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+/**
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+ * @author Filipe Caixeta / http://filipecaixeta.com.br
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+ *
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+ * Description: A THREE loader for PCD ascii and binary files.
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+ *
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+ * Limitations: Compressed binary files are not supported.
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+ *
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+ */
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+
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+THREE.PCDLoader = function( manager ) {
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+
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+ this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager;
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+ this.littleEndian = true;
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+
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+};
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+THREE.PCDLoader.prototype = {
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+
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+ constructor: THREE.PCDLoader,
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+
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+ load: function( url, onLoad, onProgress, onError ) {
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+
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+ var scope = this;
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+
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+ var loader = new THREE.XHRLoader( scope.manager );
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+ loader.setResponseType( 'arraybuffer' );
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+ loader.load( url, function( data ) {
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+
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+ onLoad( scope.parse( data, url ) );
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+
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+ }, onProgress, onError );
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+
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+ },
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+
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+ binarryToStr: function( data ) {
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+
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+ text = "";
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+ var charArray = new Uint8Array( data );
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+ for ( var i = 0; i < data.byteLength; i ++ ) {
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+
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+ text += String.fromCharCode( charArray[ i ] );
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+
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+ }
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+ return text;
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+
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+ },
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+
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+ parseHeader: function( data ) {
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+
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+ var PCDheader = {};
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+ var result1 = data.search( /[\r\n]DATA\s(\S*)\s/i );
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+ var 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 );
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+ // Remove comments
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+ PCDheader.str = PCDheader.str.replace( /\#.*/gi, "" );
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+ PCDheader.version = /VERSION (.*)/i.exec( PCDheader.str );
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+ if ( PCDheader.version != null )
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+ PCDheader.version = parseFloat( PCDheader.version[ 1 ] );
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+ PCDheader.fields = /FIELDS (.*)/i.exec( PCDheader.str );
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+ if ( PCDheader.fields != null )
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+ PCDheader.fields = PCDheader.fields[ 1 ].split( " " );
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+ PCDheader.size = /SIZE (.*)/i.exec( PCDheader.str );
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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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+
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+ return parseInt( x, 10 );
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+
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+ } );
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+ PCDheader.type = /TYPE (.*)/i.exec( PCDheader.str );
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+ if ( PCDheader.type != null )
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+ PCDheader.type = PCDheader.type[ 1 ].split( " " );
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+ PCDheader.count = /COUNT (.*)/i.exec( PCDheader.str );
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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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+
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+ return parseInt( x, 10 );
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+
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+ } );
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+ PCDheader.width = /WIDTH (.*)/i.exec( PCDheader.str );
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+ if ( PCDheader.width != null )
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+ PCDheader.width = parseInt( PCDheader.width[ 1 ] );
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+ PCDheader.height = /HEIGHT (.*)/i.exec( PCDheader.str );
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+ if ( PCDheader.height != null )
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+ PCDheader.height = parseInt( PCDheader.height[ 1 ] );
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+ PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec( PCDheader.str );
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+ if ( PCDheader.viewpoint != null )
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+ PCDheader.viewpoint = PCDheader.viewpoint[ 1 ];
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+ PCDheader.points = /POINTS (.*)/i.exec( PCDheader.str );
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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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+
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+ if ( PCDheader.count == null ) {
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+
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+ PCDheader.count = [];
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+ for ( var i = 0; i < PCDheader.fields; i ++ )
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+ PCDheader.count.push( 1 );
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+
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+ }
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+
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+ PCDheader.offset = {}
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+ var sizeSum = 0;
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+ for ( var i = 0; i < PCDheader.fields.length; i ++ ) {
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+
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+ if ( PCDheader.data == "ascii" ) {
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+
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+ PCDheader.offset[ PCDheader.fields[ i ]] = i;
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+
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+ } else {
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+
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+ PCDheader.offset[ PCDheader.fields[ i ]] = sizeSum;
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+ sizeSum += PCDheader.size[ i ];
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+
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+ }
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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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+
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+ return PCDheader;
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+
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+ },
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+
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+ parse: function( data, url ) {
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+
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+ textData = this.binarryToStr( data );
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+
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+ // Parse the header
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+ // Header is always ascii format
