@formant/data-sdk 1.80.8 → 1.80.9

package/dist/assets/{PcdLoaderWorker-eaac0b31.js.map → PcdLoaderWorker-6fe0da29.js.map}

@@ -1 +1 @@
-{"version":3,"file":"PcdLoaderWorker-eaac0b31.js","sources":["../src/connector/common/duration.ts","../src/connector/common/fork.ts","../src/connector/data/StoreCache.ts","../node_modules/lzfjs/lzf.js","../src/connector/data/range.ts","../src/connector/data/pcd.ts","../src/connector/data/PcdLoaderWorker.ts"],"sourcesContent":["const millisecond = 1;\nconst second = 1000;\nconst minute = 60 * second;\nconst hour = 60 * minute;\nconst day = 24 * hour;\nconst week = 7 * day;\nconst month = 30 * day;\nconst year = 365 * day;\n\nexport const duration = {\n  millisecond,\n  second,\n  minute,\n  hour,\n  day,\n  week,\n  month,\n  year,\n} as const;\n","/**\n * Used to fire-and-forget a promise.\n * This is useful as a function wrapper to suppress floating promise warnings.\n */\nexport function fork<T>(_: Promise<T>): void {\n  return undefined;\n}\n","import { duration } from \"../common/duration\";\nimport { fork } from \"../common/fork\";\n\ninterface ICacheEntryMetadata<Value> {\n  generating: boolean;\n  expiration: Date;\n  lastValue?: Value;\n}\n\ntype CacheKey = string;\n\nexport class StoreCache<Key, Value> {\n  private entries = new Map<CacheKey, Value>();\n  private metadata = new Map<CacheKey, ICacheEntryMetadata<Value>>();\n  private capacity!: number;\n  private timeout!: number;\n\n  constructor({\n    capacity,\n    timeout,\n  }: { capacity?: number; timeout?: number } = {}) {\n    this.capacity = capacity || 10000;\n    this.timeout = timeout || duration.minute;\n  }\n\n  public get(key: Key, generator?: () => Promise<Value>): Value | undefined {\n    const cacheKey = this.keyToCacheKey(key);\n    const entry = this.entries.get(cacheKey);\n    const metadata = this.metadata.get(cacheKey);\n\n    if (\n      (entry === undefined ||\n        (metadata && metadata?.expiration.getTime() < Date.now())) &&\n      !metadata?.generating &&\n      generator\n    ) {\n      this.generate(key, generator());\n    }\n\n    if (entry === undefined && metadata && metadata.lastValue !== undefined) {\n      return metadata.lastValue;\n    }\n\n    return entry;\n  }\n\n  public set(key: Key, value: Value) {\n    const cacheKey = this.keyToCacheKey(key);\n    this.metadata.set(cacheKey, {\n      generating: false,\n      expiration: new Date(Date.now() + this.timeout),\n      lastValue: value,\n    });\n    this.entries.set(cacheKey, value);\n\n    if (this.metadata.size > this.capacity) {\n      this.deleteOldestEntry();\n    }\n  }\n\n  public clear() {\n    this.entries.clear();\n    [...this.metadata.values()].forEach((value) => (value.generating = false));\n  }\n\n  public clearKey(key: string): void {\n    this.metadata.delete(key);\n    this.entries.delete(key);\n  }\n\n  private keyToCacheKey(key: Key): CacheKey {\n    return JSON.stringify(key);\n  }\n\n  private deleteOldestEntry() {\n    if (this.metadata.size < 1) {\n      return;\n    }\n    const [key] = [...this.metadata.entries()].reduce(\n      ([oldestKey, oldestEntry], [thisKey, entry]) =>\n        entry.expiration.getTime() < oldestEntry.expiration.getTime()\n          ? [thisKey, entry]\n          : [oldestKey, oldestEntry]\n    );\n    this.clearKey(key);\n  }\n\n  private generate(key: Key, promise: Promise<Value>) {\n    const cacheKey = this.keyToCacheKey(key);\n    const existingMetadata = this.metadata.get(cacheKey) || {};\n    this.metadata.set(cacheKey, {\n      ...existingMetadata,\n      generating: true,\n      expiration: new Date(Date.now() + this.timeout),\n    });\n    setTimeout(() => {\n      fork(\n        promise.then((value) => {\n          const metadata = this.metadata.get(cacheKey);\n          const canceled = !metadata?.generating;\n          if (!canceled) {\n            this.set(key, value);\n          }\n        })\n      );\n    }, 0);\n  }\n}\n","/**\r\n * LZF compression/decompression module. Ported from the C\r\n * implementation of liblzf, specfically lzf_c.c and lzf_d.c\r\n * @license BSD-2-Clause\r\n */\r\n\r\n \"use strict\";\r\n\r\n/**\r\n * Decompress a TypedArray (in browser) or Buffer (in node)\r\n * containing LZF compressed data.\r\n * @param {(ArrayBuffer|TypedArray|Buffer)} data - the data to be decompressed\r\n * @returns {(Uint8Array|Buffer)} - decompressed data\r\n */\r\nfunction decompress(data) {\r\n    var input = new Uint8Array(data);\r\n    var output = [];\r\n\r\n    var ip = 0;\r\n    var op = 0;\r\n\r\n    do {\r\n        var ctrl = input[ip++];\r\n\r\n        if (ctrl < (1 << 5)) { /* literal run */\r\n            ctrl++;\r\n\r\n            if (ip + ctrl > input.length) {\r\n                throw new Error('Invalid input'); \r\n            }\r\n\r\n            while (ctrl--) {\r\n                output[op++] = input[ip++];\r\n            }\r\n        } else { /* back reference */\r\n            var len = ctrl >> 5;\r\n            var ref =  op - ((ctrl & 0x1f) << 8) - 1;\r\n\r\n            if (ip >= input.length) {\r\n                throw new Error('Invalid input');\r\n            }\r\n\r\n            if (len == 7) {\r\n                len += input[ip++];\r\n\r\n                if (ip >= input.length) {\r\n                    throw new Error('Invalid input');\r\n                }\r\n            }\r\n\r\n            ref -= input[ip++];\r\n\r\n            if (ref < 0) {\r\n                throw new Error('Invalid input');\r\n            }\r\n\r\n            len += 2;\r\n\r\n            do {\r\n                output[op++] = output[ref++];\r\n            } while (--len);\r\n        }\r\n    } while (ip < input.length);\r\n\r\n    // Return a Buffer if it exists (say in node), otherwise just\r\n    // use a normal Uint8Array.