468 lines
12 KiB
JavaScript
468 lines
12 KiB
JavaScript
import {
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BufferGeometry,
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Color,
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FileLoader,
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Float32BufferAttribute,
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Int32BufferAttribute,
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Loader,
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Points,
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PointsMaterial
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} from 'three';
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class PCDLoader extends 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 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 ) );
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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 ) {
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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.slice( 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.slice( 0, PCDheader.headerLen );
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// remove comments
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PCDheader.str = PCDheader.str.replace( /#.*/gi, '' );
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// 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 );
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// evaluate
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if ( PCDheader.version !== null )
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PCDheader.version = parseFloat( PCDheader.version[ 1 ] );
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PCDheader.fields = ( PCDheader.fields !== null ) ? PCDheader.fields[ 1 ].split( ' ' ) : [];
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if ( PCDheader.type !== null )
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PCDheader.type = PCDheader.type[ 1 ].split( ' ' );
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if ( PCDheader.width !== null )
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PCDheader.width = parseInt( PCDheader.width[ 1 ] );
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if ( PCDheader.height !== null )
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PCDheader.height = parseInt( PCDheader.height[ 1 ] );
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if ( PCDheader.viewpoint !== null )
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PCDheader.viewpoint = PCDheader.viewpoint[ 1 ];
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if ( PCDheader.points !== null )
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PCDheader.points = parseInt( PCDheader.points[ 1 ], 10 );
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if ( PCDheader.points === null )
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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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}
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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 = new TextDecoder().decode( data );
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// parse header (always ascii format)
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const PCDheader = parseHeader( textData );
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// parse data
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const position = [];
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const normal = [];
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const color = [];
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const intensity = [];
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const label = [];
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const c = new Color();
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// ascii
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if ( PCDheader.data === 'ascii' ) {
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const offset = PCDheader.offset;
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const pcdData = textData.slice( 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_field_index = PCDheader.fields.findIndex( ( field ) => field === 'rgb' );
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const rgb_type = PCDheader.type[ rgb_field_index ];
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const float = parseFloat( line[ offset.rgb ] );
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let rgb = float;
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if ( rgb_type === 'F' ) {
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// treat float values as int
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// https://github.com/daavoo/pyntcloud/pull/204/commits/7b4205e64d5ed09abe708b2e91b615690c24d518
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const farr = new Float32Array( 1 );
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farr[ 0 ] = float;
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rgb = new Int32Array( farr.buffer )[ 0 ];
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}
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const r = ( ( rgb >> 16 ) & 0x0000ff ) / 255;
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const g = ( ( rgb >> 8 ) & 0x0000ff ) / 255;
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const b = ( ( rgb >> 0 ) & 0x0000ff ) / 255;
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c.set( r, g, b ).convertSRGBToLinear();
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color.push( c.r, c.g, c.b );
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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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if ( offset.intensity !== undefined ) {
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intensity.push( parseFloat( line[ offset.intensity ] ) );
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}
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if ( offset.label !== undefined ) {
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label.push( parseInt( line[ offset.label ] ) );
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}
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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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const xIndex = PCDheader.fields.indexOf( 'x' );
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const yIndex = PCDheader.fields.indexOf( 'y' );
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const zIndex = PCDheader.fields.indexOf( 'z' );
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position.push( dataview.getFloat32( ( PCDheader.points * offset.x ) + PCDheader.size[ xIndex ] * i, this.littleEndian ) );
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position.push( dataview.getFloat32( ( PCDheader.points * offset.y ) + PCDheader.size[ yIndex ] * i, this.littleEndian ) );
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position.push( dataview.getFloat32( ( PCDheader.points * offset.z ) + PCDheader.size[ zIndex ] * i, this.littleEndian ) );
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}
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if ( offset.rgb !== undefined ) {
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const rgbIndex = PCDheader.fields.indexOf( 'rgb' );
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const r = dataview.getUint8( ( PCDheader.points * offset.rgb ) + PCDheader.size[ rgbIndex ] * i + 2 ) / 255.0;
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const g = dataview.getUint8( ( PCDheader.points * offset.rgb ) + PCDheader.size[ rgbIndex ] * i + 1 ) / 255.0;
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const b = dataview.getUint8( ( PCDheader.points * offset.rgb ) + PCDheader.size[ rgbIndex ] * i + 0 ) / 255.0;
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c.set( r, g, b ).convertSRGBToLinear();
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color.push( c.r, c.g, c.b );
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}
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if ( offset.normal_x !== undefined ) {
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const xIndex = PCDheader.fields.indexOf( 'normal_x' );
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const yIndex = PCDheader.fields.indexOf( 'normal_y' );
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const zIndex = PCDheader.fields.indexOf( 'normal_z' );
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normal.push( dataview.getFloat32( ( PCDheader.points * offset.normal_x ) + PCDheader.size[ xIndex ] * i, this.littleEndian ) );
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normal.push( dataview.getFloat32( ( PCDheader.points * offset.normal_y ) + PCDheader.size[ yIndex ] * i, this.littleEndian ) );
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normal.push( dataview.getFloat32( ( PCDheader.points * offset.normal_z ) + PCDheader.size[ zIndex ] * i, this.littleEndian ) );
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}
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if ( offset.intensity !== undefined ) {
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const intensityIndex = PCDheader.fields.indexOf( 'intensity' );
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intensity.push( dataview.getFloat32( ( PCDheader.points * offset.intensity ) + PCDheader.size[ intensityIndex ] * i, this.littleEndian ) );
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}
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if ( offset.label !== undefined ) {
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const labelIndex = PCDheader.fields.indexOf( 'label' );
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label.push( dataview.getInt32( ( PCDheader.points * offset.label ) + PCDheader.size[ labelIndex ] * i, this.littleEndian ) );
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}
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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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const r = dataview.getUint8( row + offset.rgb + 2 ) / 255.0;
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const g = dataview.getUint8( row + offset.rgb + 1 ) / 255.0;
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const b = dataview.getUint8( row + offset.rgb + 0 ) / 255.0;
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c.set( r, g, b ).convertSRGBToLinear();
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color.push( c.r, c.g, c.b );
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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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if ( offset.intensity !== undefined ) {
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intensity.push( dataview.getFloat32( row + offset.intensity, this.littleEndian ) );
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}
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if ( offset.label !== undefined ) {
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label.push( dataview.getInt32( row + offset.label, this.littleEndian ) );
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}
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}
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}
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// build geometry
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const geometry = new BufferGeometry();
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if ( position.length > 0 ) geometry.setAttribute( 'position', new Float32BufferAttribute( position, 3 ) );
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if ( normal.length > 0 ) geometry.setAttribute( 'normal', new Float32BufferAttribute( normal, 3 ) );
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if ( color.length > 0 ) geometry.setAttribute( 'color', new Float32BufferAttribute( color, 3 ) );
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if ( intensity.length > 0 ) geometry.setAttribute( 'intensity', new Float32BufferAttribute( intensity, 1 ) );
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if ( label.length > 0 ) geometry.setAttribute( 'label', new Int32BufferAttribute( label, 1 ) );
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geometry.computeBoundingSphere();
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// build material
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const material = new PointsMaterial( { size: 0.005 } );
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if ( color.length > 0 ) {
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material.vertexColors = true;
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}
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// build point cloud
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return new Points( geometry, material );
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}
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}
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export { PCDLoader };
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