mirror of
https://github.com/tengge1/ShadowEditor.git
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251 lines
7.0 KiB
JavaScript
251 lines
7.0 KiB
JavaScript
/**
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* @author Filipe Caixeta / http://filipecaixeta.com.br
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*
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* Description: A THREE loader for PCD ascii and binary files.
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*
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* Limitations: Compressed binary files are not supported.
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*
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*/
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THREE.PCDLoader = function ( manager ) {
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this.manager = ( manager !== undefined ) ? manager : THREE.DefaultLoadingManager;
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this.littleEndian = true;
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};
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THREE.PCDLoader.prototype = {
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constructor: THREE.PCDLoader,
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load: function ( url, onLoad, onProgress, onError ) {
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var scope = this;
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var loader = new THREE.FileLoader( scope.manager );
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loader.setResponseType( 'arraybuffer' );
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loader.load( url, function ( data ) {
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onLoad( scope.parse( data, url ) );
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}, onProgress, onError );
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},
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binarryToStr: function ( data ) {
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var text = "";
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var charArray = new Uint8Array( data );
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for ( var i = 0; i < data.byteLength; i ++ ) {
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text += String.fromCharCode( charArray[ i ] );
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}
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return text;
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},
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parseHeader: function ( data ) {
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var PCDheader = {};
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var result1 = data.search( /[\r\n]DATA\s(\S*)\s/i );
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var result2 = /[\r\n]DATA\s(\S*)\s/i.exec( data.substr( result1 - 1 ) );
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PCDheader.data = result2[ 1 ];
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PCDheader.headerLen = result2[ 0 ].length + result1;
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PCDheader.str = data.substr( 0, PCDheader.headerLen );
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// Remove comments
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PCDheader.str = PCDheader.str.replace( /\#.*/gi, "" );
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PCDheader.version = /VERSION (.*)/i.exec( PCDheader.str );
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if ( PCDheader.version != null )
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PCDheader.version = parseFloat( PCDheader.version[ 1 ] );
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PCDheader.fields = /FIELDS (.*)/i.exec( PCDheader.str );
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if ( PCDheader.fields != null )
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PCDheader.fields = PCDheader.fields[ 1 ].split( " " );
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PCDheader.size = /SIZE (.*)/i.exec( PCDheader.str );
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if ( PCDheader.size != null )
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PCDheader.size = PCDheader.size[ 1 ].split( " " ).map( function ( x ) {
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return parseInt( x, 10 );
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} );
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PCDheader.type = /TYPE (.*)/i.exec( PCDheader.str );
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if ( PCDheader.type != null )
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PCDheader.type = PCDheader.type[ 1 ].split( " " );
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PCDheader.count = /COUNT (.*)/i.exec( PCDheader.str );
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if ( PCDheader.count != null )
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PCDheader.count = PCDheader.count[ 1 ].split( " " ).map( function ( x ) {
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return parseInt( x, 10 );
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} );
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PCDheader.width = /WIDTH (.*)/i.exec( PCDheader.str );
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if ( PCDheader.width != null )
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PCDheader.width = parseInt( PCDheader.width[ 1 ] );
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PCDheader.height = /HEIGHT (.*)/i.exec( PCDheader.str );
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if ( PCDheader.height != null )
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PCDheader.height = parseInt( PCDheader.height[ 1 ] );
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PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec( PCDheader.str );
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if ( PCDheader.viewpoint != null )
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PCDheader.viewpoint = PCDheader.viewpoint[ 1 ];
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PCDheader.points = /POINTS (.*)/i.exec( PCDheader.str );
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if ( PCDheader.points != null )
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PCDheader.points = parseInt( PCDheader.points[ 1 ], 10 );
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if ( PCDheader.points == null )
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PCDheader.points = PCDheader.width * PCDheader.height;
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if ( PCDheader.count == null ) {
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PCDheader.count = [];
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for ( var i = 0; i < PCDheader.fields; i ++ )
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PCDheader.count.push( 1 );
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}
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PCDheader.offset = {};
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var sizeSum = 0;
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for ( var i = 0; i < PCDheader.fields.length; i ++ ) {
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if ( PCDheader.data == "ascii" ) {
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PCDheader.offset[ PCDheader.fields[ i ] ] = i;
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} else {
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PCDheader.offset[ PCDheader.fields[ i ] ] = sizeSum;
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sizeSum += PCDheader.size[ i ];
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}
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}
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// For binary only
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PCDheader.rowSize = sizeSum;
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return PCDheader;
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},