\r\n    if (typeof Buffer !== 'undefined') {\r\n        return new Buffer(output);\r\n    } else {\r\n        var res = new Uint8Array(output.length);\r\n        res.set(output);\r\n        return res;\r\n    }\r\n}\r\n\r\n/**\r\n * Compress a buffer containing some data\r\n * @param {(ArrayBuffer|TypedArray|Buffer)} data - the data to be compressed\r\n * @returns {(Uint8Array|Buffer)} - compressed data\r\n */\r\nfunction compress(data) {\r\n    var HLOG = 16;\r\n    var HSIZE = (1 << HLOG);\r\n    var LZF_MAX_OFF = (1 << 13);\r\n    var LZF_MAX_REF = ((1 << 8) + (1 << 3));\r\n    var LZF_MAX_LIT = (1 <<  5);\r\n\r\n    function FRST(data, p) {\r\n        return (((data[p]) << 8) | data[p+1]);\r\n    }\r\n\r\n    function NEXT(v, data, p) {\r\n        return (((v) << 8) | data[p+2]);\r\n    }\r\n\r\n    function IDX(h) {\r\n        return (((h * 0x1e35a7bd) >> (32 - HLOG - 8)) & (HSIZE - 1));\r\n    }\r\n\r\n    var input = new Uint8Array(data);\r\n    var output = [];\r\n    var htab = new Uint32Array(HSIZE);\r\n\r\n    var in_end = input.length, ip = 0, hval = FRST(input, ip);\r\n    var op = 1, lit = 0; /* start run */\r\n\r\n    while (ip < in_end - 2) {\r\n        hval = NEXT(hval, data, ip);\r\n        var hslot = IDX(hval);\r\n        var ref = htab[hslot];\r\n        htab[hslot] = ip;\r\n\r\n        var off;\r\n\r\n        if (ref < ip /* the next test will actually take care of this, but this is faster */\r\n            && (off = ip - ref - 1) < LZF_MAX_OFF\r\n            && ref > 0\r\n            && input[ref + 2] == input[ip + 2]\r\n            && input[ref + 1] == input[ip + 1]\r\n            && input[ref] == input[ip]\r\n        ) {\r\n            /* match found at *ref++ */\r\n            var len = 2;\r\n            var maxlen = in_end - ip - len;\r\n            maxlen = maxlen > LZF_MAX_REF ? LZF_MAX_REF : maxlen;\r\n\r\n            output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n            if (lit == 0) {\r\n                op -= 1; /* undo run if length is zero */\r\n            }\r\n\r\n            do {\r\n                len++;\r\n            }\r\n            while (len < maxlen && input[ref + len] == input[ip + len]);\r\n\r\n            len -= 2; /* len is now #octets - 1 */\r\n            ip++;\r\n\r\n            if (len < 7) {\r\n                output[op++] = ((off >> 8) + (len << 5)) & 255;\r\n            } else {\r\n                output[op++] = ((off >> 8) + (7 << 5)) & 255;\r\n                output[op++] = (len - 7) & 255;\r\n            }\r\n\r\n            output[op++] = off & 255;\r\n\r\n            lit = 0; op++; /* start run */\r\n\r\n            ip += len + 1;\r\n\r\n            if (ip >= in_end - 2) {\r\n                break;\r\n            }\r\n\r\n            --ip;\r\n            --ip;\r\n            hval = FRST(input, ip);\r\n\r\n            hval = NEXT(hval, input, ip);\r\n            htab[IDX(hval)] = ip++;\r\n\r\n            hval = NEXT(hval, input, ip);\r\n            htab[IDX(hval)] = ip++;\r\n        } else {\r\n            lit++;\r\n            output[op++] = input[ip++];\r\n\r\n            if (lit == LZF_MAX_LIT) {\r\n                output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n                lit = 0; op++; /* start run */\r\n            }\r\n        }\r\n    }\r\n\r\n    while (ip < in_end) {\r\n        lit++;\r\n        output[op++] = input[ip++];\r\n\r\n        if (lit == LZF_MAX_LIT) {\r\n            output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n            lit = 0; op++; /* start run */\r\n        }\r\n    }\r\n\r\n    if (lit != 0) {\r\n        output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n    }\r\n\r\n    // Return a Buffer if it exists (say in node), otherwise just\r\n    // use a normal Uint8Array.\r\n    if (typeof Buffer !