@loaders.gl/pcd 3.0.13 → 3.0.14

package/dist/dist.es5.min.js

@@ -1,2 +1,2 @@
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t?Object.defineProperty(t,e,{value:n,enumerable:!0,configurable:!0,writable:!0}):t[e]=n,t}!function(t){t[t.NONE=0]="NONE",t[t.Null=1]="Null",t[t.Int=2]="Int",t[t.Float=3]="Float",t[t.Binary=4]="Binary",t[t.Utf8=5]="Utf8",t[t.Bool=6]="Bool",t[t.Decimal=7]="Decimal",t[t.Date=8]="Date",t[t.Time=9]="Time",t[t.Timestamp=10]="Timestamp",t[t.Interval=11]="Interval",t[t.List=12]="List",t[t.Struct=13]="Struct",t[t.Union=14]="Union",t[t.FixedSizeBinary=15]="FixedSizeBinary",t[t.FixedSizeList=16]="FixedSizeList",t[t.Map=17]="Map",t[t.Dictionary=-1]="Dictionary",t[t.Int8=-2]="Int8",t[t.Int16=-3]="Int16",t[t.Int32=-4]="Int32",t[t.Int64=-5]="Int64",t[t.Uint8=-6]="Uint8",t[t.Uint16=-7]="Uint16",t[t.Uint32=-8]="Uint32",t[t.Uint64=-9]="Uint64",t[t.Float16=-10]="Float16",t[t.Float32=-11]="Float32",t[t.Float64=-12]="Float64",t[t.DateDay=-13]="DateDay",t[t.DateMillisecond=-14]="DateMillisecond",t[t.TimestampSecond=-15]="TimestampSecond",t[t.TimestampMillisecond=-16]="TimestampMillisecond",t[t.TimestampMicrosecond=-17]="TimestampMicrosecond",t[t.TimestampNanosecond=-18]="TimestampNanosecond",t[t.TimeSecond=-19]="TimeSecond",t[t.TimeMillisecond=-20]="TimeMillisecond",t[t.TimeMicrosecond=-21]="TimeMicrosecond",t[t.TimeNanosecond=-22]="TimeNanosecond",t[t.DenseUnion=-23]="DenseUnion",t[t.SparseUnion=-24]="SparseUnion",t[t.IntervalDayTime=-25]="IntervalDayTime",t[t.IntervalYearMonth=-26]="IntervalYearMonth"}(o||(o={}));class h{static isNull(t){return t&&t.typeId===o.Null}static isInt(t){return t&&t.typeId===o.Int}static isFloat(t){return t&&t.typeId===o.Float}static isBinary(t){return t&&t.typeId===o.Binary}static isUtf8(t){return t&&t.typeId===o.Utf8}static isBool(t){return t&&t.typeId===o.Bool}static isDecimal(t){return t&&t.typeId===o.Decimal}static isDate(t){return t&&t.typeId===o.Date}static isTime(t){return t&&t.typeId===o.Time}static isTimestamp(t){return t&&t.typeId===o.Timestamp}static isInterval(t){return t&&t.typeId===o.Interval}static isList(t){return t&&t.typeId===o.List}static isStruct(t){return t&&t.typeId===o.Struct}static isUnion(t){return t&&t.typeId===o.Union}static isFixedSizeBinary(t){return t&&t.typeId===o.FixedSizeBinary}static isFixedSizeList(t){return t&&t.typeId===o.FixedSizeList}static isMap(t){return t&&t.typeId===o.Map}static isDictionary(t){return t&&t.typeId===o.Dictionary}get typeId(){return o.NONE}compareTo(t){return this===t}}Symbol.toStringTag;Symbol.toStringTag;s=Symbol.toStringTag;class m extends h{constructor(t,e){super(),f(this,"isSigned",void 0),f(this,"bitWidth",void 0),this.isSigned=t,this.bitWidth=e}get typeId(){return o.Int}get[s](){return"Int"}toString(){return`${this.isSigned?"I":"Ui"}nt${this.bitWidth}`}}class y extends m{constructor(){super(!1,8)}}const g=32;a=Symbol.toStringTag;class b extends h{constructor(t){super(),f(this,"precision",void 