PCDLoader.js

( function () {

	class PCDLoader extends THREE.Loader {

		constructor( manager ) {

			super( manager );
			this.littleEndian = true;

		}

		load( url, onLoad, onProgress, onError ) {

			const scope = this;
			const 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 ) );

				} catch ( e ) {

					if ( onError ) {

						onError( e );

					} else {

						console.error( e );

					}

					scope.manager.itemError( url );

				}

			}, onProgress, onError );

		}

		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( data ) {

				const PCDheader = {};
				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 (.*)/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 ] );
				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;

			}

			const textData = THREE.LoaderUtils.decodeText( new Uint8Array( data ) ); // parse header (always ascii format)

			const PCDheader = parseHeader( textData ); // parse data

			const position = [];
			const normal = [];
			const color = [];
			const intensity = [];
			const label = []; // ascii

			if ( PCDheader.data === 'ascii' ) {

				const offset = PCDheader.offset;
				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;
						const g = rgb >> 8 & 0x0000ff;
						const 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 ] ) );

					}

					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( dataview.getFloat32( PCDheader.points * offset.x + PCDheader.size[ xIndex ] * i, this.littleEndian ) );
						position.push( dataview.getFloat32( PCDheader.points * offset.y + PCDheader.size[ yIndex ] * i, this.littleEndian ) );
						position.push( dataview.getFloat32( PCDheader.points * offset.z + PCDheader.size[ zIndex ] * i, this.littleEndian ) );

					}

					if ( offset.rgb !== undefined ) {

						const rgbIndex = PCDheader.fields.indexOf( 'rgb' );
						color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ rgbIndex ] * i + 2 ) / 255.0 );
						color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ rgbIndex ] * i + 1 ) / 255.0 );
						color.push( dataview.getUint8( PCDheader.points * offset.rgb + PCDheader.size[ rgbIndex ] * i + 0 ) / 255.0 );

					}

					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( dataview.getFloat32( PCDheader.points * offset.normal_x + PCDheader.size[ xIndex ] * i, this.littleEndian ) );
						normal.push( dataview.getFloat32( PCDheader.points * offset.normal_y + PCDheader.size[ yIndex ] * i, this.littleEndian ) );
						normal.push( dataview.getFloat32( PCDheader.points * offset.normal_z + PCDheader.size[ zIndex ] * i, this.littleEndian ) );

					}

					if ( offset.intensity !== undefined ) {

						const intensityIndex = PCDheader.fields.indexOf( 'intensity' );
						intensity.push( dataview.getFloat32( PCDheader.points * offset.intensity + PCDheader.size[ intensityIndex ] * i, this.littleEndian ) );

					}

					if ( offset.label !== undefined ) {

						const labelIndex = PCDheader.fields.indexOf( 'label' );
						label.push( dataview.getInt32( PCDheader.points * offset.label + PCDheader.size[ labelIndex ] * i, this.littleEndian ) );

					}

				}

			} // 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 ) {

						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 ) );

					}

					if ( offset.intensity !== undefined ) {

						intensity.push( dataview.getFloat32( row + offset.intensity, this.littleEndian ) );

					}

					if ( offset.label !== undefined ) {

						label.push( dataview.getInt32( row + offset.label, this.littleEndian ) );

					}

				}

			} // build geometry


			const 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 ) );
			if ( intensity.length > 0 ) geometry.setAttribute( 'intensity', new THREE.Float32BufferAttribute( intensity, 1 ) );
			if ( label.length > 0 ) geometry.setAttribute( 'label', new THREE.Int32BufferAttribute( label, 1 ) );
			geometry.computeBoundingSphere(); // build material

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

			if ( color.length > 0 ) {

				material.vertexColors = true;

			} // build point cloud


			return new THREE.Points( geometry, material );

		}

	}

	THREE.PCDLoader = PCDLoader;

} )();