== 'undefined') {\r\n        return new Buffer(output);\r\n    } else {\r\n        var res = new Uint8Array(output.length);\r\n        res.set(output);\r\n        return res;\r\n    }\r\n}\r\n\r\nmodule.exports = {\r\n    decompress: decompress,\r\n    compress: compress\r\n};\r\n","export const range = (start: number, end: number) =>\n  end <= start ? [] : new Array(end - start).fill(0).map((_, i) => i + start);\n","// @ts-ignore-next-line\nimport * as lzfjs from \"lzfjs\";\nimport { range } from \"./range\";\n\nexport type Field = \"x\" | \"y\" | \"z\" | \"rgb\" | \"rgba\" | \"intensity\";\nexport type Type = \"i\" | \"u\" | \"f\";\nexport type Data = \"ascii\" | \"binary\" | \"binary_compressed\";\n\nexport interface IPcdHeader {\n  version: string;\n  fields: Field[];\n  size: number[];\n  type: Type[];\n  count: number[];\n  height: number;\n  width: number;\n  points: number;\n  data: Data;\n}\n\ninterface IOffsets {\n  x?: number;\n  y?: number;\n  z?: number;\n  rgb?: number;\n  rgba?: number;\n  intensity?: number;\n}\n\nexport interface IPcd {\n  header: IPcdHeader;\n  positions?: Float32Array;\n  colors?: Float32Array;\n  intensity?: Float32Array;\n}\n\nconst littleEndian = true;\n\nfunction base64ToArrayBuffer(b: string) {\n  const binaryString = atob(b);\n  const len = binaryString.length;\n  const bytes = new Uint8Array(len);\n  for (let i = 0; i < len; i += 1) {\n    bytes[i] = binaryString.charCodeAt(i);\n  }\n  return bytes.buffer;\n}\n\nfunction extractHeader(buffer: ArrayBuffer): {\n  header: string;\n  body: ArrayBuffer;\n} {\n  const chars = new Uint8Array(buffer);\n  let header = \"\";\n\n  let i = 0;\n  for (\n    ;\n    i < chars.length && header.search(/[\\r\\n]DATA\\s(\\S*)\\s/i) === -1;\n    i += 1\n  ) {\n    header += String.fromCharCode(chars[i]);\n  }\n  return {\n    body: buffer.slice(i),\n    header: header.replace(/#.*/gi, \"\"),\n  };\n}\n\nfunction decompress(data: ArrayBuffer): ArrayBufferLike {\n  const sizes = new Uint32Array(data, 0, 2);\n  const compressedSize = sizes[0];\n  if (compressedSize === 0) {\n    return new ArrayBuffer(0);\n  }\n  return lzfjs.decompress(new Uint8Array(data, 8, compressedSize)).buffer;\n}\n\nfunction parseHeader(buffer: ArrayBuffer): {\n  header: IPcdHeader;\n  body: ArrayBuffer;\n} {\n  const { header, body } = extractHeader(buffer);\n\n  const versionMatch = /VERSION (.*)/i.exec(header);\n  if (versionMatch === null) {\n    throw new Error(`Missing version. Header ${header}`);\n  }\n  const version = versionMatch[1];\n\n  const fieldsMatch = /FIELDS (.*)/i.exec(header);\n  if (!fieldsMatch) {\n    throw new Error(\"Missing fields\");\n  }\n  const fields = fieldsMatch[1].split(\" \") as Field[];\n\n  const sizeMatch = /SIZE (.*)/i.exec(header);\n  if (!sizeMatch) {\n    throw new Error(\"Missing size\");\n  }\n  const size = sizeMatch[1].split(\" \").map((_) => parseInt(_, 10));\n\n  const typeMatch = /TYPE (.*)/i.exec(header);\n  if (!typeMatch) {\n    throw new Error(\"Missing type\");\n  }\n  const type = typeMatch[1].split(\" \") as Type[];\n\n  const countMatch = /COUNT (.*)/i.exec(header);\n  let optionalCount: number[] | undefined;\n  if (countMatch) {\n    optionalCount = countMatch[1].split(\" \").map((_) => parseInt(_, 10));\n  }\n  const count = optionalCount || fields.map((_) => 1);\n\n  const widthMatch = /WIDTH (.*)/i.exec(header);\n  if (!widthMatch) {\n    throw new Error(\"Missing width\");\n  }\n  const width = parseInt(widthMatch[1], 10);\n\n  const heightMatch = /HEIGHT (.*)/i.exec(header);\n  if (!heightMatch) {\n    throw new Error(\"Missing height\");\n  }\n  const height = parseInt(heightMatch[1], 10);\n\n  const pointsMatch = /POINTS (.*)/i.exec(header);\n  let optionalPoints: number | undefined;\n  if (pointsMatch) {\n    optionalPoints = parseInt(pointsMatch[1], 10);\n  }\n  const points = optionalPoints || width * height;\n\n  const dataMatch = /DATA (.*)/i.exec(header);\n  if (!dataMatch) {\n    throw new Error(\"Missing data\");\n  }\n  const data = dataMatch[1] as Data;\n\n  return {\n    body,\n    header: {\n      count,\n      data,\n      fields,\n      height,\n      points,\n      size,\n      type,\n      version,\n      width,\n    },\n  };\n}\n\nfunction calculateOffsets(header: IPcdHeader): {\n  offsets: IOffsets;\n  size: number;\n} {\n  const empty: IOffsets = {};\n  return header.fields.reduce(\n    ({ offsets, size }, field, i) => {\n      let newSize = size;\n      if (field === \"x\") {\n        offsets.x = newSize;\n      }\n      if (field === \"y\") {\n        offsets.y = newSize;\n      }\n      if (field === \"z\") {\n        offsets.z = newSize;\n      }\n      if (field === \"rgb\") {\n        offsets.rgb = newSize;\n      }\n      if (field === \"rgba\") {\n        offsets.rgba = newSize;\n      }\n      if (field === \"intensity\") {\n        offsets.intensity = newSize;\n      }\n      if (header.data === \"ascii\") {\n        newSize += 1;\n      } else if (header.data === \"binary\") {\n        newSize += header.size[i] * header.count[i];\n      } else if (header.data === \"binary_compressed\") {\n        newSize += header.size[i] * header.count[i] * header.points;\n      }\n      return {\n        offsets,\n        size: newSize,\n      };\n    },\n    {\n      offsets: empty,\n      size: 0,\n    }\n  );\n}\n\nexport function parse(buffer: ArrayBuffer): IPcd {\n  const { header, body } = parseHeader(buffer);\n\n  const { offsets, size } = calculateOffsets(header);\n\n  let positions: Float32Array | undefined;\n  if (\n    offsets.x !== undefined &&\n    offsets.y !== undefined &&\n    offsets.z !