0),this.precision=t}get typeId(){return o.Float}get[a](){return"Float"}toString(){return"Float"+this.precision}}class S extends b{constructor(){super(g)}}Symbol.toStringTag;Symbol.toStringTag;l=Symbol.toStringTag;u=Symbol.toStringTag;c=Symbol.toStringTag;d=Symbol.toStringTag;p=Symbol.toStringTag;class w extends h{constructor(t,e){super(),f(this,"listSize",void 0),f(this,"children",void 0),this.listSize=t,this.children=[e]}get typeId(){return o.FixedSizeList}get valueType(){return this.children[0].type}get valueField(){return this.children[0]}get[p](){return"FixedSizeList"}toString(){return`FixedSizeList[${this.listSize}]<${this.valueType}>`}}function I(t,e,n){return e in t?Object.defineProperty(t,e,{value:n,enumerable:!0,configurable:!0,writable:!0}):t[e]=n,t}class v{constructor(t,e){I(this,"fields",void 0),I(this,"metadata",void 0),function(t,e){if(!t)throw new Error(e||"loader assertion failed.")}(Array.isArray(t)),function(t){const e={};for(const n of t)e[n.name]&&console.warn("Schema: duplicated field name",n.name,n),e[n.name]=!0}(t),this.fields=t,this.metadata=e||new Map}compareTo(t){if(this.metadata!==t.metadata)return!1;if(this.fields.length!==t.fields.length)return!1;for(let e=0;e<this.fields.length;++e)if(!this.fields[e].compareTo(t.fields[e]))return!1;return!0}select(...t){const e=Object.create(null);for(const n of t)e[n]=!0;const n=this.fields.filter(t=>e[t.name]);return new v(n,this.metadata)}selectAt(...t){const e=t.map(t=>this.fields[t]).filter(Boolean);return new v(e,this.metadata)}assign(t){let e,n=this.metadata;if(t instanceof v){const i=t;e=i.fields,n=T(T(new Map,this.metadata),i.metadata)}else e=t;const i=Object.create(null);for(const t of this.fields)i[t.name]=t;for(const t of e)i[t.name]=t;const r=Object.values(i);return new v(r,n)}}function T(t,e){return new Map([...t||new Map,...e||new Map])}function x(t){let e=1/0,n=1/0,i=1/0,r=-1/0,o=-1/0,s=-1/0;const a=t.POSITION?t.POSITION.value:[],l=a&&a.length;for(let t=0;t<l;t+=3){const l=a[t],u=a[t+1],c=a[t+2];e=l<e?l:e,n=u<n?u:n,i=c<i?c:i,r=l>r?l:r,o=u>o?u:o,s=c>s?c:s}return[[e,n,i],[r,o,s]]}function F(t){const e=(new TextDecoder).decode(t),n=function(t){const e=t.search(/[\r\n]DATA\s(\S*)\s/i),n=/[\r\n]DATA\s(\S*)\s/i.exec(t.substr(e-1)),i={};i.data=n&&n[1],null!==n&&(i.headerLen=(n&&n[0].length)+e);i.str=t.substr(0,i.headerLen),i.str=i.str.replace(/\#.*/gi,""),i.version=/VERSION (.*)/i.exec(i.str),i.fields=/FIELDS (.*)/i.exec(i.str),i.size=/SIZE (.*)/i.exec(i.str),i.type=/TYPE (.*)/i.exec(i.str),i.count=/COUNT (.*)/i.exec(i.str),i.width=/WIDTH (.*)/i.exec(i.str),i.height=/HEIGHT (.*)/i.exec(i.str),i.viewpoint=/VIEWPOINT (.*)/i.exec(i.str),i.points=/POINTS (.*)/i.exec(i.str),null!==i.version&&(i.version=parseFloat(i.version[1]));null!==i.fields&&(i.fields=i.fields[1].split(" "));null!==i.type&&(i.type=i.type[1].split(" "));null!==i.width&&(i.width=parseInt(i.width[1],10));null!==i.height&&(i.height=parseInt(i.height[1],10));null!