three-stdlib
Version:
stand-alone library of threejs examples
251 lines (250 loc) • 10 kB
JavaScript
import { Loader, FileLoader, BufferGeometry, Float32BufferAttribute, PointsMaterial, Points } from "three";
import { decodeText } from "../_polyfill/LoaderUtils.js";
class PCDLoader extends Loader {
constructor(manager) {
super(manager);
this.littleEndian = true;
}
load(url, onLoad, onProgress, onError) {
const scope = this;
const loader = new 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, url));
} catch (e) {
if (onError) {
onError(e);
} else {
console.error(e);
}
scope.manager.itemError(url);
}
},
onProgress,
onError
);
}
parse(data, url) {
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 & 31) << 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(data2) {
const PCDheader2 = {};
const result1 = data2.search(/[\r\n]DATA\s(\S*)\s/i);
const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data2.substr(result1 - 1));
PCDheader2.data = result2[1];
PCDheader2.headerLen = result2[0].length + result1;
PCDheader2.str = data2.substr(0, PCDheader2.headerLen);
PCDheader2.str = PCDheader2.str.replace(/\#.*/gi, "");
PCDheader2.version = /VERSION (.*)/i.exec(PCDheader2.str);
PCDheader2.fields = /FIELDS (.*)/i.exec(PCDheader2.str);
PCDheader2.size = /SIZE (.*)/i.exec(PCDheader2.str);
PCDheader2.type = /TYPE (.*)/i.exec(PCDheader2.str);
PCDheader2.count = /COUNT (.*)/i.exec(PCDheader2.str);
PCDheader2.width = /WIDTH (.*)/i.exec(PCDheader2.str);
PCDheader2.height = /HEIGHT (.*)/i.exec(PCDheader2.str);
PCDheader2.viewpoint = /VIEWPOINT (.*)/i.exec(PCDheader2.str);
PCDheader2.points = /POINTS (.*)/i.exec(PCDheader2.str);
if (PCDheader2.version !== null)
PCDheader2.version = parseFloat(PCDheader2.version[1]);
if (PCDheader2.fields !== null)
PCDheader2.fields = PCDheader2.fields[1].split(" ");
if (PCDheader2.type !== null)
PCDheader2.type = PCDheader2.type[1].split(" ");
if (PCDheader2.width !== null)
PCDheader2.width = parseInt(PCDheader2.width[1]);
if (PCDheader2.height !== null)
PCDheader2.height = parseInt(PCDheader2.height[1]);
if (PCDheader2.viewpoint !== null)
PCDheader2.viewpoint = PCDheader2.viewpoint[1];
if (PCDheader2.points !== null)
PCDheader2.points = parseInt(PCDheader2.points[1], 10);
if (PCDheader2.points === null)
PCDheader2.points = PCDheader2.width * PCDheader2.height;
if (PCDheader2.size !== null) {
PCDheader2.size = PCDheader2.size[1].split(" ").map(function(x) {
return parseInt(x, 10);
});
}
if (PCDheader2.count !== null) {
PCDheader2.count = PCDheader2.count[1].split(" ").map(function(x) {
return parseInt(x, 10);
});
} else {
PCDheader2.count = [];
for (let i = 0, l = PCDheader2.fields.length; i < l; i++) {
PCDheader2.count.push(1);
}
}
PCDheader2.offset = {};
let sizeSum = 0;
for (let i = 0, l = PCDheader2.fields.length; i < l; i++) {
if (PCDheader2.data === "ascii") {
PCDheader2.offset[PCDheader2.fields[i]] = i;
} else {
PCDheader2.offset[PCDheader2.fields[i]] = sizeSum;
sizeSum += PCDheader2.size[i] * PCDheader2.count[i];
}
}
PCDheader2.rowSize = sizeSum;
return PCDheader2;
}
const textData = decodeText(new Uint8Array(data));
const PCDheader = parseHeader(textData);
const position = [];
const normal = [];
const color = [];
if (PCDheader.data === "ascii") {
const offset = PCDheader.offset;
const pcdData = textData.substr(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 !== void 0) {
position.push(parseFloat(line[offset.x]));
position.push(parseFloat(line[offset.y]));
position.push(parseFloat(line[offset.z]));
}
if (offset.rgb !== void 0) {
const rgb = parseFloat(line[offset.rgb]);
const r = rgb >> 16 & 255;
const g = rgb >> 8 & 255;
const b = rgb >> 0 & 255;
color.push(r / 255, g / 255, b / 255);
}
if (offset.normal_x !== void 0) {
normal.push(parseFloat(line[offset.normal_x]));
normal.push(parseFloat(line[offset.normal_y]));
normal.push(parseFloat(line[offset.normal_z]));
}
}
}
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 !== void 0) {
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 !== void 0) {
color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255);
color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255);
color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255);
}
if (offset.normal_x !== void 0) {
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)
);
}
}
}
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 !== void 0) {
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 !== void 0) {
color.push(dataview.getUint8(row + offset.rgb + 2) / 255);
color.push(dataview.getUint8(row + offset.rgb + 1) / 255);
color.push(dataview.getUint8(row + offset.rgb + 0) / 255);
}
if (offset.normal_x !== void 0) {
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));
}
}
}
const 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();
const material = new PointsMaterial({ size: 5e-3 });
if (color.length > 0) {
material.vertexColors = true;
} else {
material.color.setHex(Math.random() * 16777215);
}
const mesh = new Points(geometry, material);
let name = url.split("").reverse().join("");
name = /([^\/]*)/.exec(name);
name = name[1].split("").reverse().join("");
mesh.name = name;
return mesh;
}
}
export {
PCDLoader
};
//# sourceMappingURL=PCDLoader.js.map