== undefined\n  ) {\n    positions = new Float32Array(header.points * 3);\n  }\n\n  let colors: Float32Array | undefined;\n  if (offsets.rgb !== undefined || offsets.rgba !== undefined) {\n    colors = new Float32Array(header.points * 4);\n  }\n  let intensity: Float32Array | undefined;\n  if (offsets.intensity !== undefined) {\n    intensity = new Float32Array(header.points);\n  }\n\n  if (header.data === \"ascii\") {\n    const dataString: string = String.fromCharCode(...new Uint8Array(body));\n\n    const lines = dataString.split(\"\\n\");\n    lines.forEach((line, i) => {\n      const column = line.split(\" \");\n\n      if (positions !== undefined) {\n        positions[i * 3 + 0] = parseFloat(column[offsets.x || 0]);\n        positions[i * 3 + 1] = parseFloat(column[offsets.y || 0]);\n        positions[i * 3 + 2] = parseFloat(column[offsets.z || 0]);\n      }\n\n      if (colors !== undefined) {\n        const intArray = new Int32Array([\n          parseInt(column[offsets.rgb || offsets.rgba || 0], 10),\n        ]);\n        const view = new DataView(intArray.buffer, 0);\n        colors[i * 3 + 0] = view.getUint8(2) / 255.0;\n        colors[i * 3 + 1] = view.getUint8(1) / 255.0;\n        colors[i * 3 + 2] = view.getUint8(0) / 255.0;\n      }\n\n      if (intensity !== undefined) {\n        intensity[i] = parseFloat(column[offsets.intensity || 0]);\n      }\n    });\n  } else if (header.data === \"binary\") {\n    const view = new DataView(body);\n\n    range(0, header.points).forEach((i) => {\n      const row = size * i;\n\n      if (positions !== undefined) {\n        positions[i * 3 + 0] = view.getFloat32(\n          row + (offsets.x || 0),\n          littleEndian\n        );\n        positions[i * 3 + 1] = view.getFloat32(\n          row + (offsets.y || 0),\n          littleEndian\n        );\n        positions[i * 3 + 2] = view.getFloat32(\n          row + (offsets.z || 0),\n          littleEndian\n        );\n      }\n\n      if (colors !== undefined) {\n        const offset = row + (offsets.rgb || offsets.rgba || 0);\n        if (offset + 2 <= view.byteLength) {\n          colors[i * 4 + 0] = view.getUint8(offset + 2) / 255.0;\n          colors[i * 4 + 1] = view.getUint8(offset + 1) / 255.0;\n          colors[i * 4 + 2] = view.getUint8(offset + 0) / 255.0;\n          colors[i * 4 + 3] = 1.0;\n        }\n      }\n\n      if (intensity !== undefined) {\n        intensity[i] = view.getFloat32(\n          row + (offsets.intensity || 0),\n          littleEndian\n        );\n      }\n    });\n  } else if (header.data === \"binary_compressed\") {\n    const uncompressed = decompress(body);\n    const view = new DataView(uncompressed);\n\n    range(0, header.points).forEach((i) => {\n      if (positions !== undefined) {\n        positions[i * 3 + 0] = view.getFloat32(\n          (offsets.x || 0) + i * 4,\n          littleEndian\n        );\n        positions[i * 3 + 1] = view.getFloat32(\n          (offsets.y || 0) + i * 4,\n          littleEndian\n        );\n        positions[i * 3 + 2] = view.getFloat32(\n          (offsets.z || 0) + i * 4,\n          littleEndian\n        );\n      }\n\n      if (colors !== undefined) {\n        const offset = (offsets.rgb || offsets.rgba || 0) + i * 4;\n        if (offset + 2 <= view.byteLength) {\n          colors[i * 4 + 0] = view.getUint8(offset + 2) / 255.0;\n          colors[i * 4 + 1] = view.getUint8(offset + 1) / 255.0;\n          colors[i * 4 + 2] = view.getUint8(offset + 0) / 255.0;\n          colors[i * 4 + 3] = 1.0;\n        }\n      }\n\n      if (intensity !== undefined) {\n        intensity[i] = view.getFloat32(\n          (offsets.intensity || 0) + i * 4,\n          littleEndian\n        );\n      }\n    });\n  }\n\n  return {\n    colors,\n    header,\n    intensity,\n    positions,\n  };\n}\n\nexport async function loadFromUrl(path: string): Promise<IPcd> {\n  const response = await fetch(path, { mode: \"cors\" });\n  return parse(await response.arrayBuffer());\n}\n\nexport function loadFromBase64(data: string): IPcd {\n  return parse(base64ToArrayBuffer(data));\n}\n","import { duration } from \"../common/duration\";\nimport { StoreCache } from \"./StoreCache\";\nimport { IPcd, loadFromBase64, parse } from \"./pcd\";\n\nconst cache = new StoreCache<string, IPcd>({\n  capacity: 1000,\n  timeout: 1 * duration.minute,\n});\n\nonmessage = async (\n  event: MessageEvent<{ id?: number; url?: string; pointCloud: string }>\n) => {\n  const { url, id, pointCloud } = event.data;\n\n  if (url) {\n    // Check if the point cloud for the given URL is already in the cache\n    const cached = cache.get(url, async () => {\n      // Fetch the point cloud and store it in the cache\n      const pcd = parse(\n        await fetch(url, { mode: \"cors\" }).then((r) => r.arrayBuffer())\n      );\n      return pcd;\n    });\n\n    if (cached) {\n      postMessage({ url, pcd: cached });\n    }\n  }\n\n  if (id && pointCloud) {\n    // Process the base64-encoded point cloud\n    const pcd = loadFromBase64(pointCloud);\n    postMessage({ id, pcd });\n  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+{"version":3,"file":"PcdLoaderWorker-6fe0da29.js","sources":["../src/connector/common/duration.ts","../src/connector/common/fork.ts","../src/connector/data/StoreCache.ts","../node_modules/lzfjs/lzf.js","../src/connector/data/range.ts","../src/connector/data/pcd.ts","../src/connector/data/PcdLoaderWorker.ts"],"sourcesContent":["const millisecond = 1;\nconst second = 1000;\nconst minute = 60 * second;\nconst hour = 60 * minute;\nconst day = 24 * hour;\nconst week = 7 * day;\nconst month = 30 * day;\nconst year = 365 * day;\n\nexport const duration = {\n  millisecond,\n  second,\n  minute,\n  hour,\n  day,\n  week,\n  month,\n  year,\n} as const;\n","/**\n * Used to fire-and-forget a promise.