webvr js meetup initial commit
This commit is contained in:
Senad Uka
250
node_modules/three/examples/js/loaders/PCDLoader.js
generated
vendored
Normal file
250
node_modules/three/examples/js/loaders/PCDLoader.js
generated
vendored
Normal file
@@ -0,0 +1,250 @@
|
||||
/**
|
||||
* @author Filipe Caixeta / http://filipecaixeta.com.br
|
||||
*
|
||||
* Description: A THREE loader for PCD ascii and binary files.
|
||||
*
|
||||
* Limitations: Compressed binary files are not supported.
|
||||
*
|
||||
*/
|
||||
|
||||
THREE.PCDLoader = function ( manager ) {
|
||||
|
||||
this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager;
|
||||
this.littleEndian = true;
|
||||
|
||||
};
|
||||
|
||||
|
||||
THREE.PCDLoader.prototype = {
|
||||
|
||||
constructor: THREE.PCDLoader,
|
||||
|
||||
load: function ( url, onLoad, onProgress, onError ) {
|
||||
|
||||
var scope = this;
|
||||
|
||||
var loader = new THREE.FileLoader( scope.manager );
|
||||
loader.setResponseType( 'arraybuffer' );
|
||||
loader.load( url, function ( data ) {
|
||||
|
||||
onLoad( scope.parse( data, url ) );
|
||||
|
||||
}, onProgress, onError );
|
||||
|
||||
},
|
||||
|
||||
binarryToStr: function ( data ) {
|
||||
|
||||
var text = "";
|
||||
var charArray = new Uint8Array( data );
|
||||
for ( var i = 0; i < data.byteLength; i ++ ) {
|
||||
|
||||
text += String.fromCharCode( charArray[ i ] );
|
||||
|
||||
}
|
||||
return text;
|
||||
|
||||
},
|
||||
|
||||
parseHeader: function ( 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, "" );
|
||||
PCDheader.version = /VERSION (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.version != null )
|
||||
PCDheader.version = parseFloat( PCDheader.version[ 1 ] );
|
||||
PCDheader.fields = /FIELDS (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.fields != null )
|
||||
PCDheader.fields = PCDheader.fields[ 1 ].split( " " );
|
||||
PCDheader.size = /SIZE (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.size != null )
|
||||
PCDheader.size = PCDheader.size[ 1 ].split( " " ).map( function ( x ) {
|
||||
|
||||
return parseInt( x, 10 );
|
||||
|
||||
} );
|
||||
PCDheader.type = /TYPE (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.type != null )
|
||||
PCDheader.type = PCDheader.type[ 1 ].split( " " );
|
||||
PCDheader.count = /COUNT (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.count != null )
|
||||
PCDheader.count = PCDheader.count[ 1 ].split( " " ).map( function ( x ) {
|
||||
|
||||
return parseInt( x, 10 );
|
||||
|
||||
} );
|
||||
PCDheader.width = /WIDTH (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.width != null )
|
||||
PCDheader.width = parseInt( PCDheader.width[ 1 ] );
|
||||
PCDheader.height = /HEIGHT (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.height != null )
|
||||
PCDheader.height = parseInt( PCDheader.height[ 1 ] );
|
||||
PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.viewpoint != null )
|
||||
PCDheader.viewpoint = PCDheader.viewpoint[ 1 ];
|
||||
PCDheader.points = /POINTS (.*)/i.exec( PCDheader.str );
|
||||
if ( PCDheader.points != null )
|
||||
PCDheader.points = parseInt( PCDheader.points[ 1 ], 10 );
|
||||
if ( PCDheader.points == null )
|
||||
PCDheader.points = PCDheader.width * PCDheader.height;
|
||||
|
||||
if ( PCDheader.count == null ) {
|
||||
|
||||
PCDheader.count = [];
|
||||
for ( var i = 0; i < PCDheader.fields; i ++ )
|
||||
PCDheader.count.push( 1 );
|
||||
|
||||
}
|
||||
|
||||
PCDheader.offset = {};
|
||||
var sizeSum = 0;
|
||||
for ( var i = 0; i < PCDheader.fields.length; i ++ ) {
|
||||
|
||||
if ( PCDheader.data == "ascii" ) {
|
||||
|
||||
PCDheader.offset[ PCDheader.fields[ i ] ] = i;
|
||||
|
||||
} else {
|
||||
|
||||
PCDheader.offset[ PCDheader.fields[ i ] ] = sizeSum;
|
||||
sizeSum += PCDheader.size[ i ];
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
// For binary only
|
||||
PCDheader.rowSize = sizeSum;
|
||||
|
||||
return PCDheader;
|
||||
|
||||
},
|
||||
|
||||
parse: function ( data, url ) {
|
||||
|
||||
var textData = this.binarryToStr( data );
|
||||
|
||||
