@gnsx/three 0.184.0

package/examples/jsm/loaders/PCDLoader.js

@@ -0,0 +1,620 @@
+import {
+	BufferGeometry,
+	Color,
+	FileLoader,
+	Float32BufferAttribute,
+	Int32BufferAttribute,
+	Loader,
+	Points,
+	PointsMaterial,
+	SRGBColorSpace
+} from 'three';
+
+/**
+ * A loader for the Point Cloud Data (PCD) format.
+ *
+ * PCDLoader supports ASCII and (compressed) binary files as well as the following PCD fields:
+ * - x y z
+ * - rgb
+ * - normal_x normal_y normal_z
+ * - intensity
+ * - label
+ *
+ * ```js
+ * const loader = new PCDLoader();
+ *
+ * const points = await loader.loadAsync( './models/pcd/binary/Zaghetto.pcd' );
+ * points.geometry.center(); // optional
+ * points.geometry.rotateX( Math.PI ); // optional
+ * scene.add( points );
+ * ```
+ *
+ * @augments Loader
+ * @three_import import { PCDLoader } from 'three/addons/loaders/PCDLoader.js';
+ */
+class PCDLoader extends Loader {
+
+	/**
+	 * Constructs a new PCD loader.
+	 *
+	 * @param {LoadingManager} [manager] - The loading manager.
+	 */
+	constructor( manager ) {
+
+		super( manager );
+
+		/**
+		 * Whether to use little Endian or not.
+		 *
+		 * @type {boolean}
+		 * @default true
+		 */
+		this.littleEndian = true;
+
+	}
+
+	/**
+	 * Starts loading from the given URL and passes the loaded PCD asset
+	 * to the `onLoad()` callback.
+	 *
+	 * @param {string} url - The path/URL of the file to be loaded. This can also be a data URI.
+	 * @param {function(Points)} onLoad - Executed when the loading process has been finished.
+	 * @param {onProgressCallback} onProgress - Executed while the loading is in progress.
+	 * @param {onErrorCallback} onError - Executed when errors occur.
+	 */
+	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 ) );
+
+			} catch ( e ) {
+
+				if ( onError ) {
+
+					onError( e );
+
+				} else {
+
+					console.error( e );
+
+				}
+
+				scope.manager.itemError( url );
+
+			}
+
+		}, onProgress, onError );
+
+	}
+
+	/**
+	 * Get dataview value by field type and size.
+	 *
+	 * @private
+	 * @param {DataView} dataview - The DataView to read from.
+	 * @param {number} offset - The offset to start reading from.
+	 * @param {'F' | 'U' | 'I'} type - Field type.
+	 * @param {number} size - Field size.
+	 * @returns {number} Field value.
+	 */
+	_getDataView( dataview, offset, type, size ) {
+
+		switch ( type ) {
+
+			case 'F': {
+
+				if ( size === 8 ) {
+
+					return dataview.getFloat64( offset, this.littleEndian );
+
+				}
+
+				return dataview.getFloat32( offset, this.littleEndian );
+
+			}
+
+			case 'I': {
+
+				if ( size === 1 ) {
+
+					return dataview.getInt8( offset );
+
+				}
+
+				if ( size === 2 ) {
+
+					return dataview.getInt16( offset, this.littleEndian );
+
+				}
+
+				return dataview.getInt32( offset, this.littleEndian );
+
+			}
+
+			case 'U': {
+
+				if ( size === 1 ) {
+
+					return dataview.getUint8( offset );
+
+				}
+
+				if ( size === 2 ) {
+
+					return dataview.getUint16( offset, this.littleEndian );
+
+				}
+
+				return dataview.getUint32( offset, this.littleEndian );
+
+			}
+
+		}
+
+	}
+
+	/**
+	 * Parses the given PCD data and returns a point cloud.
+	 *
+	 * @param {ArrayBuffer} data - The raw PCD data as an array buffer.
+	 * @return {Points} The parsed point cloud.