\n * This is useful as a function wrapper to suppress floating promise warnings.\n */\nexport function fork<T>(_: Promise<T>): void {\n  return undefined;\n}\n","import { duration } from \"../common/duration\";\nimport { fork } from \"../common/fork\";\n\ninterface ICacheEntryMetadata<Value> {\n  generating: boolean;\n  expiration: Date;\n  lastValue?: Value;\n}\n\ntype CacheKey = string;\n\nexport class StoreCache<Key, Value> {\n  private entries = new Map<CacheKey, Value>();\n  private metadata = new Map<CacheKey, ICacheEntryMetadata<Value>>();\n  private capacity!: number;\n  private timeout!: number;\n\n  constructor({\n    capacity,\n    timeout,\n  }: { capacity?: number; timeout?: number } = {}) {\n    this.capacity = capacity || 10000;\n    this.timeout = timeout || duration.minute;\n  }\n\n  public get(key: Key, generator?: () => Promise<Value>): Value | undefined {\n    const cacheKey = this.keyToCacheKey(key);\n    const entry = this.entries.get(cacheKey);\n    const metadata = this.metadata.get(cacheKey);\n\n    if (\n      (entry === undefined ||\n        (metadata && metadata?.expiration.getTime() < Date.now())) &&\n      !metadata?.generating &&\n      generator\n    ) {\n      this.generate(key, generator());\n    }\n\n    if (entry === undefined && metadata && metadata.lastValue !== undefined) {\n      return metadata.lastValue;\n    }\n\n    return entry;\n  }\n\n  public set(key: Key, value: Value) {\n    const cacheKey = this.keyToCacheKey(key);\n    this.metadata.set(cacheKey, {\n      generating: false,\n      expiration: new Date(Date.now() + this.timeout),\n      lastValue: value,\n    });\n    this.entries.set(cacheKey, value);\n\n    if (this.metadata.size > this.capacity) {\n      this.deleteOldestEntry();\n    }\n  }\n\n  public clear() {\n    this.entries.clear();\n    [...this.metadata.values()].forEach((value) => (value.generating = false));\n  }\n\n  public clearKey(key: string): void {\n    this.metadata.delete(key);\n    this.entries.delete(key);\n  }\n\n  private keyToCacheKey(key: Key): CacheKey {\n    return JSON.stringify(key);\n  }\n\n  private deleteOldestEntry() {\n    if (this.metadata.size < 1) {\n      return;\n    }\n    const [key] = [...this.metadata.entries()].reduce(\n      ([oldestKey, oldestEntry], [thisKey, entry]) =>\n        entry.expiration.getTime() < oldestEntry.expiration.getTime()\n          ? [thisKey, entry]\n          : [oldestKey, oldestEntry]\n    );\n    this.clearKey(key);\n  }\n\n  private generate(key: Key, promise: Promise<Value>) {\n    const cacheKey = this.keyToCacheKey(key);\n    const existingMetadata = this.metadata.get(cacheKey) || {};\n    this.metadata.set(cacheKey, {\n      ...existingMetadata,\n      generating: true,\n      expiration: new Date(Date.now() + this.timeout),\n    });\n    setTimeout(() => {\n      fork(\n        promise.then((value) => {\n          const metadata = this.metadata.get(cacheKey);\n          const canceled = !metadata?.generating;\n          if (!canceled) {\n            this.set(key, value);\n          }\n        })\n      );\n    }, 0);\n  }\n}\n","/**\r\n * LZF compression/decompression module. Ported from the C\r\n * implementation of liblzf, specfically lzf_c.c and lzf_d.c\r\n * @license BSD-2-Clause\r\n */\r\n\r\n \"use strict\";\r\n\r\n/**\r\n * Decompress a TypedArray (in browser) or Buffer (in node)\r\n * containing LZF compressed data.\r\n * @param {(ArrayBuffer|TypedArray|Buffer)} data - the data to be decompressed\r\n * @returns {(Uint8Array|Buffer)} - decompressed data\r\n */\r\nfunction decompress(data) {\r\n    var input = new Uint8Array(data);\r\n    var output = [];\r\n\r\n    var ip = 0;\r\n    var op = 0;\r\n\r\n    do {\r\n        var ctrl = input[ip++];\r\n\r\n        if (ctrl < (1 << 5)) { /* literal run */\r\n            ctrl++;\r\n\r\n            if (ip + ctrl > input.length) {\r\n                throw new Error('Invalid input'); \r\n            }\r\n\r\n            while (ctrl--) {\r\n                output[op++] = input[ip++];\r\n            }\r\n        } else { /* back reference */\r\n            var len = ctrl >> 5;\r\n            var ref =  op - ((ctrl & 0x1f) << 8) - 1;\r\n\r\n            if (ip >= input.length) {\r\n                throw new Error('Invalid input');\r\n            }\r\n\r\n            if (len == 7) {\r\n                len += input[ip++];\r\n\r\n                if (ip >= input.length) {\r\n                    throw new Error('Invalid input');\r\n                }\r\n            }\r\n\r\n            ref -= input[ip++];\r\n\r\n            if (ref < 0) {\r\n                throw new Error('Invalid input');\r\n            }\r\n\r\n            len += 2;\r\n\r\n            do {\r\n                output[op++] = output[ref++];\r\n            } while (--len);\r\n        }\r\n    } while (ip < input.length);\r\n\r\n    // Return a Buffer if it exists (say in node), otherwise just\r\n    // use a normal Uint8Array.