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+ var PCDheader = this.parseHeader( textData );
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+
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+ // Parse the data
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+ var position = false;
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+ if ( PCDheader.offset.x != undefined )
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+ position = new Float32Array( PCDheader.points * 3 );
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+ var color = false;
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+ if ( PCDheader.offset.rgb != undefined)
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+ color = new Float32Array( PCDheader.points * 3 );
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+ var normal = false;
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+ if ( PCDheader.offset.normal_x != undefined )
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+ normal = new Float32Array( PCDheader.points * 3 );
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+
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+ if ( PCDheader.data == "ascii" ) {
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+
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+ var offset = PCDheader.offset;
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+ var pcdData = textData.substr( PCDheader.headerLen );
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+ var lines = pcdData.split( '\n' );
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+ var i3 = 0;
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+ for ( var i = 0; i < lines.length; i ++, i3 += 3 ) {
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+
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+ var line = lines[ i ].split( " " );
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+ if ( offset.x != undefined ) {
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+
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+ position[ i3 + 0 ] = parseFloat( line[ offset.x ] );
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+ position[ i3 + 1 ] = parseFloat( line[ offset.y ] );
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+ position[ i3 + 2 ] = parseFloat( line[ offset.z ] );
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+
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+ }
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+ if ( offset.rgb != undefined ) {
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+
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+ var c = new Float32Array([parseFloat( line[ offset.rgb ] )]);
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+ var dataview = new DataView( c.buffer, 0 );
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+ color[ i3 + 0 ] = dataview.getUint8(0)/255.0;
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+ color[ i3 + 1 ] = dataview.getUint8(1)/255.0;
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+ color[ i3 + 2 ] = dataview.getUint8(2)/255.0;
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+
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+ }
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+ if ( offset.normal_x != undefined ) {
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+
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+ normal[ i3 + 0 ] = parseFloat( line[ offset.normal_x ] );
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+ normal[ i3 + 1 ] = parseFloat( line[ offset.normal_y ] );
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+ normal[ i3 + 2 ] = parseFloat( line[ offset.normal_z ] );
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+
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+ }
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+
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+ }
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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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+
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+ console.error( 'THREE.PCDLoader: binary_compressed files are not supported' );
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+ return;
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+
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+ }
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+
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+ if ( PCDheader.data == "binary" ) {
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+
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+ var row = 0;
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+ var dataview = new DataView( data, PCDheader.headerLen );
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+ var i = 0;
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+ var offset = PCDheader.offset;
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+ for ( var i3 = 0; i < PCDheader.points; i3 += 3, row += PCDheader.rowSize, i ++ ) {
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+
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+ if ( offset.x != undefined ) {
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+
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+ position[ i3 + 0 ] = dataview.getFloat32( row + offset.x, this.littleEndian );
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+ position[ i3 + 1 ] = dataview.getFloat32( row + offset.y, this.littleEndian );
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+ position[ i3 + 2 ] = dataview.getFloat32( row + offset.z, this.littleEndian );
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+
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+ }
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+ if ( offset.rgb != undefined ) {
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+
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+ color[ i3 + 0 ] = dataview.getUint8( row + offset.rgb + 0 ) / 255.0;
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+ color[ i3 + 1 ] = dataview.getUint8( row + offset.rgb + 1 ) / 255.0;
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+ color[ i3 + 2 ] = dataview.getUint8( row + offset.rgb + 2 ) / 255.0;
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+
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+ }
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+ if ( offset.normal_x != undefined ) {
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+
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+ normal[ i3 + 0 ] = dataview.getFloat32( row + offset.normal_x, this.littleEndian );
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+ normal[ i3 + 1 ] = dataview.getFloat32( row + offset.normal_y, this.littleEndian );
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+ normal[ i3 + 2 ] = dataview.getFloat32( row + offset.normal_z, this.littleEndian );
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+
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+ }
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+
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+ }
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+
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+ }
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+
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+ var geometry = new THREE.BufferGeometry();
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+ if ( position != false )
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+ geometry.addAttribute( 'position', new THREE.BufferAttribute( position, 3 ) );
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+ if ( color != false )
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+ geometry.addAttribute( 'color', new THREE.BufferAttribute( color, 3 ) );
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+ if ( normal != false )
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+ geometry.addAttribute( 'normal', new THREE.BufferAttribute( normal, 3 ) );
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+
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+ geometry.computeBoundingSphere();
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+
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+ var material = new THREE.PointsMaterial( { size: 0.005,
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+ vertexColors: !(color == false) } );
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+ if ( color == false )
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+ material.color.setHex( Math.random() * 0xffffff );
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+
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+ var mesh = new THREE.Points( geometry, material );
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+ var 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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+ mesh.PCDheader = PCDheader;
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+
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+ return mesh;
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+
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+ },
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+
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+};
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+
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+THREE.EventDispatcher.prototype.apply( THREE.PCDLoader.prototype );
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Mr.doob