( offset.normal_x !== undefined ) {
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 ) );
}
}
}
// binary
if ( PCDheader.data === 'binary' ) {
var dataview = new DataView( data, PCDheader.headerLen );
var offset = PCDheader.offset;
for ( var i = 0, row = 0; i < PCDheader.points; i ++, row += PCDheader.rowSize ) {
if ( offset.x !== undefined ) {
position.push( dataview.getFloat32( row + offset.x, this.littleEndian ) );
position.push( dataview.getFloat32( row + offset.y, this.littleEndian ) );
position.push( dataview.getFloat32( row + offset.z, this.littleEndian ) );
}
if ( offset.rgb !== undefined ) {
color.push( dataview.getUint8( row + offset.rgb + 2 ) / 255.0 );
color.push( dataview.getUint8( row + offset.rgb + 1 ) / 255.0 );
color.push( dataview.getUint8( row + offset.rgb + 0 ) / 255.0 );
}
if ( offset.normal_x !== undefined ) {
normal.push( dataview.getFloat32( row + offset.normal_x, this.littleEndian ) );
normal.push( dataview.getFloat32( row + offset.normal_y, this.littleEndian ) );
normal.push( dataview.getFloat32( row + offset.normal_z, this.littleEndian ) );
}
}
}
// build geometry
var geometry = new BufferGeometry();
if ( position.length > 0 ) geometry.setAttribute( 'position', new Float32BufferAttribute( position, 3 ) );
if ( normal.length > 0 ) geometry.setAttribute( 'normal', new Float32BufferAttribute( normal, 3 ) );
if ( color.length > 0 ) geometry.setAttribute( 'color', new Float32BufferAttribute( color, 3 ) );
geometry.computeBoundingSphere();
// build material
var material = new PointsMaterial( { size: 0.005 } );
if ( color.length > 0 ) {
material.vertexColors = VertexColors;
} else {
material.color.setHex( Math.random() * 0xffffff );
}
// build point cloud
var mesh = new Points( geometry, material );
var name = url.split( '' ).reverse().join( '' );
name = /([^\/]*)/.exec( name );
name = name[ 1 ].split( '' ).reverse().join( '' );
mesh.name = name;
return mesh;
}
} );
export { PCDLoader };