\r\n    if (typeof Buffer !== 'undefined') {\r\n        return new Buffer(output);\r\n    } else {\r\n        var res = new Uint8Array(output.length);\r\n        res.set(output);\r\n        return res;\r\n    }\r\n}\r\n\r\n/**\r\n * Compress a buffer containing some data\r\n * @param {(ArrayBuffer|TypedArray|Buffer)} data - the data to be compressed\r\n * @returns {(Uint8Array|Buffer)} - compressed data\r\n */\r\nfunction compress(data) {\r\n    var HLOG = 16;\r\n    var HSIZE = (1 << HLOG);\r\n    var LZF_MAX_OFF = (1 << 13);\r\n    var LZF_MAX_REF = ((1 << 8) + (1 << 3));\r\n    var LZF_MAX_LIT = (1 <<  5);\r\n\r\n    function FRST(data, p) {\r\n        return (((data[p]) << 8) | data[p+1]);\r\n    }\r\n\r\n    function NEXT(v, data, p) {\r\n        return (((v) << 8) | data[p+2]);\r\n    }\r\n\r\n    function IDX(h) {\r\n        return (((h * 0x1e35a7bd) >> (32 - HLOG - 8)) & (HSIZE - 1));\r\n    }\r\n\r\n    var input = new Uint8Array(data);\r\n    var output = [];\r\n    var htab = new Uint32Array(HSIZE);\r\n\r\n    var in_end = input.length, ip = 0, hval = FRST(input, ip);\r\n    var op = 1, lit = 0; /* start run */\r\n\r\n    while (ip < in_end - 2) {\r\n        hval = NEXT(hval, data, ip);\r\n        var hslot = IDX(hval);\r\n        var ref = htab[hslot];\r\n        htab[hslot] = ip;\r\n\r\n        var off;\r\n\r\n        if (ref < ip /* the next test will actually take care of this, but this is faster */\r\n            && (off = ip - ref - 1) < LZF_MAX_OFF\r\n            && ref > 0\r\n            && input[ref + 2] == input[ip + 2]\r\n            && input[ref + 1] == input[ip + 1]\r\n            && input[ref] == input[ip]\r\n        ) {\r\n            /* match found at *ref++ */\r\n            var len = 2;\r\n            var maxlen = in_end - ip - len;\r\n            maxlen = maxlen > LZF_MAX_REF ? LZF_MAX_REF : maxlen;\r\n\r\n            output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n            if (lit == 0) {\r\n                op -= 1; /* undo run if length is zero */\r\n            }\r\n\r\n            do {\r\n                len++;\r\n            }\r\n            while (len < maxlen && input[ref + len] == input[ip + len]);\r\n\r\n            len -= 2; /* len is now #octets - 1 */\r\n            ip++;\r\n\r\n            if (len < 7) {\r\n                output[op++] = ((off >> 8) + (len << 5)) & 255;\r\n            } else {\r\n                output[op++] = ((off >> 8) + (7 << 5)) & 255;\r\n                output[op++] = (len - 7) & 255;\r\n            }\r\n\r\n            output[op++] = off & 255;\r\n\r\n            lit = 0; op++; /* start run */\r\n\r\n            ip += len + 1;\r\n\r\n            if (ip >= in_end - 2) {\r\n                break;\r\n            }\r\n\r\n            --ip;\r\n            --ip;\r\n            hval = FRST(input, ip);\r\n\r\n            hval = NEXT(hval, input, ip);\r\n            htab[IDX(hval)] = ip++;\r\n\r\n            hval = NEXT(hval, input, ip);\r\n            htab[IDX(hval)] = ip++;\r\n        } else {\r\n            lit++;\r\n            output[op++] = input[ip++];\r\n\r\n            if (lit == LZF_MAX_LIT) {\r\n                output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n                lit = 0; op++; /* start run */\r\n            }\r\n        }\r\n    }\r\n\r\n    while (ip < in_end) {\r\n        lit++;\r\n        output[op++] = input[ip++];\r\n\r\n        if (lit == LZF_MAX_LIT) {\r\n            output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n            lit = 0; op++; /* start run */\r\n        }\r\n    }\r\n\r\n    if (lit != 0) {\r\n        output[op - lit - 1] = (lit - 1) & 255; /* stop run */\r\n    }\r\n\r\n    // Return a Buffer if it exists (say in node), otherwise just\r\n    // use a normal Uint8Array.\r\n    if (typeof Buffer !