three-stdlib/loaders/PCDLoader.cjs.map

stand-alone library of threejs examples

{"version":3,"file":"PCDLoader.cjs","sources":["../../src/loaders/PCDLoader.js"],"sourcesContent":["import { BufferGeometry, FileLoader, Float32BufferAttribute, Loader, LoaderUtils, Points, PointsMaterial } from 'three'\nimport { decodeText } from '../_polyfill/LoaderUtils'\n\nclass PCDLoader extends Loader {\n  constructor(manager) {\n    super(manager)\n\n    this.littleEndian = true\n  }\n\n  load(url, onLoad, onProgress, onError) {\n    const scope = this\n\n    const loader = new FileLoader(scope.manager)\n    loader.setPath(scope.path)\n    loader.setResponseType('arraybuffer')\n    loader.setRequestHeader(scope.requestHeader)\n    loader.setWithCredentials(scope.withCredentials)\n    loader.load(\n      url,\n      function (data) {\n        try {\n          onLoad(scope.parse(data, url))\n        } catch (e) {\n          if (onError) {\n            onError(e)\n          } else {\n            console.error(e)\n          }\n\n          scope.manager.itemError(url)\n        }\n      },\n      onProgress,\n      onError,\n    )\n  }\n\n  parse(data, url) {\n    // from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n\n    function decompressLZF(inData, outLength) {\n      const inLength = inData.length\n      const outData = new Uint8Array(outLength)\n      let inPtr = 0\n      let outPtr = 0\n      let ctrl\n      let len\n      let ref\n      do {\n        ctrl = inData[inPtr++]\n        if (ctrl < 1 << 5) {\n          ctrl++\n          if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough')\n          if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data')\n          do {\n            outData[outPtr++] = inData[inPtr++]\n          } while (--ctrl)\n        } else {\n          len = ctrl >> 5\n          ref = outPtr - ((ctrl & 0x1f) << 8) - 1\n          if (inPtr >= inLength) throw new Error('Invalid compressed data')\n          if (len === 7) {\n            len += inData[inPtr++]\n            if (inPtr >= inLength) throw new Error('Invalid compressed data')\n          }\n\n          ref -= inData[inPtr++]\n          if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough')\n          if (ref < 0) throw new Error('Invalid compressed data')\n          if (ref >= outPtr) throw new Error('Invalid compressed data')\n          do {\n            outData[outPtr++] = outData[ref++]\n          } while (--len + 2)\n        }\n      } while (inPtr < inLength)\n\n      return outData\n    }\n\n    function parseHeader(data) {\n      const PCDheader = {}\n      const result1 = data.search(/[\\r\\n]DATA\\s(\\S*)\\s/i)\n      const result2 = /[\\r\\n]DATA\\s(\\S*)\\s/i.exec(data.substr(result1 - 1))\n\n      PCDheader.data = result2[1]\n      PCDheader.headerLen = result2[0].length + result1\n      PCDheader.str = data.substr(0, PCDheader.headerLen)\n\n      // remove comments\n\n      PCDheader.str = PCDheader.str.replace(/\\#.*/gi, '')\n\n      // parse\n\n      PCDheader.version = /VERSION (.*)/i.exec(PCDheader.str)\n      PCDheader.fields = /FIELDS (.*)/i.exec(PCDheader.str)\n      PCDheader.size = /SIZE (.*)/i.exec(PCDheader.str)\n      PCDheader.type = /TYPE (.*)/i.exec(PCDheader.str)\n      PCDheader.count = /COUNT (.*)/i.exec(PCDheader.str)\n      PCDheader.width = /WIDTH (.*)/i.exec(PCDheader.str)\n      PCDheader.height = /HEIGHT (.*)/i.exec(PCDheader.str)\n      PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec(PCDheader.str)\n      PCDheader.points = /POINTS (.*)/i.exec(PCDheader.str)\n\n      // evaluate\n\n      if (PCDheader.version !== null) PCDheader.version = parseFloat(PCDheader.version[1])\n\n      if (PCDheader.fields !== null) PCDheader.fields = PCDheader.fields[1].split(' ')\n\n      if (PCDheader.type !== null) PCDheader.type = PCDheader.type[1].split(' ')\n\n      if (PCDheader.width !== null) PCDheader.width = parseInt(PCDheader.width[1])\n\n      if (PCDheader.height !== null) PCDheader.height = parseInt(PCDheader.height[1])\n\n      if (PCDheader.viewpoint !== null) PCDheader.viewpoint = PCDheader.viewpoint[1]\n\n      if (PCDheader.points !== null) PCDheader.points = parseInt(PCDheader.points[1], 10)\n\n      if (PCDheader.points === null) PCDheader.points = PCDheader.width * PCDheader.height\n\n      if (PCDheader.size !== null) {\n        PCDheader.size = PCDheader.size[1].split(' ').map(function (x) {\n          return parseInt(x, 10)\n        })\n      }\n\n      if (PCDheader.count !== null) {\n        PCDheader.count = PCDheader.count[1].split(' ').map(function (x) {\n          return parseInt(x, 10)\n        })\n      } else {\n        PCDheader.count = []\n\n        for (let i = 0, l = PCDheader.fields.length; i < l; i++) {\n          PCDheader.count.push(1)\n        }\n      }\n\n      PCDheader.offset = {}\n\n      let sizeSum = 0\n\n      for (let i = 0, l = PCDheader.fields.length; i < l; i++) {\n        if (PCDheader.data === 'ascii') {\n          PCDheader.offset[PCDheader.fields[i]] = i\n        } else {\n          PCDheader.offset[PCDheader.fields[i]] = sizeSum\n          sizeSum += PCDheader.size[i] * PCDheader.count[i]\n        }\n      }\n\n      // for binary only\n\n      PCDheader.rowSize = sizeSum\n\n      return PCDheader\n    }\n\n    const textData = decodeText(new Uint8Array(data))\n\n    // parse header (always ascii format)\n\n    const PCDheader = parseHeader(textData)\n\n    // parse data\n\n    const position = []\n    const normal = []\n    const color = []\n\n    // ascii\n\n    if (PCDheader.data === 'ascii') {\n      const offset = PCDheader.offset\n      const pcdData = textData.substr(PCDheader.headerLen)\n      const lines = pcdData.split('\\n')\n\n      for (let i = 0, l = lines.length; i < l; i++) {\n        if (lines[i] === '') continue\n\n        const line = lines[i].split(' ')\n\n        if (offset.x !