==i.viewpoint&&(i.viewpoint=i.viewpoint[1]);null!==i.points&&(i.points=parseInt(i.points[1],10));null===i.points&&"number"==typeof i.width&&"number"==typeof i.height&&(i.points=i.width*i.height);null!==i.size&&(i.size=i.size[1].split(" ").map(t=>parseInt(t,10)));if(null!==i.count)i.count=i.count[1].split(" ").map(t=>parseInt(t,10));else if(i.count=[],null!==i.fields)for(let t=0;t<i.fields.length;t++)i.count.push(1);i.offset={};let r=0;if(null!==i.fields&&null!==i.size)for(let t=0;t<i.fields.length;t++)"ascii"===i.data?i.offset[i.fields[t]]=t:(i.offset[i.fields[t]]=r,r+=i.size[t]);return i.rowSize=r,i}(e);let i={};switch(n.data){case"ascii":i=function(t,e){const n=[],i=[],r=[],o=t.offset,s=e.substr(t.headerLen).split("\n");for(let t=0;t<s.length;t++)if(""!==s[t]){const e=s[t].split(" ");if(void 0!==o.x&&(n.push(parseFloat(e[o.x])),n.push(parseFloat(e[o.y])),n.push(parseFloat(e[o.z]))),void 0!==o.rgb){const t=parseFloat(e[o.rgb]),n=new Float32Array([t]),i=new DataView(n.buffer,0);r.push(i.getUint8(0)),r.push(i.getUint8(1)),r.push(i.getUint8(2))}void 0!==o.normal_x&&(i.push(parseFloat(e[o.normal_x])),i.push(parseFloat(e[o.normal_y])),i.push(parseFloat(e[o.normal_z])))}return{position:n,normal:i,color:r}}(n,e);break;case"binary":i=function(t,e){const n=[],i=[],r=[],o=new DataView(e,t.headerLen),s=t.offset;for(let e=0,a=0;e<t.points;e++,a+=t.rowSize)void 0!==s.x&&(n.push(o.getFloat32(a+s.x,!0)),n.push(o.getFloat32(a+s.y,!0)),n.push(o.getFloat32(a+s.z,!0))),void 0!==s.rgb&&(r.push(o.getUint8(a+s.rgb+0)),r.push(o.getUint8(a+s.rgb+1)),r.push(o.getUint8(a+s.rgb+2))),void 0!==s.normal_x&&(i.push(o.getFloat32(a+s.normal_x,!0)),i.push(o.getFloat32(a+s.normal_y,!0)),i.push(o.getFloat32(a+s.normal_z,!0)));return{position:n,normal:i,color:r}}(n,t);break;case"binary_compressed":default:throw new Error(`PCD: ${n.data} files are not supported`)}i=function(t){const e={POSITION:{value:new Float32Array(t.position),size:3}};t.normal&&t.normal.length>0&&(e.NORMAL={value:new Float32Array(t.normal),size:3});t.color&&t.color.length>0&&(e.COLOR_0={value:new Uint8Array(t.color),size:3});return e}(i);const o=function(t,e){if("number"==typeof t.width&&"number"==typeof t.height){return{vertexCount:t.width*t.height,boundingBox:x(e)}}return t}(n,i);return{loaderData:{header:n},header:o,schema:function(t,e){const n=t.offset,i=[];void 0!==n.x&&i.push(new r("POSITION",new w(3,new r("xyz",new S)),!1));void 0!==n.normal_x&&i.push(new r("NORMAL",new w(3,new r("xyz",new S)),!1));void 0!==n.rgb&&i.push(new r("COLOR_0",new w(3,new r("rgb",new y)),!1));return new v(i,e)}(n,new Map([["mode","0"],["boundingBox",JSON.stringify(o.boundingBox)]])),mode:0,indices:null,attributes:i}}const D={name:"PCD (Point Cloud Data)",id:"pcd",module:"pcd",version:"3.0.14",worker:!0,extensions:["pcd"],mimeTypes:["text/plain"],options:{pcd:{}}},O={...D,parse:async t=>F(t),parseSync:F},z=O}])}));
 //# sourceMappingURL=dist.min.js.map