+	 */
+	parse( data ) {
+
+		// from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
+
+		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 & 0x1f ) << 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( binaryData ) {
+
+			const PCDheader = {};
+
+			const buffer = new Uint8Array( binaryData );
+
+			let data = '', line = '', i = 0, end = false;
+
+			const max = buffer.length;
+
+			while ( i < max && end === false ) {
+
+				const char = String.fromCharCode( buffer[ i ++ ] );
+
+				if ( char === '\n' || char === '\r' ) {
+
+					if ( line.trim().toLowerCase().startsWith( 'data' ) ) {
+
+						end = true;
+
+					}
+
+					line = '';
+
+				} else {
+
+					line += char;
+
+				}
+
+				data += char;
+
+			}
+
+			const result1 = data.search( /[\r\n]DATA\s(\S*)\s/i );
+			const result2 = /[\r\n]DATA\s(\S*)\s/i.exec( data.slice( result1 - 1 ) );
+
+			PCDheader.data = result2[ 1 ];
+			PCDheader.headerLen = result2[ 0 ].length + result1;
+			PCDheader.str = data.slice( 0, PCDheader.headerLen );
+
+			// remove comments
+
+			PCDheader.str = PCDheader.str.replace( /#.*/gi, '' );
+
+			// parse
+
+			PCDheader.version = /^VERSION (.*)/im.exec( PCDheader.str );
+			PCDheader.fields = /^FIELDS (.*)/im.exec( PCDheader.str );
+			PCDheader.size = /^SIZE (.*)/im.exec( PCDheader.str );
+			PCDheader.type = /^TYPE (.*)/im.exec( PCDheader.str );
+			PCDheader.count = /^COUNT (.*)/im.exec( PCDheader.str );
+			PCDheader.width = /^WIDTH (.*)/im.exec( PCDheader.str );
+			PCDheader.height = /^HEIGHT (.*)/im.exec( PCDheader.str );
+			PCDheader.viewpoint = /^VIEWPOINT (.*)/im.exec( PCDheader.str );
+			PCDheader.points = /^POINTS (.*)/im.exec( PCDheader.str );
+
+			// evaluate
+
+			if ( PCDheader.version !== null )
+				PCDheader.version = parseFloat( PCDheader.version[ 1 ] );
+
+			PCDheader.fields = ( PCDheader.fields !== null ) ? 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 ( let i = 0, l = PCDheader.fields.length; i < l; i ++ ) {
+
+					PCDheader.count.push( 1 );
+
+				}
+
+			}
+
+			PCDheader.offset = {};
+
+			let sizeSum = 0;
+
+			for ( let 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 ] * PCDheader.count[ i ];
+
+				}
+
+			}
+
+			// for binary only
+
+			PCDheader.rowSize = sizeSum;
+
+			return PCDheader;
+
+		}
+
+		// parse header
+
+		const PCDheader = parseHeader( data );
+
+		// parse data
+
+		const position = [];
+		const normal = [];
+		const color = [];
+		const intensity = [];
+		const label = [];
+
+		const c = new Color();
+
+		// ascii
+
+		if ( PCDheader.data === 'ascii' ) {
+
+			const offset = PCDheader.offset;
+			const textData = new TextDecoder().decode( data );
+			const pcdData = textData.slice( 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 !== undefined ) {
+
+					position.push( parseFloat( line[ offset.x ] ) );
+					position.push( parseFloat( line[ offset.y ] ) );
+					position.push( parseFloat( line[ offset.z ] ) );
+
+				}
+
+				if ( offset.rgb !== undefined ) {
+
+					const rgb_field_index = PCDheader.fields.findIndex( ( field ) => field === 'rgb' );
+					const rgb_type = PCDheader.type[ rgb_field_index ];
+
+					const float = parseFloat( line[ offset.rgb ] );
+					let rgb = float;
+
+					if ( rgb_type === 'F' ) {
+
+						// treat float values as int
