( function () {
class PCDLoader extends THREE.Loader {
constructor( manager ) {
super( manager );
this.littleEndian = true;
}
load( url, onLoad, onProgress, onError ) {
const scope = this;
const loader = new THREE.FileLoader( scope.manager );
loader.setPath( scope.path );
loader.setResponseType( 'arraybuffer' );
loader.setRequestHeader( scope.requestHeader );
loader.setWithCredentials( scope.withCredentials );
loader.load( url, function ( data ) {
try {
onLoad( scope.parse( data ) );
} catch ( e ) {
if ( onError ) {
onError( e );
} else {
console.error( e );
}
scope.manager.itemError( url );
}
}, onProgress, onError );
}
parse( data ) {
// from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
function decompressLZF( inData, outLength ) {
const inLength = inData.length;
const outData = new Uint8Array( outLength );
let inPtr = 0;
let outPtr = 0;
let ctrl;
let len;
let 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 ) {
const PCDheader = {};
const result1 = data.search( /[\r\n]DATA\s(\S*)\s/i );
const result2 = /[\r\n]DATA\s(\S*)\s/i.exec( data.slice( result1 - 1 ) );
PCDheader.data = result2[ 1 ];
PCDheader.headerLen = result2[ 0 ].length + result1;
PCDheader.str = data.slice( 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 ] );
PCDheader.fields = PCDheader.fields !== null ? 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 ( let i = 0, l = PCDheader.fields.length; i < l; i ++ ) {
PCDheader.count.push( 1 );
}
}
PCDheader.offset = {};
let sizeSum = 0;
for ( let 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 ] * PCDheader.count[ i ];
}
} // for binary only
PCDheader.rowSize = sizeSum;
return PCDheader;
}
const textData = THREE.LoaderUtils.decodeText( new Uint8Array( data ) ); // parse header (always ascii format)
const PCDheader = parseHeader( textData ); // parse data
const position = [];
const normal = [];
const color = [];
const intensity = [];
const label = []; // ascii
if ( PCDheader.data === 'ascii' ) {
const offset = PCDheader.offset;
const pcdData = textData.slice( PCDheader.headerLen );
const lines = pcdData.split( '\n' );
for ( let i = 0, l = lines.length; i < l; i ++ ) {
if ( lines[ i ] === '' ) continue;
const 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 ) {
const rgb_field_index = PCDheader.fields.findIndex( field => field === 'rgb' );
const rgb_type = PCDheader.type[ rgb_field_index ];
const float = parseFloat( line[ offset.rgb ] );
let rgb = float;
if ( rgb_type === 'F' ) {
// treat float values as int
// https://github.com/daavoo/pyntcloud/pull/204/commits/7b4205e64d5ed09abe708b2e91b615690c24d518
const farr = new Float32Array( 1 );
farr[ 0 ] = float;
rgb = new Int32Array( farr.buffer )[ 0 ];
}
const r = rgb >> 16 & 0x0000ff;
const g = rgb >> 8 & 0x0000ff;
const 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 ] ) );
}
if ( offset.intensity !== undefined ) {
intensity.push( parseFloat( line[ offset.intensity ] ) );
}
if ( offset.label !== undefined ) {
label.push( parseInt( line[ offset.label ] ) );
}
}
} // 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' ) {
const sizes = new Uint32Array( data.slice( PCDheader.headerLen, PCDheader.headerLen + 8 ) );
const compressedSize = sizes[ 0 ];
const decompressedSize = sizes[ 1 ];
const decompressed = decompressLZF( new Uint8Array( data, PCDheader.headerLen + 8, compressedSize ), decompressedSize );
const dataview = new DataView( decompressed.buffer );
const offset = PCDheader.offset;
for ( let i = 0; i < PCDheader.points; i ++ ) {
if ( offset.x !== undefined ) {
const xIndex = PCDheader.fields.indexOf( 'x' );
const yIndex = PCDheader.fields.indexOf( 'y' );
const zIndex = PCDheader.fields.indexOf( 'z' );
position.push( dataview.getFloat32( PCDheader.points * offset.x + PCDheader.size[ xIndex ] * i, this.littleEndian ) );
position.push( dataview.getFloat32( PCDheader.points * offset.y + PCDheader.size[ yIndex ] * i, this.littleEndian ) );
position.push( dataview.getFloat32( PCDheader.points * offset.z + PCDheader.size[ zIndex ] * i, this.littleEndian ) );
}
if ( offset.rgb !== undefined ) {
const rgbIndex = PCDheader.fields.indexOf( 'rgb' );
color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ rgbIndex ] * i + 2 ) / 255.0 );
color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ rgbIndex ] * i + 1 ) / 255.0 );
color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ rgbIndex ] * i + 0 ) / 255.0 );
}
if ( offset.normal_x !== undefined ) {
const xIndex = PCDheader.fields.indexOf( 'normal_x' );
const yIndex = PCDheader.fields.indexOf( 'normal_y' );
const zIndex = PCDheader.fields.indexOf( 'normal_z' );
normal.push( dataview.getFloat32( PCDheader.points * offset.normal_x + PCDheader.size[ xIndex ] * i, this.littleEndian ) );
normal.push( dataview.getFloat32( PCDheader.points * offset.normal_y + PCDheader.size[ yIndex ] * i, this.littleEndian ) );
normal.push( dataview.getFloat32( PCDheader.points * offset.normal_z + PCDheader.size[ zIndex ] * i, this.littleEndian ) );
}
if ( offset.intensity !== undefined ) {
const intensityIndex = PCDheader.fields.indexOf( 'intensity' );
intensity.push( dataview.getFloat32( PCDheader.points * offset.intensity + PCDheader.size[ intensityIndex ] * i, this.littleEndian ) );
}
if ( offset.label !== undefined ) {
const labelIndex = PCDheader.fields.indexOf( 'label' );
label.push( dataview.getInt32( PCDheader.points * offset.label + PCDheader.size[ labelIndex ] * i, this.littleEndian ) );
}
}
} // binary
if ( PCDheader.data === 'binary' ) {
const dataview = new DataView( data, PCDheader.headerLen );
const offset = PCDheader.offset;
for ( let 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 ) );
}
if ( offset.intensity !== undefined ) {
intensity.push( dataview.getFloat32( row + offset.intensity, this.littleEndian ) );
}
if ( offset.label !== undefined ) {
label.push( dataview.getInt32( row + offset.label, this.littleEndian ) );
}
}
} // build geometry
const geometry = new THREE.BufferGeometry();
if ( position.length > 0 ) geometry.setAttribute( 'position', new THREE.Float32BufferAttribute( position, 3 ) );
if ( normal.length > 0 ) geometry.setAttribute( 'normal', new THREE.Float32BufferAttribute( normal, 3 ) );
if ( color.length > 0 ) geometry.setAttribute( 'color', new THREE.Float32BufferAttribute( color, 3 ) );
if ( intensity.length > 0 ) geometry.setAttribute( 'intensity', new THREE.Float32BufferAttribute( intensity, 1 ) );
if ( label.length > 0 ) geometry.setAttribute( 'label', new THREE.Int32BufferAttribute( label, 1 ) );
geometry.computeBoundingSphere(); // build material
const material = new THREE.PointsMaterial( {
size: 0.005
} );
if ( color.length > 0 ) {
material.vertexColors = true;
} // build point cloud
return new THREE.Points( geometry, material );
}
}
THREE.PCDLoader = PCDLoader;
} )();