package/dist/es5/bundle.js

@@ -1,8 +1,8 @@
 "use strict";
 
-const moduleExports = require('./index');
+var moduleExports = require('./index');
 
-const _global = typeof window === 'undefined' ? global : window;
+var _global = typeof window === 'undefined' ? global : window;
 
 _global.loaders = _global.loaders || {};
 module.exports = Object.assign(_global.loaders, moduleExports);

package/dist/es5/bundle.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/bundle.ts"],"names":["moduleExports","require","_global","window","global","loaders","module","exports","Object","assign"],"mappings":";;AACA,MAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACA,MAAMC,OAAO,GAAG,OAAOC,MAAP,KAAkB,WAAlB,GAAgCC,MAAhC,GAAyCD,MAAzD;;AACAD,OAAO,CAACG,OAAR,GAAkBH,OAAO,CAACG,OAAR,IAAmB,EAArC;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcP,OAAO,CAACG,OAAtB,EAA+BL,aAA/B,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nconst _global = typeof window === 'undefined' ? global : window;\n_global.loaders = _global.loaders || {};\nmodule.exports = Object.assign(_global.loaders, moduleExports);\n"],"file":"bundle.js"}
+{"version":3,"sources":["../../src/bundle.ts"],"names":["moduleExports","require","_global","window","global","loaders","module","exports","Object","assign"],"mappings":";;AACA,IAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACA,IAAMC,OAAO,GAAG,OAAOC,MAAP,KAAkB,WAAlB,GAAgCC,MAAhC,GAAyCD,MAAzD;;AACAD,OAAO,CAACG,OAAR,GAAkBH,OAAO,CAACG,OAAR,IAAmB,EAArC;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcP,OAAO,CAACG,OAAtB,EAA+BL,aAA/B,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nconst _global = typeof window === 'undefined' ? global : window;\n_global.loaders = _global.loaders || {};\nmodule.exports = Object.assign(_global.loaders, moduleExports);\n"],"file":"bundle.js"}

package/dist/es5/index.js

@@ -7,21 +7,53 @@ Object.defineProperty(exports, "__esModule", {
 });
 Object.defineProperty(exports, "PCDWorkerLoader", {
   enumerable: true,
-  get: function () {
+  get: function get() {
     return _pcdLoader.PCDLoader;
   }
 });
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
 
+var _regenerator = _interopRequireDefault(require("@babel/runtime/regenerator"));
+
+var _asyncToGenerator2 = _interopRequireDefault(require("@babel/runtime/helpers/asyncToGenerator"));
+
+var _defineProperty2 = _interopRequireDefault(require("@babel/runtime/helpers/defineProperty"));
+
 var _parsePcd = _interopRequireDefault(require("./lib/parse-pcd"));
 
 var _pcdLoader = require("./pcd-loader");
 
-const PCDLoader = { ..._pcdLoader.PCDLoader,
-  parse: async arrayBuffer => (0, _parsePcd.default)(arrayBuffer),
+function ownKeys(object, enumerableOnly) { var keys = Object.keys(object); if (Object.getOwnPropertySymbols) { var symbols = Object.getOwnPropertySymbols(object); if (enumerableOnly) { symbols = symbols.filter(function (sym) { return Object.getOwnPropertyDescriptor(object, sym).enumerable; }); } keys.push.apply(keys, symbols); } return keys; }
+
+function _objectSpread(target) { for (var i = 1; i < arguments.length; i++) { var source = arguments[i] != null ? arguments[i] : {}; if (i % 2) { ownKeys(Object(source), true).forEach(function (key) { (0, _defineProperty2.default)(target, key, source[key]); }); } else if (Object.getOwnPropertyDescriptors) { Object.defineProperties(target, Object.getOwnPropertyDescriptors(source)); } else { ownKeys(Object(source)).forEach(function (key) { Object.defineProperty(target, key, Object.getOwnPropertyDescriptor(source, key)); }); } } return target; }
+
+var PCDLoader = _objectSpread(_objectSpread({}, _pcdLoader.PCDLoader), {}, {
+  parse: function () {
+    var _parse = (0, _asyncToGenerator2.default)(_regenerator.default.mark(function _callee(arrayBuffer) {
+      return _regenerator.default.wrap(function _callee$(_context) {
+        while (1) {
+          switch (_context.prev = _context.next) {
+            case 0:
+              return _context.abrupt("return", (0, _parsePcd.default)(arrayBuffer));
+
+            case 1:
+            case "end":
+              return _context.stop();
+          }
+        }
+      }, _callee);
+    }));
+
+    function parse(_x) {
+      return _parse.apply(this, arguments);
+    }
+
+    return parse;
+  }(),
   parseSync: _parsePcd.default
-};
+});
+
 exports.PCDLoader = PCDLoader;
-const _typecheckPCDLoader = PCDLoader;
+var _typecheckPCDLoader = PCDLoader;
 exports._typecheckPCDLoader = _typecheckPCDLoader;
 //# sourceMappingURL=index.js.map

