three.js/examples/js/loaders/PCDLoader.js

( function () {

	var PCDLoader = function ( manager ) {

		THREE.Loader.call( this, manager );
		this.littleEndian = true;

	};

	PCDLoader.prototype = Object.assign( Object.create( THREE.Loader.prototype ), {
		constructor: 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.setRequestHeader( scope.requestHeader );
			loader.setWithCredentials( scope.withCredentials );
			loader.load( url, function ( data ) {

				try {

					onLoad( scope.parse( data, url ) );

				} catch ( e ) {

					if ( onError ) {

						onError( e );

					} else {

						console.error( e );

					}

					scope.manager.itemError( url );

				}

			}, onProgress, onError );

		},
		parse: function ( data, url ) {

			// from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
			function decompressLZF( inData, outLength ) {

				var inLength = inData.length;
				var outData = new Uint8Array( outLength );
				var inPtr = 0;
				var outPtr = 0;
				var ctrl;
				var len;
				var 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( 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 ] * PCDheader.count[ i ];

					}

				} // for binary only


				PCDheader.rowSize = sizeSum;
				return PCDheader;

			}

			var textData = THREE.LoaderUtils.decodeText( new Uint8Array( 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-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' ) {

				var sizes = new Uint32Array( data.slice( PCDheader.headerLen, PCDheader.headerLen + 8 ) );
				var compressedSize = sizes[ 0 ];
				var decompressedSize = sizes[ 1 ];
				var decompressed = decompressLZF( new Uint8Array( data, PCDheader.headerLen + 8, compressedSize ), decompressedSize );
				var dataview = new DataView( decompressed.buffer );
				var offset = PCDheader.offset;

				for ( var i = 0; i < PCDheader.points; i ++ ) {

					if ( offset.x !== undefined ) {

						position.push( dataview.getFloat32( PCDheader.points * offset.x + PCDheader.size[ 0 ] * i, this.littleEndian ) );
						position.push( dataview.getFloat32( PCDheader.points * offset.y + PCDheader.size[ 1 ] * i, this.littleEndian ) );
						position.push( dataview.getFloat32( PCDheader.points * offset.z + PCDheader.size[ 2 ] * i, this.littleEndian ) );

					}

					if ( offset.rgb !== undefined ) {

						color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ 3 ] * i + 0 ) / 255.0 );
						color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ 3 ] * i + 1 ) / 255.0 );
						color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ 3 ] * i + 2 ) / 255.0 );

					}

					if ( offset.normal_x !== undefined ) {

						normal.push( dataview.getFloat32( PCDheader.points * offset.normal_x + PCDheader.size[ 4 ] * i, this.littleEndian ) );
						normal.push( dataview.getFloat32( PCDheader.points * offset.normal_y + PCDheader.size[ 5 ] * i, this.littleEndian ) );
						normal.push( dataview.getFloat32( PCDheader.points * offset.normal_z + PCDheader.size[ 6 ] * i, this.littleEndian ) );

					}

				}

			} // binary


			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.setAttribute( 'position', new THREE.Float32BufferAttribute( position, 3 ) );
			if ( normal.length > 0 ) geometry.setAttribute( 'normal', new THREE.Float32BufferAttribute( normal, 3 ) );
			if ( color.length > 0 ) geometry.setAttribute( 'color', new THREE.Float32BufferAttribute( color, 3 ) );
			geometry.computeBoundingSphere(); // build material

			var material = new THREE.PointsMaterial( {
				size: 0.005
			} );

			if ( color.length > 0 ) {

				material.vertexColors = true;

			} else {

				material.color.setHex( Math.random() * 0xffffff );

			} // build point cloud


			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;

		}
	} );

	THREE.PCDLoader = PCDLoader;

} )();