+						// https://github.com/daavoo/pyntcloud/pull/204/commits/7b4205e64d5ed09abe708b2e91b615690c24d518
+						const farr = new Float32Array( 1 );
+						farr[ 0 ] = float;
+						rgb = new Int32Array( farr.buffer )[ 0 ];
+
+					}
+
+					const r = ( ( rgb >> 16 ) & 0x0000ff ) / 255;
+					const g = ( ( rgb >> 8 ) & 0x0000ff ) / 255;
+					const b = ( ( rgb >> 0 ) & 0x0000ff ) / 255;
+
+					c.setRGB( r, g, b, SRGBColorSpace );
+
+					color.push( c.r, c.g, c.b );
+
+				}
+
+				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 ] ) );
+
+				}
+
+				if ( offset.intensity !== undefined ) {
+
+					intensity.push( parseFloat( line[ offset.intensity ] ) );
+
+				}
+
+				if ( offset.label !== undefined ) {
+
+					label.push( parseInt( line[ offset.label ] ) );
+
+				}
+
+			}
+
+		}
+
+		// binary-compressed
+
+		// normally data in PCD files are organized as array of structures: XYZRGBXYZRGB
+		// binary compressed PCD files organize their data as structure of arrays: XXYYZZRGBRGB
+		// that requires a totally different parsing approach compared to non-compressed data
+
+		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 !== undefined ) {
+
+					const xIndex = PCDheader.fields.indexOf( 'x' );
+					const yIndex = PCDheader.fields.indexOf( 'y' );
+					const zIndex = PCDheader.fields.indexOf( 'z' );
+					position.push( this._getDataView( dataview, ( PCDheader.points * offset.x ) + PCDheader.size[ xIndex ] * i, PCDheader.type[ xIndex ], PCDheader.size[ xIndex ] ) );
+					position.push( this._getDataView( dataview, ( PCDheader.points * offset.y ) + PCDheader.size[ yIndex ] * i, PCDheader.type[ yIndex ], PCDheader.size[ yIndex ] ) );
+					position.push( this._getDataView( dataview, ( PCDheader.points * offset.z ) + PCDheader.size[ zIndex ] * i, PCDheader.type[ zIndex ], PCDheader.size[ zIndex ] ) );
+
+				}
+
+				if ( offset.rgb !== undefined ) {
+
+					const rgbIndex = PCDheader.fields.indexOf( 'rgb' );
+
+					const r = dataview.getUint8( ( PCDheader.points * offset.rgb ) + PCDheader.size[ rgbIndex ] * i + 2 ) / 255.0;
+					const g = dataview.getUint8( ( PCDheader.points * offset.rgb ) + PCDheader.size[ rgbIndex ] * i + 1 ) / 255.0;
+					const b = dataview.getUint8( ( PCDheader.points * offset.rgb ) + PCDheader.size[ rgbIndex ] * i + 0 ) / 255.0;
+
+					c.setRGB( r, g, b, SRGBColorSpace );
+
+					color.push( c.r, c.g, c.b );
+
+				}
+
+				if ( offset.normal_x !== undefined ) {
+
+					const xIndex = PCDheader.fields.indexOf( 'normal_x' );
+					const yIndex = PCDheader.fields.indexOf( 'normal_y' );
+					const zIndex = PCDheader.fields.indexOf( 'normal_z' );
+					normal.push( this._getDataView( dataview, ( PCDheader.points * offset.normal_x ) + PCDheader.size[ xIndex ] * i, PCDheader.type[ xIndex ], PCDheader.size[ xIndex ] ) );
+					normal.push( this._getDataView( dataview, ( PCDheader.points * offset.normal_y ) + PCDheader.size[ yIndex ] * i, PCDheader.type[ yIndex ], PCDheader.size[ yIndex ] ) );
+					normal.push( this._getDataView( dataview, ( PCDheader.points * offset.normal_z ) + PCDheader.size[ zIndex ] * i, PCDheader.type[ zIndex ], PCDheader.size[ zIndex ] ) );
+
+				}
+
+				if ( offset.intensity !== undefined ) {
+
+					const intensityIndex = PCDheader.fields.indexOf( 'intensity' );