package/dist/es5/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/index.ts"],"names":["PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","parsePCDSync","_typecheckPCDLoader"],"mappings":";;;;;;;;;;;;;;;AACA;;AACA;;AAOO,MAAMA,SAAS,GAAG,EACvB,GAAGC,oBADoB;AAEvBC,EAAAA,KAAK,EAAE,MAAOC,WAAP,IAAuB,uBAAaA,WAAb,CAFP;AAGvBC,EAAAA,SAAS,EAAEC;AAHY,CAAlB;;AAMA,MAAMC,mBAAqC,GAAGN,SAA9C","sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"file":"index.js"}
+{"version":3,"sources":["../../src/index.ts"],"names":["PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","parsePCDSync","_typecheckPCDLoader"],"mappings":";;;;;;;;;;;;;;;;;;;;;AACA;;AACA;;;;;;AAOO,IAAMA,SAAS,mCACjBC,oBADiB;AAEpBC,EAAAA,KAAK;AAAA,2EAAE,iBAAOC,WAAP;AAAA;AAAA;AAAA;AAAA;AAAA,+CAAuB,uBAAaA,WAAb,CAAvB;;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,KAAF;;AAAA;AAAA;AAAA;;AAAA;AAAA,KAFe;AAGpBC,EAAAA,SAAS,EAAEC;AAHS,EAAf;;;AAMA,IAAMC,mBAAqC,GAAGN,SAA9C","sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"file":"index.js"}

package/dist/es5/lib/parse-pcd.js

@@ -7,12 +7,12 @@ exports.default = parsePCD;
 
 var _schema = require("@loaders.gl/schema");
 
-const LITTLE_ENDIAN = true;
+var LITTLE_ENDIAN = true;
 
 function parsePCD(data) {
-  const textData = new TextDecoder().decode(data);
-  const pcdHeader = parsePCDHeader(textData);
-  let attributes = {};
+  var textData = new TextDecoder().decode(data);
+  var pcdHeader = parsePCDHeader(textData);
+  var attributes = {};
 
   switch (pcdHeader.data) {
     case 'ascii':
@@ -29,24 +29,24 @@ function parsePCD(data) {
   }
 
   attributes = getNormalizedAttributes(attributes);
-  const header = getNormalizedHeader(pcdHeader, attributes);
-  const metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
-  const schema = getSchemaFromPCDHeader(pcdHeader, metadata);
+  var header = getNormalizedHeader(pcdHeader, attributes);
+  var metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
+  var schema = getSchemaFromPCDHeader(pcdHeader, metadata);
   return {
     loaderData: {
       header: pcdHeader
     },
-    header,
-    schema,
+    header: header,
+    schema: schema,
     mode: 0,
     indices: null,
-    attributes
+    attributes: attributes
   };
 }
 
 function getNormalizedHeader(PCDheader, attributes) {
   if (typeof PCDheader.width === 'number' && typeof PCDheader.height === 'number') {
-    const pointCount = PCDheader.width * PCDheader.height;
+    var pointCount = PCDheader.width * PCDheader.height;
     return {
       vertexCount: pointCount,
       boundingBox: (0, _schema.getMeshBoundingBox)(attributes)
@@ -57,7 +57,7 @@ function getNormalizedHeader(PCDheader, attributes) {
 }
 
 function getNormalizedAttributes(attributes) {
-  const normalizedAttributes = {
+  var normalizedAttributes = {
     POSITION: {
       value: new Float32Array(attributes.position),
       size: 3
@@ -82,9 +82,9 @@ function getNormalizedAttributes(attributes) {
 }
 
 function parsePCDHeader(data) {
-  const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
-  const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
-  const PCDheader = {};
+  var result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
+  var result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
+  var PCDheader = {};
   PCDheader.data = result2 && result2[1];
 
   if (result2 !== null) {
@@ -136,31 +136,35 @@ function parsePCDHeader(data) {
   }
 
   if (PCDheader.size !== null) {
-    PCDheader.size = PCDheader.size[1].split(' ').map(x => parseInt(x, 10));
+    PCDheader.size = PCDheader.size[1].split(' ').map(function (x) {
+      return parseInt(x, 10);
+    });
   }
 
   if (PCDheader.count !== null) {
-    PCDheader.count = PCDheader.count[1].split(' ').map(x => parseInt(x, 10));
+    PCDheader.count = PCDheader.count[1].split(' ').map(function (x) {
+      return parseInt(x, 10);
+    });
   } else {
     PCDheader.count = [];
 
     if (PCDheader.fields !== null) {
-      for (let i = 0; i < PCDheader.fields.length; i++) {
+      for (var i = 0; i < PCDheader.fields.length; i++) {
         PCDheader.count.push(1);
       }
     }
   }
 