== 'undefined') {\r\n        return new Buffer(output);\r\n    } else {\r\n        var res = new Uint8Array(output.length);\r\n        res.set(output);\r\n        return res;\r\n    }\r\n}\r\n\r\nmodule.exports = {\r\n    decompress: decompress,\r\n    compress: compress\r\n};\r\n","export const range = (start: number, end: number) =>\n  end <= start ? [] : new Array(end - start).fill(0).map((_, i) => i + start);\n","// @ts-ignore-next-line\nimport * as lzfjs from \"lzfjs\";\nimport { range } from \"./range\";\n\nexport type Field = \"x\" | \"y\" | \"z\" | \"rgb\" | \"rgba\" | \"intensity\";\nexport type Type = \"i\" | \"u\" | \"f\";\nexport type Data = \"ascii\" | \"binary\" | \"binary_compressed\";\n\nexport interface IPcdHeader {\n  version: string;\n  fields: Field[];\n  size: number[];\n  type: Type[];\n  count: number[];\n  height: number;\n  width: number;\n  points: number;\n  data: Data;\n}\n\ninterface IOffsets {\n  x?: number;\n  y?: number;\n  z?: number;\n  rgb?: number;\n  rgba?: number;\n  intensity?: number;\n}\n\nexport interface IPcd {\n  header: IPcdHeader;\n  positions?: Float32Array;\n  colors?: Float32Array;\n  intensity?: Float32Array;\n}\n\nconst littleEndian = true;\n\nfunction base64ToArrayBuffer(b: string) {\n  const binaryString = atob(b);\n  const len = binaryString.length;\n  const bytes = new Uint8Array(len);\n  for (let i = 0; i < len; i += 1) {\n    bytes[i] = binaryString.charCodeAt(i);\n  }\n  return bytes.buffer;\n}\n\nfunction extractHeader(buffer: ArrayBuffer): {\n  header: string;\n  body: ArrayBuffer;\n} {\n  const chars = new Uint8Array(buffer);\n  let header = \"\";\n\n  let i = 0;\n  for (\n    ;\n    i < chars.length && header.search(/[\\r\\n]DATA\\s(\\S*)\\s/i) === -1;\n    i += 1\n  ) {\n    header += String.fromCharCode(chars[i]);\n  }\n  return {\n    body: buffer.slice(i),\n    header: header.replace(/#.*/gi, \"\"),\n  };\n}\n\nfunction decompress(data: ArrayBuffer): ArrayBufferLike {\n  const sizes = new Uint32Array(data, 0, 2);\n  const compressedSize = sizes[0];\n  if (compressedSize === 0) {\n    return new ArrayBuffer(0);\n  }\n  return lzfjs.decompress(new Uint8Array(data, 8, compressedSize)).buffer;\n}\n\nfunction parseHeader(buffer: ArrayBuffer): {\n  header: IPcdHeader;\n  body: ArrayBuffer;\n} {\n  const { header, body } = extractHeader(buffer);\n\n  const versionMatch = /VERSION (.*)/i.exec(header);\n  if (versionMatch === null) {\n    throw new Error(`Missing version. Header ${header}`);\n  }\n  const version = versionMatch[1];\n\n  const fieldsMatch = /FIELDS (.*)/i.exec(header);\n  if (!fieldsMatch) {\n    throw new Error(\"Missing fields\");\n  }\n  const fields = fieldsMatch[1].split(\" \") as Field[];\n\n  const sizeMatch = /SIZE (.*)/i.exec(header);\n  if (!sizeMatch) {\n    throw new Error(\"Missing size\");\n  }\n  const size = sizeMatch[1].split(\" \").map((_) => parseInt(_, 10));\n\n  const typeMatch = /TYPE (.*)/i.exec(header);\n  if (!typeMatch) {\n    throw new Error(\"Missing type\");\n  }\n  const type = typeMatch[1].split(\" \") as Type[];\n\n  const countMatch = /COUNT (.*)/i.exec(header);\n  let optionalCount: number[] | undefined;\n  if (countMatch) {\n    optionalCount = countMatch[1].split(\" \").map((_) => parseInt(_, 10));\n  }\n  const count = optionalCount || fields.map((_) => 1);\n\n  const widthMatch = /WIDTH (.*)/i.exec(header);\n  if (!widthMatch) {\n    throw new Error(\"Missing width\");\n  }\n  const width = parseInt(widthMatch[1], 10);\n\n  const heightMatch = /HEIGHT (.*)/i.exec(header);\n  if (!heightMatch) {\n    throw new Error(\"Missing height\");\n  }\n  const height = parseInt(heightMatch[1], 10);\n\n  const pointsMatch = /POINTS (.*)/i.exec(header);\n  let optionalPoints: number | undefined;\n  if (pointsMatch) {\n    optionalPoints = parseInt(pointsMatch[1], 10);\n  }\n  const points = optionalPoints || width * height;\n\n  const dataMatch = /DATA (.*)/i.exec(header);\n  if (!dataMatch) {\n    throw new Error(\"Missing data\");\n  }\n  const data = dataMatch[1] as Data;\n\n  return {\n    body,\n    header: {\n      count,\n      data,\n      fields,\n      height,\n      points,\n      size,\n      type,\n      version,\n      width,\n    },\n  };\n}\n\nfunction calculateOffsets(header: IPcdHeader): {\n  offsets: IOffsets;\n  size: number;\n} {\n  const empty: IOffsets = {};\n  return header.fields.reduce(\n    ({ offsets, size }, field, i) => {\n      let newSize = size;\n      if (field === \"x\") {\n        offsets.x = newSize;\n      }\n      if (field === \"y\") {\n        offsets.y = newSize;\n      }\n      if (field === \"z\") {\n        offsets.z = newSize;\n      }\n      if (field === \"rgb\") {\n        offsets.rgb = newSize;\n      }\n      if (field === \"rgba\") {\n        offsets.rgba = newSize;\n      }\n      if (field === \"intensity\") {\n        offsets.intensity = newSize;\n      }\n      if (header.data === \"ascii\") {\n        newSize += 1;\n      } else if (header.data === \"binary\") {\n        newSize += header.size[i] * header.count[i];\n      } else if (header.data === \"binary_compressed\") {\n        newSize += header.size[i] * header.count[i] * header.points;\n      }\n      return {\n        offsets,\n        size: newSize,\n      };\n    },\n    {\n      offsets: empty,\n      size: 0,\n    }\n  );\n}\n\nexport function parse(buffer: ArrayBuffer): IPcd {\n  const { header, body } = parseHeader(buffer);\n\n  const { offsets, size } = calculateOffsets(header);\n\n  let positions: Float32Array | undefined;\n  if (\n    offsets.x !== undefined &&\n    offsets.y !== undefined &&\n    offsets.z !== undefined\n  ) {\n    positions = new Float32Array(header.points * 3);\n  }\n\n  let colors: Float32Array | undefined;\n  if (offsets.rgb !== undefined || offsets.rgba !