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370 changes: 370 additions & 0 deletions parsers/pcd.js
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Original file line number Diff line number Diff line change
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/*
MIT LICENSE
*/
/**
@class This parser parses PCD(point cloud library) filetypes.

Here is an example of .pcd file:

<pre>
pcd
# .PCD v.7 - Point Cloud Data file format
VERSION .7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 213
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 213
DATA ascii
0.93773 0.33763 0 4.2108e+06
0.90805 0.35641 0 4.2108e+06
....
All the 10 fields are compulsory and should be in the same order.
</pre>

@version: 0.1
@author: Vihari Piratla viharipiratla@gmail.com

Date: August 2013
*/
var PCDParser = (function() {

/**
@private
*/
function PCDParser(config) {

var undef;

// defined once to reduce number of empty functions
var __empty_func = function(){};

var start = config.start || __empty_func;
var parse = config.parse || __empty_func;
var end = config.end || __empty_func;

const VERSION = "0.1";
const XHR_DONE = 4;

var pathToFile = null;
var fileSizeInBytes = 0;

//
var numParsedPoints = 0;
var numTotalPoints = 0;
var progress = 0;

var normalsPresent = false;
var colorsPresent = false;

var gotHeader = false;

// This will hold labels and indices
// such as:
// map = {
// "x":0 , "y":1, etc...
// }
var map = {};
var numValuesPerLine;

// keep track if onprogress event handler was called to
// handle Chrome/WebKit vs. Minefield differences.
//
// Minefield will call onprogress zero or many times
// Chrome/WebKit will call onprogress one or many times
var onProgressCalled = false;
var AJAX = null;

/**
Returns the version of this parser.
@name PCDparser#version
@returns {String} parser version.
*/
this.__defineGetter__("version", function(){
return VERSION;
});

/**
Get the number of parsed points so far.
@name PCDParser#numParsedPoints
@returns {Number} number of points parsed.
*/
this.__defineGetter__("numParsedPoints", function(){
return numParsedPoints;
});

/**
Get the total number of points in the point cloud.
@name PCDParser#numTotalPoints
@returns {Number} number of points in the point cloud.
*/
this.__defineGetter__("numTotalPoints", function(){
return numTotalPoints;
});

/**
Returns the progress of downloading the point cloud between zero and one or
-1 if the progress is unknown.
@name PCDParser#progress
@returns {Number|-1}
*/
this.__defineGetter__("progress", function(){
return progress;
});

/**
Returns the file size of the resource in bytes.
@name PCDParser#fileSize
@returns {Number} size of resource in bytes.
*/
this.__defineGetter__("fileSize", function(){
return fileSizeInBytes;
});

/**
Stop downloading and parsing the associated point cloud.
*/
this.stop = function(){
if(AJAX){
AJAX.abort();
}
};

/**
@param {String} path Path to the resource.
*/
this.load = function(path){
pathToFile = path;

AJAX = new XMLHttpRequest();

// Put a reference to the parser in the AJAX object
// so we can give the library a reference to the
// parser within the AJAX event handler scope.
AJAX.parser = this;

/**
@private

Occurs exactly once when the resource begins to be downloaded
*/
AJAX.onloadstart = function(evt){
start(AJAX.parser);
};

/**
@private

Occurs exactly once, when the file is done being downloaded
*/
AJAX.onload = function(evt){

var data = AJAX.responseText;
var chunk = null;

// If the onprogress event didn't get called--we simply got
// the file in one go, we can parse from start to finish.
if(onProgressCalled === false){
chunk = data;
}
// Otherwise the onprogress event was called at least once,
// that means we need to get the data from a specific point to the end.
else if(data.length - AJAX.lastNewLineIndex > 1){
chunk = data.substring(AJAX.lastNewLineIndex, data.length);
}

// If the last chunk doesn't have any digits (just spaces)
// don't parse it.
if(chunk && chunk.match(/[0-9]/)){
AJAX.parseChunk(chunk);
}

numTotalPoints = numParsedPoints;

// Indicate parsing is done. ranges from 0 to 1
progress = 1;

end(AJAX.parser);
}

/**
@private
*/
AJAX.parseChunk = function(chunk){

// this occurs over network connections, but not locally.
if(chunk !== ""){

if(!gotHeader){
//only ascii text can be processed
var header = "" + chunk.match(/(\s|\S)+?ascii/i);
var fields = header.match(/FIELDS.*/i);

if(fields){
fields = fields[0].split(/\s+/);
for(var i = 0; i < fields.length; i++){
if(fields[i].match(/x/i))
map["x"] = i-1;
else if(fields[i].match(/y/i))
map["y"] = i-1;
else if(fields[i].match(/z/i))
map["z"] = i-1;
else if(fields[i].match(/rgb/i))
map["rgb"] = i-1;
}

if(map["rgb"]){
colorsPresent = true;
}

chunk = chunk.replace(/(\s|\S)+?ascii/i, '');
}
gotHeader = true;
}

// Don't bother trying to parse if we don't know the format
// of the data.
if(gotHeader){
// Trim trailing spaces.
chunk = chunk.replace(/\s*$/,"");

