feekia / pcl.js

☁️ ⚡ Point Cloud Library (PCL) for browser, powered by WebAssembly｜在浏览器运行的点云库 (PCL)，由 WebAssembly 提供支持。

Point Cloud Library (PCL) for browser, powered by WebAssembly.

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Overview

pcl.js is a Point Cloud Library (PCL) that runs in the browser, powered by Emscripten and WebAssembly. Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

Featured Demos

See all demos

Features

• Provides an API similar to PCL(C++), easy to use
• Supports all modern browsers, will improve Nodejs support
• Written in TypeScript, with predictable static typing
• And many, many more! 🚀

Resources

• Documentation
• API Reference
• Examples
• Discussions

Environment Support

Edge	Firefox	Chrome	Safari	Opera
16+	52+	57+	11+	44+

Bundle Size

pcl.js version: latest

Source	Link	Size
pcl.js	https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl.js	~34k gzip’d
pcl-core.wasm	https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl-core.wasm	~360k gzip’d

Installation

NPM

# NPM
npm install pcl.js

# Yarn
yarn add pcl.js

CDN

<!-- Development -->
<script src="https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl.js"><script>

<!-- Production -->
<script src="https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl.min.js"><script>

Usage

NPM

import * as PCL from 'pcl.js';

async function main() {
  // Initialization
  const pcl = await PCL.init({
    /**
     * Recommend, optional configuration, custom WebAssembly file link.
     * @default js file dir + pcl-core.wasm
     */
    url: 'https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl-core.wasm',
    // You can also pass an ArrayBuffer of WebAssembly files.
    // arrayBuffer: ArrayBuffer
  });

  // ...
}

main();

CDN

<script>
async function main() {
  // Initialization, PCL is a global object.
  const pcl = await PCL.init();
  // ...
}

main();
</script>

Basic Usage Example

// TypeScript

import * as PCL from 'pcl.js';

async function main() {
  const pcl = await PCL.init({
    url: 'https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl-core.wasm',
  });

  // Get PCD file
  const data = await fetch('https://cdn.jsdelivr.net/gh/luoxuhai/pcl.js@master/data/rops_tutorial/points.pcd').then(res => res.arrayBuffer());
  // Load PCD file data, return point cloud object
  const cloud = pcl.io.loadPCDData<PCL.PointXYZ>(data, PCL.PointXYZ);

  // Filtering a PointCloud using a PassThrough filter
  // See: https://pcl.readthedocs.io/projects/tutorials/en/master/passthrough.html#passthrough
  const pass = new pcl.filters.PassThrough<PCL.PointXYZ>(PCL.PointXYZ);
  pass.setInputCloud(cloud);
  pass.setFilterFieldName('z');
  pass.setFilterLimits(0.0, 1.0);
  const cloudFiltered = pass.filter();

  // Save filtered point cloud objects as PCD files, the content is ArrayBuffer
  const cloudFilteredData = pcl.io.savePCDDataASCII(cloudFiltered);
}

main();

Changelog

The changelog is regularly updated to reflect what's changed in each new release.

Roadmap

Checkout the full roadmap here.

Online Development

Use Gitpod, a free online dev environment for GitHub.

Contributing

pcl.js has adopted the Contributor Covenant as its Code of Conduct, and we expect project participants to adhere to it. Please read the full text so that you can understand what actions will and will not be tolerated.

Please make sure to read the Contributing Guide before making a pull request.

Thank you to all the people who already contributed to pcl.js!

License

This project is licensed under the terms of the MIT license.