refactor(parser): re-write Matrix4#setMatrix3().

src/Parser/CameraCalibrationParser.js

@@ -8,21 +8,17 @@ import OrientedImageCamera from 'Renderer/OrientedImageCamera';
  * @module CameraCalibrationParser
  */
 
-THREE.Matrix4.prototype.setMatrix3 = function setMatrix3(m) {
-    this.elements[0] = m.elements[0];
-    this.elements[1] = m.elements[1];
-    this.elements[2] = m.elements[2];
-    this.elements[4] = m.elements[3];
-    this.elements[5] = m.elements[4];
-    this.elements[6] = m.elements[5];
-    this.elements[8] = m.elements[6];
-    this.elements[9] = m.elements[7];
-    this.elements[10] = m.elements[8];
-    return this;
-};
-
+const xAxis = new THREE.Vector3();
+const yAxis = new THREE.Vector3();
+const zAxis = new THREE.Vector3();
 const textureLoader = new THREE.TextureLoader();
 const matrix3 = new THREE.Matrix3();
+
+THREE.Matrix4.prototype.makeBasisFromMatrix = function makeBasisFromMatrix(m) {
+    m.extractBasis(xAxis, yAxis, zAxis);
+    return this.makeBasis(xAxis, yAxis, zAxis);
+};
+
 // the json format encodes the following transformation:
 // extrinsics: p_local = rotation * (p_world - position)
 // intrinsics: p_pixel = projection * p_local
@@ -45,7 +41,7 @@ function parseCalibration(calibration, options = {}) {
     camera.position.fromArray(calibration.position);
     // calibration.rotation is row-major but fromArray expects a column-major array, yielding the transposed matrix
     const rotationInverse = matrix3.fromArray(calibration.rotation);
-    camera.matrix.setMatrix3(rotationInverse);
+    camera.matrix.makeBasisFromMatrix(rotationInverse);
     camera.quaternion.setFromRotationMatrix(camera.matrix);
 
     // local axes for cameras is (X right, Y up, Z back) rather than (X right, Y down, Z front)