// Trim leading spaces.
chunk = chunk.replace(/^\s+/,"");

// Find out how many numbers there are on one line
if(!numValuesPerLine){
var sampleLine = "" + chunk.match(/^.*/);
sampleLine = sampleLine.replace(/\s*$/,'');

numValuesPerLine = sampleLine.split(/\s+/).length;
}

// Split on white space.
chunk = chunk.split(/\s+/);

var numVerts = chunk.length/numValuesPerLine;
numParsedPoints += numVerts;
console.log(chunk.length);

var verts = new Float32Array(numVerts * 3);
var cols;
var norms;

//for reinterpretation
floatArray = new Float32Array(1);
cols = new Float32Array(numVerts * 3);

if(normalsPresent){
norms = new Float32Array(numVerts * 3);
}

//
for(var i = 0, j = 0; i < chunk.length; i += numValuesPerLine, j += 3){

if(isNaN(chunk[i+map['x']])||isNaN(chunk[i+map['y']])||isNaN(chunk[i+map['z']]))
continue;
verts[j] = parseFloat(chunk[ i + map["x"] ]);
verts[j+1] = parseFloat(chunk[ i + map["y"] ]);
verts[j+2] = parseFloat(chunk[ i + map["z"] ]);

if(norms){
norms[j] = parseFloat(chunk[ i + map["nx"] ]);
norms[j+1] = parseFloat(chunk[ i + map["ny"] ]);
norms[j+2] = parseFloat(chunk[ i + map["nz"] ]);
}

if(colorsPresent){
floatArray[0] = parseFloat(chunk[i+map["rgb"]],10);
//To reinterpret the bits from float to int
var intArray = new Int32Array(floatArray.buffer);
var rgb = intArray[0];
cols[j] = ((rgb&((1<<24)-(1<<16)))>>16)/255;
cols[j+1] = ((rgb&((1<<16)-(1<<8)))>>8)/255;
cols[j+2] = ((rgb&((1<<8)-(1))))/255;
}
if(!colorsPresent){
cols[j] = 1;
cols[j+1] = 0;
cols[j+2] = 0;
}
}

// XB PointStream expects an object with named/value pairs
// which contain the attribute arrays. These must match attribute
// names found in the shader
var attributes = {};
if(verts){attributes["ps_Vertex"] = verts;}
if(colorsPresent){attributes["ps_Color"] = cols;}
if(norms){attributes["ps_Normal"] = norms;}
parse(AJAX.parser, attributes);
}
}
};

/**
@private

On Minefield, this will occur zero or many times
On Chrome/WebKit this will occur one or many times
*/
AJAX.onprogress = function(evt){

if(evt.lengthComputable){
fileSizeInBytes = evt.total;
progress = evt.loaded/evt.total;
}

onProgressCalled = true;

// if we have something to actually parse
if(AJAX.responseText){
var data = AJAX.responseText;

// we likely stopped getting data somewhere in the middle of
// a line in the file

// 5.813 2.352 6.500 255 255 255 \n
// 1.079 1.296 9.360 128 0 0 \n
// 3.163 2.225 6.1<-- stopped here

// So find the last known newline. Everything from the last
// request to this last newline can be placed in a buffer.
var lastNewLineIndex = data.lastIndexOf("\n");
AJAX.lastNewLineIndex = lastNewLineIndex;

// if the status just changed and we finished downloading the
// file, grab everyting until the end. If there is only a bunch
// of whitespace, make a note of that and don't bother parsing.
if(AJAX.readyState === XHR_DONE){
var chunk = data.substring(AJAX.startOfNextChunk, data.length);
// If the last chunk doesn't have any digits (just spaces)
// don't parse it.
if(chunk.match(/[0-9]/)){
AJAX.parseChunk(chunk);
}
}
// if we still have more data to go
else{
// Start of the next chunk starts after the newline.
var chunk = data.substring(AJAX.startOfNextChunk, lastNewLineIndex + 1);
AJAX.startOfNextChunk = lastNewLineIndex + 1;
AJAX.parseChunk(chunk);
}
}
};// onprogress

// open an asynchronous request to the path
if(AJAX.overrideMimeType){
// Firefox generates a misleading error if we don't have this line
AJAX.overrideMimeType("application/json");
}
AJAX.open("GET", path, true);
AJAX.send(null);
};// load
}// ctor
return PCDParser;
}());