Initial project import
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drjones
250
node_modules/three-stdlib/loaders/PCDLoader.cjs
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vendored
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250
node_modules/three-stdlib/loaders/PCDLoader.cjs
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"use strict";
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Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
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const THREE = require("three");
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const LoaderUtils = require("../_polyfill/LoaderUtils.cjs");
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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(
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url,
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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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},
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onProgress,
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onError
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);
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}
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parse(data, url) {
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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)
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throw new Error("Output buffer is not large enough");
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if (inPtr + ctrl > inLength)
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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 & 31) << 8) - 1;
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if (inPtr >= inLength)
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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)
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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)
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throw new Error("Output buffer is not large enough");
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if (ref < 0)
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throw new Error("Invalid compressed data");
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if (ref >= outPtr)
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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(data2) {
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const PCDheader2 = {};
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const result1 = data2.search(/[\r\n]DATA\s(\S*)\s/i);
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const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data2.substr(result1 - 1));
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PCDheader2.data = result2[1];
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PCDheader2.headerLen = result2[0].length + result1;
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PCDheader2.str = data2.substr(0, PCDheader2.headerLen);
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PCDheader2.str = PCDheader2.str.replace(/\#.*/gi, "");
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PCDheader2.version = /VERSION (.*)/i.exec(PCDheader2.str);
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PCDheader2.fields = /FIELDS (.*)/i.exec(PCDheader2.str);
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PCDheader2.size = /SIZE (.*)/i.exec(PCDheader2.str);
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PCDheader2.type = /TYPE (.*)/i.exec(PCDheader2.str);
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PCDheader2.count = /COUNT (.*)/i.exec(PCDheader2.str);
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PCDheader2.width = /WIDTH (.*)/i.exec(PCDheader2.str);
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PCDheader2.height = /HEIGHT (.*)/i.exec(PCDheader2.str);
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PCDheader2.viewpoint = /VIEWPOINT (.*)/i.exec(PCDheader2.str);
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PCDheader2.points = /POINTS (.*)/i.exec(PCDheader2.str);
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if (PCDheader2.version !== null)
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PCDheader2.version = parseFloat(PCDheader2.version[1]);
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if (PCDheader2.fields !== null)
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PCDheader2.fields = PCDheader2.fields[1].split(" ");
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if (PCDheader2.type !== null)
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PCDheader2.type = PCDheader2.type[1].split(" ");
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if (PCDheader2.width !== null)
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PCDheader2.width = parseInt(PCDheader2.width[1]);
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if (PCDheader2.height !== null)
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PCDheader2.height = parseInt(PCDheader2.height[1]);
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if (PCDheader2.viewpoint !== null)
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PCDheader2.viewpoint = PCDheader2.viewpoint[1];
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if (PCDheader2.points !== null)
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PCDheader2.points = parseInt(PCDheader2.points[1], 10);
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if (PCDheader2.points === null)
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PCDheader2.points = PCDheader2.width * PCDheader2.height;
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if (PCDheader2.size !== null) {
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PCDheader2.size = PCDheader2.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 (PCDheader2.count !== null) {
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PCDheader2.count = PCDheader2.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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PCDheader2.count = [];
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for (let i = 0, l = PCDheader2.fields.length; i < l; i++) {
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PCDheader2.count.push(1);
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}
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}
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PCDheader2.offset = {};
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let sizeSum = 0;
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for (let i = 0, l = PCDheader2.fields.length; i < l; i++) {
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if (PCDheader2.data === "ascii") {
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PCDheader2.offset[PCDheader2.fields[i]] = i;
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} else {
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PCDheader2.offset[PCDheader2.fields[i]] = sizeSum;
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sizeSum += PCDheader2.size[i] * PCDheader2.count[i];
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}
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}
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PCDheader2.rowSize = sizeSum;
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return PCDheader2;
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}
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const textData = LoaderUtils.decodeText(new Uint8Array(data));
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const PCDheader = parseHeader(textData);
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const position = [];
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const normal = [];
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const color = [];
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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] === "")
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continue;
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const line = lines[i].split(" ");
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if (offset.x !== void 0) {
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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 !== void 0) {
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const rgb = parseFloat(line[offset.rgb]);
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const r = rgb >> 16 & 255;
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const g = rgb >> 8 & 255;
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const b = rgb >> 0 & 255;
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color.push(r / 255, g / 255, b / 255);
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}
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if (offset.normal_x !== void 0) {
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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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}
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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(
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new Uint8Array(data, PCDheader.headerLen + 8, compressedSize),
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decompressedSize
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);
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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 !== void 0) {
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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 !== void 0) {
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color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255);
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color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255);
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color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255);
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}
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if (offset.normal_x !== void 0) {
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normal.push(
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dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, this.littleEndian)
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);
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normal.push(
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dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, this.littleEndian)
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);
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normal.push(
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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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}
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}
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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 !== void 0) {
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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 !== void 0) {
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color.push(dataview.getUint8(row + offset.rgb + 2) / 255);
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color.push(dataview.getUint8(row + offset.rgb + 1) / 255);
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color.push(dataview.getUint8(row + offset.rgb + 0) / 255);
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}
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if (offset.normal_x !== void 0) {
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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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}
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const geometry = new THREE.BufferGeometry();
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if (position.length > 0)
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geometry.setAttribute("position", new THREE.Float32BufferAttribute(position, 3));
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if (normal.length > 0)
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geometry.setAttribute("normal", new THREE.Float32BufferAttribute(normal, 3));
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if (color.length > 0)
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geometry.setAttribute("color", new THREE.Float32BufferAttribute(color, 3));
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geometry.computeBoundingSphere();
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const material = new THREE.PointsMaterial({ size: 5e-3 });
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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() * 16777215);
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}
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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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exports.PCDLoader = PCDLoader;
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//# sourceMappingURL=PCDLoader.cjs.map
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