// Parse the header
|
||||
// Header is always ascii format
|
||||
var PCDheader = this.parseHeader( textData );
|
||||
|
||||
// Parse the data
|
||||
var position = false;
|
||||
if ( PCDheader.offset.x != undefined )
|
||||
position = new Float32Array( PCDheader.points * 3 );
|
||||
var color = false;
|
||||
if ( PCDheader.offset.rgb != undefined )
|
||||
color = new Float32Array( PCDheader.points * 3 );
|
||||
var normal = false;
|
||||
if ( PCDheader.offset.normal_x != undefined )
|
||||
normal = new Float32Array( PCDheader.points * 3 );
|
||||
|
||||
if ( PCDheader.data == "ascii" ) {
|
||||
|
||||
var offset = PCDheader.offset;
|
||||
var pcdData = textData.substr( PCDheader.headerLen );
|
||||
var lines = pcdData.split( '\n' );
|
||||
var i3 = 0;
|
||||
for ( var i = 0; i < lines.length; i ++, i3 += 3 ) {
|
||||
|
||||
var line = lines[ i ].split( " " );
|
||||
if ( offset.x != undefined ) {
|
||||
|
||||
position[ i3 + 0 ] = parseFloat( line[ offset.x ] );
|
||||
position[ i3 + 1 ] = parseFloat( line[ offset.y ] );
|
||||
position[ i3 + 2 ] = parseFloat( line[ offset.z ] );
|
||||
|
||||
}
|
||||
if ( offset.rgb != undefined ) {
|
||||
|
||||
var c = new Float32Array( [ parseFloat( line[ offset.rgb ] ) ] );
|
||||
var dataview = new DataView( c.buffer, 0 );
|
||||
color[ i3 + 0 ] = dataview.getUint8( 0 ) / 255.0;
|
||||
color[ i3 + 1 ] = dataview.getUint8( 1 ) / 255.0;
|
||||
color[ i3 + 2 ] = dataview.getUint8( 2 ) / 255.0;
|
||||
|
||||
}
|
||||
if ( offset.normal_x != undefined ) {
|
||||
|
||||
normal[ i3 + 0 ] = parseFloat( line[ offset.normal_x ] );
|
||||
normal[ i3 + 1 ] = parseFloat( line[ offset.normal_y ] );
|
||||
normal[ i3 + 2 ] = parseFloat( line[ offset.normal_z ] );
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if ( PCDheader.data == "binary_compressed" ) {
|
||||
|
||||
console.error( 'THREE.PCDLoader: binary_compressed files are not supported' );
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
if ( PCDheader.data == "binary" ) {
|
||||
|
||||
var row = 0;
|
||||
var dataview = new DataView( data, PCDheader.headerLen );
|
||||
var i = 0;
|
||||
var offset = PCDheader.offset;
|
||||
for ( var i3 = 0; i < PCDheader.points; i3 += 3, row += PCDheader.rowSize, i ++ ) {
|
||||
|
||||
if ( offset.x != undefined ) {
|
||||
|
||||
position[ i3 + 0 ] = dataview.getFloat32( row + offset.x, this.littleEndian );
|
||||
position[ i3 + 1 ] = dataview.getFloat32( row + offset.y, this.littleEndian );
|
||||
position[ i3 + 2 ] = dataview.getFloat32( row + offset.z, this.littleEndian );
|
||||
|
||||
}
|
||||
if ( offset.rgb != undefined ) {
|
||||
|
||||
color[ i3 + 0 ] = dataview.getUint8( row + offset.rgb + 0 ) / 255.0;
|
||||
color[ i3 + 1 ] = dataview.getUint8( row + offset.rgb + 1 ) / 255.0;
|
||||
color[ i3 + 2 ] = dataview.getUint8( row + offset.rgb + 2 ) / 255.0;
|
||||
|
||||
}
|
||||
if ( offset.normal_x != undefined ) {
|
||||
|
||||
normal[ i3 + 0 ] = dataview.getFloat32( row + offset.normal_x, this.littleEndian );
|
||||
normal[ i3 + 1 ] = dataview.getFloat32( row + offset.normal_y, this.littleEndian );
|
||||
normal[ i3 + 2 ] = dataview.getFloat32( row + offset.normal_z, this.littleEndian );
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
var geometry = new THREE.BufferGeometry();
|
||||
if ( position != false )
|
||||
geometry.addAttribute( 'position', new THREE.BufferAttribute( position, 3 ) );
|
||||
if ( color != false )
|
||||
geometry.addAttribute( 'color', new THREE.BufferAttribute( color, 3 ) );
|
||||
if ( normal != false )
|
||||
geometry.addAttribute( 'normal', new THREE.BufferAttribute( normal, 3 ) );
|
||||
|
||||
geometry.computeBoundingSphere();
|
||||
|
||||
var material = new THREE.PointsMaterial( { size: 0.005, vertexColors: ! ( color == false ) } );
|
||||
if ( color == false )
|
||||
material.color.setHex( Math.random() * 0xffffff );
|
||||
|
||||
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;
|
||||
mesh.PCDheader = PCDheader;
|
||||
|
||||
return mesh;
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
Reference in New Issue
Block a user