== undefined) {\n    colors = new Float32Array(header.points * 4);\n  }\n  let intensity: Float32Array | undefined;\n  if (offsets.intensity !== undefined) {\n    intensity = new Float32Array(header.points);\n  }\n\n  if (header.data === \"ascii\") {\n    const dataString: string = String.fromCharCode(...new Uint8Array(body));\n\n    const lines = dataString.split(\"\\n\");\n    lines.forEach((line, i) => {\n      const column = line.split(\" \");\n\n      if (positions !== undefined) {\n        positions[i * 3 + 0] = parseFloat(column[offsets.x || 0]);\n        positions[i * 3 + 1] = parseFloat(column[offsets.y || 0]);\n        positions[i * 3 + 2] = parseFloat(column[offsets.z || 0]);\n      }\n\n      if (colors !== undefined) {\n        const intArray = new Int32Array([\n          parseInt(column[offsets.rgb || offsets.rgba || 0], 10),\n        ]);\n        const view = new DataView(intArray.buffer, 0);\n        colors[i * 3 + 0] = view.getUint8(2) / 255.0;\n        colors[i * 3 + 1] = view.getUint8(1) / 255.0;\n        colors[i * 3 + 2] = view.getUint8(0) / 255.0;\n      }\n\n      if (intensity !== undefined) {\n        intensity[i] = parseFloat(column[offsets.intensity || 0]);\n      }\n    });\n  } else if (header.data === \"binary\") {\n    const view = new DataView(body);\n\n    range(0, header.points).forEach((i) => {\n      const row = size * i;\n\n      if (positions !== undefined) {\n        positions[i * 3 + 0] = view.getFloat32(\n          row + (offsets.x || 0),\n          littleEndian\n        );\n        positions[i * 3 + 1] = view.getFloat32(\n          row + (offsets.y || 0),\n          littleEndian\n        );\n        positions[i * 3 + 2] = view.getFloat32(\n          row + (offsets.z || 0),\n          littleEndian\n        );\n      }\n\n      if (colors !== undefined) {\n        const offset = row + (offsets.rgb || offsets.rgba || 0);\n        if (offset + 2 <= view.byteLength) {\n          colors[i * 4 + 0] = view.getUint8(offset + 2) / 255.0;\n          colors[i * 4 + 1] = view.getUint8(offset + 1) / 255.0;\n          colors[i * 4 + 2] = view.getUint8(offset + 0) / 255.0;\n          colors[i * 4 + 3] = 1.0;\n        }\n      }\n\n      if (intensity !== undefined) {\n        intensity[i] = view.getFloat32(\n          row + (offsets.intensity || 0),\n          littleEndian\n        );\n      }\n    });\n  } else if (header.data === \"binary_compressed\") {\n    const uncompressed = decompress(body);\n    const view = new DataView(uncompressed);\n\n    range(0, header.points).forEach((i) => {\n      if (positions !== undefined) {\n        positions[i * 3 + 0] = view.getFloat32(\n          (offsets.x || 0) + i * 4,\n          littleEndian\n        );\n        positions[i * 3 + 1] = view.getFloat32(\n          (offsets.y || 0) + i * 4,\n          littleEndian\n        );\n        positions[i * 3 + 2] = view.getFloat32(\n          (offsets.z || 0) + i * 4,\n          littleEndian\n        );\n      }\n\n      if (colors !== undefined) {\n        const offset = (offsets.rgb || offsets.rgba || 0) + i * 4;\n        if (offset + 2 <= view.byteLength) {\n          colors[i * 4 + 0] = view.getUint8(offset + 2) / 255.0;\n          colors[i * 4 + 1] = view.getUint8(offset + 1) / 255.0;\n          colors[i * 4 + 2] = view.getUint8(offset + 0) / 255.0;\n          colors[i * 4 + 3] = 1.0;\n        }\n      }\n\n      if (intensity !== undefined) {\n        intensity[i] = view.getFloat32(\n          (offsets.intensity || 0) + i * 4,\n          littleEndian\n        );\n      }\n    });\n  }\n\n  return {\n    colors,\n    header,\n    intensity,\n    positions,\n  };\n}\n\nexport async function loadFromUrl(path: string): Promise<IPcd> {\n  const response = await fetch(path, { mode: \"cors\" });\n  return parse(await response.arrayBuffer());\n}\n\nexport function loadFromBase64(data: string): IPcd {\n  return parse(base64ToArrayBuffer(data));\n}\n","import { duration } from \"../common/duration\";\nimport { StoreCache } from \"./StoreCache\";\nimport { IPcd, loadFromBase64, parse } from \"./pcd\";\n\nconst cache = new StoreCache<string, IPcd>({\n  capacity: 1000,\n  timeout: 1 * duration.minute,\n});\n\nonmessage = async (\n  event: MessageEvent<{ id?: number; url?: string; pointCloud: string }>\n) => {\n  const { url, id, pointCloud } = event.data;\n\n  if (url) {\n    // Check if the point cloud for the given URL is already in the cache\n    const cached = cache.get(url, async () => {\n      // Fetch the point cloud and store it in the cache\n      const pcd = parse(\n        await fetch(url, { mode: \"cors\" }).then((r) => r.arrayBuffer())\n      );\n      return pcd;\n    });\n\n    if (cached) {\n      postMessage({ url, pcd: cached });\n    }\n  }\n\n  if (id && pointCloud) {\n    // Process the base64-encoded point cloud\n    const pcd = loadFromBase64(pointCloud);\n    postMessage({ id, pcd });\n  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package/dist/assets/data-loader.worker-a6fd974d.js.map

@@ -1 +1 @@
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