adding pcd loader

Author: Knightro63

examples/assets/models/pcd/ascii/simple.pcd

@@ -0,0 +1,224 @@
+# .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
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examples/assets/models/pcd/binary/Zaghetto.pcd

@@ -0,0 +1,118 @@
+import 'dart:async';
+import 'dart:math' as math;
+import 'package:example/src/gui.dart';
+import 'package:example/src/statistics.dart';
+import 'package:flutter/material.dart';
+import 'package:three_js/three_js.dart' as three;
+import 'package:three_js_helpers/three_js_helpers.dart';
+
+class WebglLoaderPcd extends StatefulWidget {
+  const WebglLoaderPcd({super.key});
+
+  @override
+  createState() => _State();
+}
+
+class _State extends State<WebglLoaderPcd> {
+  List<int> data = List.filled(60, 0, growable: true);
+  late Timer timer;
+  late Gui wg;
+  late three.ThreeJS threeJs;
+
+  @override
+  void initState() {
+    wg = Gui((){setState(() {});});
+    timer = Timer.periodic(const Duration(seconds: 1), (t){
+      setState(() {
+        data.removeAt(0);
+        data.add(threeJs.clock.fps);
+      });
+    });
+    threeJs = three.ThreeJS(
+      onSetupComplete: (){setState(() {});},
+      setup: setup,
+    );
+    super.initState();
+  }
+  @override
+  void dispose() {
+    timer.cancel();
+    threeJs.dispose();
+    three.loading.clear();
+    super.dispose();
+  }
+
+  @override
+  Widget build(BuildContext context) {
+    return Scaffold(
+      body: Stack(
+        children: [
+          threeJs.build(),
+          Statistics(data: data),
+          if(threeJs.mounted)Positioned(
+            top: 20,
+            right: 20,
+            child: SizedBox(
+              height: threeJs.height,
+              width: 240,
+              child: wg.render(context)
+            )
+          )
+        ],
+      ) 
+    );
+  }
+
+  Future<void> setup() async {
+    threeJs.scene = three.Scene();
+
+    threeJs.camera = three.PerspectiveCamera( 30, threeJs.width / threeJs.height, 0.01, 40 );
+    threeJs.camera.position.setValues( 0, 0, 1 );
+    threeJs.scene.add( threeJs.camera );
+
+    final controls = three.OrbitControls( threeJs.camera, threeJs.globalKey );
+    controls.minDistance = 0.5;
+    controls.maxDistance = 10;
+
+    threeJs.scene.add( AxesHelper( 1 ) );
+    final loader = three.PCDLoader();
+
+    Map<String, dynamic> temp = {
+      'size': 0.001,
+      'color': 0,
+      'name': 'binary/Zaghetto.pcd',
+      'points': null
+    };
+
+    loadPointCloud( file ) async{
+      final points = await loader.fromAsset( 'assets/models/pcd/$file');
+      temp = {
+        'size': points!.material!.size,
+        'color': points.material!.color,
+        'name': file,
+        'points': points
+      };
+
+      points.geometry?.center();
+      points.geometry?.rotateX( math.pi );
+      points.name = file;
+      threeJs.scene.add( points );
+    }
+
+    loadPointCloud( 'binary/Zaghetto.pcd' );
+
+    final gui = wg.addFolder('GUI')..open();
+
+    gui.addSlider( temp, 'size', 0.001, 0.01, 0.001 );
+    gui.addColor( temp, 'color' );
+    gui.addDropDown( temp, 'name', <String>[
+      'ascii/simple.pcd',
+      'binary/Zaghetto.pcd',
+      'binary/Zaghetto_8bit.pcd',
+      'binary_compressed/pcl_logo.pcd',
+    ])..name = 'type'..onChange( (e){
+      threeJs.scene.remove( temp['points'] );
+      loadPointCloud( e );
+    });
+  }
+}

examples/assets/models/pcd/binary/Zaghetto_8bit.pcd

@@ -50,6 +50,7 @@ import 'package:example/loaders/webgl_loader_gcode.dart';
 import 'package:example/loaders/webgl_loader_glb.dart';
 import 'package:example/loaders/webgl_loader_gltf_3.dart';
 import 'package:example/loaders/webgl_loader_md2.dart';
+import 'package:example/loaders/webgl_loader_pcd.dart';
 import 'package:example/loaders/webgl_loader_ply.dart';
 import 'package:example/loaders/webgl_loader_scn.dart';
 import 'package:example/loaders/webgl_loader_stl.dart';
@@ -396,6 +397,9 @@ class MyAppState extends State<MyApp> {
               '/webgl_loader_collada_kinematics':(BuildContext context) {
                 return const WebglLoaderColladaKinematics();
               },
+              '/webgl_loader_pcd':(BuildContext context) {
+                return const WebglLoaderPcd();
+              },
               '/webgl_loader_ply':(BuildContext context) {
                 return const WebglLoaderPly();
               },

examples/assets/models/pcd/binary_compressed/pcl_logo.pcd

@@ -63,6 +63,7 @@ const List<String> filesJson = [
   "webgl_loader_collada_skinning",
   "webgl_loader_collada_kinematics",
   "webgl_loader_ply",
+  "webgl_loader_pcd",
   "webgl_loader_stl",
   "webgl_loader_vox",
   "webgl_loader_svg",

examples/assets/screenshots/webgl_loader_pcd.jpg

@@ -52,6 +52,8 @@ dependency_overrides:
       url: https://github.com/alex-melnyk/flutter-permission-handler.git 
       path: permission_handler_apple
   file_picker: ^10.1.9
+  three_js_advanced_loaders:
+    path: ../packages/three_js_advanced_loaders
 
 flutter:
   uses-material-design: true
@@ -79,6 +81,9 @@ flutter:
     - assets/models/md2/ogro/skins/
     - assets/models/md2/ratamahatta/
     - assets/models/md2/ratamahatta/skins/
+    - assets/models/pcd/ascii/
+    - assets/models/pcd/binary/
+    - assets/models/pcd/binary_compressed/
     - assets/models/gltf/test/
     - assets/models/gltf/
     - assets/models/gltf/test/

examples/lib/loaders/webgl_loader_pcd.dart

@@ -1,3 +1,7 @@
+## 0.2.5
+
+* Added PCD Loader
+
 ## 0.2.4
 
 * Fixed some FBX issues