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parse: function ( data, url ) {
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var textData = this.binarryToStr( data );
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// Parse the header
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// Header is always ascii format
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var PCDheader = this.parseHeader( textData );
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// Parse the data
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var position = false;
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if ( PCDheader.offset.x != undefined )
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position = new Float32Array( PCDheader.points * 3 );
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var color = false;
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if ( PCDheader.offset.rgb != undefined )
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color = new Float32Array( PCDheader.points * 3 );
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var normal = false;
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if ( PCDheader.offset.normal_x != undefined )
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normal = new Float32Array( PCDheader.points * 3 );
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if ( PCDheader.data == "ascii" ) {
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var offset = PCDheader.offset;
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var pcdData = textData.substr( PCDheader.headerLen );
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var lines = pcdData.split( '\n' );
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var i3 = 0;
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for ( var i = 0; i < lines.length; i ++, i3 += 3 ) {
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var line = lines[ i ].split( " " );
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if ( offset.x != undefined ) {
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position[ i3 + 0 ] = parseFloat( line[ offset.x ] );
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position[ i3 + 1 ] = parseFloat( line[ offset.y ] );
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position[ i3 + 2 ] = parseFloat( line[ offset.z ] );
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}
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if ( offset.rgb != undefined ) {
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var c = new Float32Array( [ parseFloat( line[ offset.rgb ] ) ] );
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var dataview = new DataView( c.buffer, 0 );
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color[ i3 + 0 ] = dataview.getUint8( 0 ) / 255.0;
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color[ i3 + 1 ] = dataview.getUint8( 1 ) / 255.0;
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color[ i3 + 2 ] = dataview.getUint8( 2 ) / 255.0;
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}
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if ( offset.normal_x != undefined ) {
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normal[ i3 + 0 ] = parseFloat( line[ offset.normal_x ] );
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normal[ i3 + 1 ] = parseFloat( line[ offset.normal_y ] );
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normal[ i3 + 2 ] = parseFloat( line[ offset.normal_z ] );
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}
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}
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}
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if ( PCDheader.data == "binary_compressed" ) {
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console.error( 'THREE.PCDLoader: binary_compressed files are not supported' );
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return;
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}
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if ( PCDheader.data == "binary" ) {
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var row = 0;
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var dataview = new DataView( data, PCDheader.headerLen );
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var i = 0;
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var offset = PCDheader.offset;
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for ( var i3 = 0; i < PCDheader.points; i3 += 3, row += PCDheader.rowSize, i ++ ) {
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if ( offset.x != undefined ) {
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position[ i3 + 0 ] = dataview.getFloat32( row + offset.x, this.littleEndian );
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position[ i3 + 1 ] = dataview.getFloat32( row + offset.y, this.littleEndian );
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position[ i3 + 2 ] = dataview.getFloat32( row + offset.z, this.littleEndian );
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}
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if ( offset.rgb != undefined ) {
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color[ i3 + 0 ] = dataview.getUint8( row + offset.rgb + 0 ) / 255.0;
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color[ i3 + 1 ] = dataview.getUint8( row + offset.rgb + 1 ) / 255.0;
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color[ i3 + 2 ] = dataview.getUint8( row + offset.rgb + 2 ) / 255.0;
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}
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if ( offset.normal_x != undefined ) {
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normal[ i3 + 0 ] = dataview.getFloat32( row + offset.normal_x, this.littleEndian );
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normal[ i3 + 1 ] = dataview.getFloat32( row + offset.normal_y, this.littleEndian );
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normal[ i3 + 2 ] = dataview.getFloat32( row + offset.normal_z, this.littleEndian );
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}
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}
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}
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var geometry = new THREE.BufferGeometry();
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if ( position != false )
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geometry.addAttribute( 'position', new THREE.BufferAttribute( position, 3 ) );
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if ( color != false )
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geometry.addAttribute( 'color', new THREE.BufferAttribute( color, 3 ) );
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if ( normal != false )
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geometry.addAttribute( 'normal', new THREE.BufferAttribute( normal, 3 ) );
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geometry.computeBoundingSphere();
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var material = new THREE.PointsMaterial( { size: 0.005, vertexColors: ! ( color == false ) } );
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if ( color == false )
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material.color.setHex( Math.random() * 0xffffff );
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var mesh = new THREE.Points( geometry, material );
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var name = url.split( '' ).reverse().join( '' );
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name = /([^\/]*)/.exec( name );
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name = name[ 1 ].split( '' ).reverse().join( '' );
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mesh.name = name;
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mesh.PCDheader = PCDheader;
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return mesh;
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}
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};
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