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| /** | |
| * @author Filipe Caixeta / http://filipecaixeta.com.br | |
| * @author Mugen87 / https://github.com/Mugen87 | |
| * | |
| * Description: A THREE loader for PCD ascii and binary files. | |
| * | |
| * Limitations: Compressed binary files are not supported. | |
| * | |
| */ | |
| THREE.PCDLoader = function ( manager ) { | |
| this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager; | |
| this.littleEndian = true; | |
| }; | |
| THREE.PCDLoader.prototype = { | |
| constructor: THREE.PCDLoader, | |
| load: function ( url, onLoad, onProgress, onError ) { | |
| var scope = this; | |
| var loader = new THREE.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 ); | |
| }, | |
| setPath: function ( value ) { | |
| this.path = value; | |
| return this; | |
| }, | |
| parse: function ( data, url ) { | |
| 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 = THREE.LoaderUtils.decodeText( 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 | |
| if ( PCDheader.data === 'binary_compressed' ) { | |
| console.error( 'THREE.PCDLoader: binary_compressed files are not supported' ); | |
| return; | |
| } | |
| 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 THREE.BufferGeometry(); | |
| if ( position.length > 0 ) geometry.addAttribute( 'position', new THREE.Float32BufferAttribute( position, 3 ) ); | |
| if ( normal.length > 0 ) geometry.addAttribute( 'normal', new THREE.Float32BufferAttribute( normal, 3 ) ); | |
| if ( color.length > 0 ) geometry.addAttribute( 'color', new THREE.Float32BufferAttribute( color, 3 ) ); | |
| geometry.computeBoundingSphere(); | |
| // build material | |
| var material = new THREE.PointsMaterial( { size: 0.005 } ); | |
| if ( color.length > 0 ) { | |
| material.vertexColors = THREE.VertexColors; | |
| } else { | |
| material.color.setHex( Math.random() * 0xffffff ); | |
| } | |
| // build mesh | |
| var mesh = new THREE.Points( geometry, material ); | |
| var name = url.split( '' ).reverse().join( '' ); | |
| name = /([^\/]*)/.exec( name ); | |
| name = name[ 1 ].split( '' ).reverse().join( '' ); | |
| mesh.name = name; | |
| return mesh; | |
| } | |
| }; | |