== undefined) {\n          position.push(parseFloat(line[offset.x]))\n          position.push(parseFloat(line[offset.y]))\n          position.push(parseFloat(line[offset.z]))\n        }\n\n        if (offset.rgb !== undefined) {\n          const rgb = parseFloat(line[offset.rgb])\n          const r = (rgb >> 16) & 0x0000ff\n          const g = (rgb >> 8) & 0x0000ff\n          const b = (rgb >> 0) & 0x0000ff\n          color.push(r / 255, g / 255, b / 255)\n        }\n\n        if (offset.normal_x !== undefined) {\n          normal.push(parseFloat(line[offset.normal_x]))\n          normal.push(parseFloat(line[offset.normal_y]))\n          normal.push(parseFloat(line[offset.normal_z]))\n        }\n      }\n    }\n\n    // binary-compressed\n\n    // normally data in PCD files are organized as array of structures: XYZRGBXYZRGB\n    // binary compressed PCD files organize their data as structure of arrays: XXYYZZRGBRGB\n    // that requires a totally different parsing approach compared to non-compressed data\n\n    if (PCDheader.data === 'binary_compressed') {\n      const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8))\n      const compressedSize = sizes[0]\n      const decompressedSize = sizes[1]\n      const decompressed = decompressLZF(\n        new Uint8Array(data, PCDheader.headerLen + 8, compressedSize),\n        decompressedSize,\n      )\n      const dataview = new DataView(decompressed.buffer)\n\n      const offset = PCDheader.offset\n\n      for (let i = 0; i < PCDheader.points; i++) {\n        if (offset.x !== undefined) {\n          position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, this.littleEndian))\n          position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, this.littleEndian))\n          position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, this.littleEndian))\n        }\n\n        if (offset.rgb !== undefined) {\n          color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255.0)\n          color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255.0)\n          color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255.0)\n        }\n\n        if (offset.normal_x !== undefined) {\n          normal.push(\n            dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, this.littleEndian),\n          )\n          normal.push(\n            dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, this.littleEndian),\n          )\n          normal.push(\n            dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, this.littleEndian),\n          )\n        }\n      }\n    }\n\n    // binary\n\n    if (PCDheader.data === 'binary') {\n      const dataview = new DataView(data, PCDheader.headerLen)\n      const offset = PCDheader.offset\n\n      for (let i = 0, row = 0; i < PCDheader.points; i++, row += PCDheader.rowSize) {\n        if (offset.x !== undefined) {\n          position.push(dataview.getFloat32(row + offset.x, this.littleEndian))\n          position.push(dataview.getFloat32(row + offset.y, this.littleEndian))\n          position.push(dataview.getFloat32(row + offset.z, this.littleEndian))\n        }\n\n        if (offset.rgb !== undefined) {\n          color.push(dataview.getUint8(row + offset.rgb + 2) / 255.0)\n          color.push(dataview.getUint8(row + offset.rgb + 1) / 255.0)\n          color.push(dataview.getUint8(row + offset.rgb + 0) / 255.0)\n        }\n\n        if (offset.normal_x !== undefined) {\n          normal.push(dataview.getFloat32(row + offset.normal_x, this.littleEndian))\n          normal.push(dataview.getFloat32(row + offset.normal_y, this.littleEndian))\n          normal.push(dataview.getFloat32(row + offset.normal_z, this.littleEndian))\n        }\n      }\n    }\n\n    // build geometry\n\n    const geometry = new BufferGeometry()\n\n    if (position.length > 0) geometry.setAttribute('position', new Float32BufferAttribute(position, 3))\n    if (normal.length > 0) geometry.setAttribute('normal', new Float32BufferAttribute(normal, 3))\n    if (color.length > 0) geometry.setAttribute('color', new Float32BufferAttribute(color, 3))\n\n    geometry.computeBoundingSphere()\n\n    // build material\n\n    const material = new PointsMaterial({ size: 0.005 })\n\n    if (color.length > 0) {\n      material.vertexColors = true\n    } else {\n      material.color.setHex(Math.random() * 0xffffff)\n    }\n\n    // build point cloud\n\n    const mesh = new Points(geometry, material)\n    let name = url.split('').reverse().join('')\n    name = /([^\\/]*)/.exec(name)\n    name = name[1].split('').reverse().join('')\n    mesh.name = name\n\n    return mesh\n  }\n}\n\nexport { PCDLoader 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