+					intensity.push( this._getDataView( dataview, ( PCDheader.points * offset.intensity ) + PCDheader.size[ intensityIndex ] * i, PCDheader.type[ intensityIndex ], PCDheader.size[ intensityIndex ] ) );
+
+				}
+
+				if ( offset.label !== undefined ) {
+
+					const labelIndex = PCDheader.fields.indexOf( 'label' );
+					label.push( this._getDataView( dataview, ( PCDheader.points * offset.label ) + PCDheader.size[ labelIndex ] * i, PCDheader.type[ labelIndex ], PCDheader.size[ labelIndex ] ) );
+
+				}
+
+			}
+
+		}
+
+		// binary
+
+		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 !== undefined ) {
+
+					const xIndex = PCDheader.fields.indexOf( 'x' );
+					const yIndex = PCDheader.fields.indexOf( 'y' );
+					const zIndex = PCDheader.fields.indexOf( 'z' );
+					position.push( this._getDataView( dataview, row + offset.x, PCDheader.type[ xIndex ], PCDheader.size[ xIndex ] ) );
+					position.push( this._getDataView( dataview, row + offset.y, PCDheader.type[ yIndex ], PCDheader.size[ yIndex ] ) );
+					position.push( this._getDataView( dataview, row + offset.z, PCDheader.type[ zIndex ], PCDheader.size[ zIndex ] ) );
+
+				}
+
+				if ( offset.rgb !== undefined ) {
+
+					const r = dataview.getUint8( row + offset.rgb + 2 ) / 255.0;
+					const g = dataview.getUint8( row + offset.rgb + 1 ) / 255.0;
+					const b = dataview.getUint8( row + offset.rgb + 0 ) / 255.0;
+
+					c.setRGB( r, g, b, SRGBColorSpace );
+
+					color.push( c.r, c.g, c.b );
+
+				}
+
+				if ( offset.normal_x !== undefined ) {
+
+					const xIndex = PCDheader.fields.indexOf( 'normal_x' );
+					const yIndex = PCDheader.fields.indexOf( 'normal_y' );
+					const zIndex = PCDheader.fields.indexOf( 'normal_z' );
+					normal.push( this._getDataView( dataview, row + offset.normal_x, PCDheader.type[ xIndex ], PCDheader.size[ xIndex ] ) );
+					normal.push( this._getDataView( dataview, row + offset.normal_y, PCDheader.type[ yIndex ], PCDheader.size[ yIndex ] ) );
+					normal.push( this._getDataView( dataview, row + offset.normal_z, PCDheader.type[ zIndex ], PCDheader.size[ zIndex ] ) );
+
+				}
+
+				if ( offset.intensity !== undefined ) {
+
+					const intensityIndex = PCDheader.fields.indexOf( 'intensity' );
+					intensity.push( this._getDataView( dataview, row + offset.intensity, PCDheader.type[ intensityIndex ], PCDheader.size[ intensityIndex ] ) );
+
+				}
+
+				if ( offset.label !== undefined ) {
+
+					const labelIndex = PCDheader.fields.indexOf( 'label' );
+					label.push( this._getDataView( dataview, row + offset.label, PCDheader.type[ labelIndex ], PCDheader.size[ labelIndex ] ) );
+
+				}
+
+			}
+
+		}
+
+		// build geometry
+
+		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 ) );
+		if ( intensity.length > 0 ) geometry.setAttribute( 'intensity', new Float32BufferAttribute( intensity, 1 ) );
+		if ( label.length > 0 ) geometry.setAttribute( 'label', new Int32BufferAttribute( label, 1 ) );
+
+		geometry.computeBoundingSphere();
+
+		// build material
+
+		const material = new PointsMaterial( { size: 0.005 } );
+
+		if ( color.length > 0 ) {
+
+			material.vertexColors = true;
+
+		}
+
+		// build point cloud
+
+		return new Points( geometry, material );
+
+	}
+
+}
+
+export { PCDLoader };