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