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webgl_loader_pcd.html
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<!DOCTYPE html>
<html lang="en">
<head>
<title>three.js webgl - PCD</title>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
<link type="text/css" rel="stylesheet" href="main.css">
</head>
<body>
<div id="info">
<a href="https://threejs.org" target="_blank" rel="noopener">three.js</a>
<a href="https://pointclouds.org/documentation/tutorials/pcd_file_format.html" target="_blank" rel="noopener">PCD File format</a>
<div>+/-: Increase/Decrease point size</div>
<div>c: Change color</div>
</div>
<!-- Import maps polyfill -->
<!-- Remove this when import maps will be widely supported -->
<script async src="https://unpkg.com/[email protected]/dist/es-module-shims.js"></script>
<script type="importmap">
{
"imports": {
"three": "../build/three.module.js",
"three/addons/": "./jsm/"
}
}
</script>
<script type="module">
import * as THREE from 'three';
import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
import { PCDLoader } from 'three/addons/loaders/PCDLoader.js';
let camera, scene, renderer;
init();
render();
function init() {
renderer = new THREE.WebGLRenderer( { antialias: true } );
renderer.setPixelRatio( window.devicePixelRatio );
renderer.setSize( window.innerWidth, window.innerHeight );
document.body.appendChild( renderer.domElement );
scene = new THREE.Scene();
camera = new THREE.PerspectiveCamera( 30, window.innerWidth / window.innerHeight, 0.01, 40 );
camera.position.set( 0, 0, 1 );
scene.add( camera );
const controls = new OrbitControls( camera, renderer.domElement );
controls.addEventListener( 'change', render ); // use if there is no animation loop
controls.minDistance = 0.5;
controls.maxDistance = 10;
//scene.add( new THREE.AxesHelper( 1 ) );
const loader = new PCDLoader();
loader.load( './models/pcd/binary/Zaghetto.pcd', function ( points ) {
points.geometry.center();
points.geometry.rotateX( Math.PI );
points.name = 'Zaghetto.pcd';
scene.add( points );
render();
} );
window.addEventListener( 'resize', onWindowResize );
window.addEventListener( 'keypress', keyboard );
}
function onWindowResize() {
camera.aspect = window.innerWidth / window.innerHeight;
camera.updateProjectionMatrix();
renderer.setSize( window.innerWidth, window.innerHeight );
}
function keyboard( ev ) {
const points = scene.getObjectByName( 'Zaghetto.pcd' );
switch ( ev.key || String.fromCharCode( ev.keyCode || ev.charCode ) ) {
case '+':
points.material.size *= 1.2;
break;
case '-':
points.material.size /= 1.2;
break;
case 'c':
points.material.color.setHex( Math.random() * 0xffffff );
break;
}
render();
}
function render() {
renderer.render( scene, camera );
}
</script>
</body>
</html>