   PCDheader.offset = {};
-  let sizeSum = 0;
+  var sizeSum = 0;
 
   if (PCDheader.fields !== null && PCDheader.size !== null) {
-    for (let i = 0; i < PCDheader.fields.length; i++) {
+    for (var _i = 0; _i < PCDheader.fields.length; _i++) {
       if (PCDheader.data === 'ascii') {
-        PCDheader.offset[PCDheader.fields[i]] = i;
+        PCDheader.offset[PCDheader.fields[_i]] = _i;
       } else {
-        PCDheader.offset[PCDheader.fields[i]] = sizeSum;
-        sizeSum += PCDheader.size[i];
+        PCDheader.offset[PCDheader.fields[_i]] = sizeSum;
+        sizeSum += PCDheader.size[_i];
       }
     }
   }
@@ -170,16 +174,16 @@ function parsePCDHeader(data) {
 }
 
 function parsePCDASCII(PCDheader, textData) {
-  const position = [];
-  const normal = [];
-  const color = [];
-  const offset = PCDheader.offset;
-  const pcdData = textData.substr(PCDheader.headerLen);
-  const lines = pcdData.split('\n');
-
-  for (let i = 0; i < lines.length; i++) {
+  var position = [];
+  var normal = [];
+  var color = [];
+  var offset = PCDheader.offset;
+  var pcdData = textData.substr(PCDheader.headerLen);
+  var lines = pcdData.split('\n');
+
+  for (var i = 0; i < lines.length; i++) {
     if (lines[i] !== '') {
-      const line = lines[i].split(' ');
+      var line = lines[i].split(' ');
 
       if (offset.x !== undefined) {
         position.push(parseFloat(line[offset.x]));
@@ -188,9 +192,9 @@ function parsePCDASCII(PCDheader, textData) {
       }
 
       if (offset.rgb !== undefined) {
-        const floatValue = parseFloat(line[offset.rgb]);
-        const binaryColor = new Float32Array([floatValue]);
-        const dataview = new DataView(binaryColor.buffer, 0);
+        var floatValue = parseFloat(line[offset.rgb]);
+        var binaryColor = new Float32Array([floatValue]);
+        var dataview = new DataView(binaryColor.buffer, 0);
         color.push(dataview.getUint8(0));
         color.push(dataview.getUint8(1));
         color.push(dataview.getUint8(2));
@@ -205,20 +209,20 @@ function parsePCDASCII(PCDheader, textData) {
   }
 
   return {
-    position,
-    normal,
-    color
+    position: position,
+    normal: normal,
+    color: color
   };
 }
 
 function parsePCDBinary(PCDheader, data) {
-  const position = [];
-  const normal = [];
-  const color = [];
-  const dataview = new DataView(data, PCDheader.headerLen);
-  const offset = PCDheader.offset;
+  var position = [];
+  var normal = [];
+  var color = [];
+  var dataview = new DataView(data, PCDheader.headerLen);
+  var offset = PCDheader.offset;
 
-  for (let i = 0, row = 0; i < PCDheader.points; i++, row += PCDheader.rowSize) {
+  for (var i = 0, row = 0; i < PCDheader.points; i++, row += PCDheader.rowSize) {
     if (offset.x !== undefined) {
       position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
       position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
@@ -239,15 +243,15 @@ function parsePCDBinary(PCDheader, data) {
   }
 
   return {
-    position,
-    normal,
-    color
+    position: position,
+    normal: normal,
+    color: color
   };
 }
 
 function getSchemaFromPCDHeader(PCDheader, metadata) {
-  const offset = PCDheader.offset;
-  const fields = [];
+  var offset = PCDheader.offset;
+  var fields = [];
 
   if (offset.x !== undefined) {
     fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));