@loaders.gl/pcd 3.0.13 → 3.0.14

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (14) hide show
  1. package/dist/dist.es5.min.js +1 -1
  2. package/dist/dist.min.js +1 -1
  3. package/dist/es5/bundle.js +2 -2
  4. package/dist/es5/bundle.js.map +1 -1
  5. package/dist/es5/index.js +37 -5
  6. package/dist/es5/index.js.map +1 -1
  7. package/dist/es5/lib/parse-pcd.js +53 -49
  8. package/dist/es5/lib/parse-pcd.js.map +1 -1
  9. package/dist/es5/pcd-loader.js +3 -3
  10. package/dist/es5/pcd-loader.js.map +1 -1
  11. package/dist/esm/pcd-loader.js +1 -1
  12. package/dist/pcd-worker.js +1 -1
  13. package/dist/pcd-worker.js.map +1 -1
  14. package/package.json +4 -4
package/dist/es5/lib/parse-pcd.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"sources":["../../../src/lib/parse-pcd.ts"],"names":["LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","Error","getNormalizedAttributes","header","getNormalizedHeader","metadata","Map","JSON","stringify","boundingBox","schema","getSchemaFromPCDHeader","loaderData","mode","indices","PCDheader","width","height","pointCount","vertexCount","normalizedAttributes","POSITION","value","Float32Array","position","size","normal","length","NORMAL","color","COLOR_0","Uint8Array","result1","search","result2","exec","substr","headerLen","str","replace","version","fields","type","count","viewpoint","points","parseFloat","split","parseInt","map","x","i","push","offset","sizeSum","rowSize","pcdData","lines","line","undefined","y","z","rgb","floatValue","binaryColor","dataview","DataView","buffer","getUint8","normal_x","normal_y","normal_z","row","getFloat32","Field","FixedSizeList","Float32","Uint8","Schema"],"mappings":";;;;;;;AAUA;;AA6CA,MAAMA,aAAsB,GAAG,IAA/B;;AAOe,SAASC,QAAT,CAAkBC,IAAlB,EAAyC;AAEtD,QAAMC,QAAQ,GAAG,IAAIC,WAAJ,GAAkBC,MAAlB,CAAyBH,IAAzB,CAAjB;AACA,QAAMI,SAAS,GAAGC,cAAc,CAACJ,QAAD,CAAhC;AAEA,MAAIK,UAAe,GAAG,EAAtB;;AAGA,UAAQF,SAAS,CAACJ,IAAlB;AACE,SAAK,OAAL;AACEM,MAAAA,UAAU,GAAGC,aAAa,CAACH,SAAD,EAAYH,QAAZ,CAA1B;AACA;;AAEF,SAAK,QAAL;AACEK,MAAAA,UAAU,GAAGE,cAAc,CAACJ,SAAD,EAAYJ,IAAZ,CAA3B;AACA;;AAEF,SAAK,mBAAL;AACA;AACE,YAAM,IAAIS,KAAJ,gBAAkBL,SAAS,CAACJ,IAA5B,8BAAN;AAXJ;;AAcAM,EAAAA,UAAU,GAAGI,uBAAuB,CAACJ,UAAD,CAApC;AAEA,QAAMK,MAAM,GAAGC,mBAAmB,CAACR,SAAD,EAAYE,UAAZ,CAAlC;AAEA,QAAMO,QAAQ,GAAG,IAAIC,GAAJ,CAAQ,CACvB,CAAC,MAAD,EAAS,GAAT,CADuB,EAEvB,CAAC,aAAD,EAAgBC,IAAI,CAACC,SAAL,CAAeL,MAAM,CAACM,WAAtB,CAAhB,CAFuB,CAAR,CAAjB;AAKA,QAAMC,MAAM,GAAGC,sBAAsB,CAACf,SAAD,EAAYS,QAAZ,CAArC;AAEA,SAAO;AACLO,IAAAA,UAAU,EAAE;AACVT,MAAAA,MAAM,EAAEP;AADE,KADP;AAILO,IAAAA,MAJK;AAKLO,IAAAA,MALK;AAMLG,IAAAA,IAAI,EAAE,CAND;AAOLC,IAAAA,OAAO,EAAE,IAPJ;AAQLhB,IAAAA;AARK,GAAP;AAUD;;AAGD,SAASM,mBAAT,CACEW,SADF,EAEEjB,UAFF,EAGsB;AACpB,MAAI,OAAOiB,SAAS,CAACC,KAAjB,KAA2B,QAA3B,IAAuC,OAAOD,SAAS,CAACE,MAAjB,KAA4B,QAAvE,EAAiF;AAC/E,UAAMC,UAAU,GAAGH,SAAS,CAACC,KAAV,GAAkBD,SAAS,CAACE,MAA/C;AACA,WAAO;AACLE,MAAAA,WAAW,EAAED,UADR;AAELT,MAAAA,WAAW,EAAE,gCAAmBX,UAAnB;AAFR,KAAP;AAID;;AACD,SAAOiB,SAAP;AACD;;AAMD,SAASb,uBAAT,CAAiCJ,UAAjC,EAAqF;AACnF,QAAMsB,oBAA0C,GAAG;AACjDC,IAAAA,QAAQ,EAAE;AAERC,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBzB,UAAU,CAAC0B,QAA5B,CAFC;AAGRC,MAAAA,IAAI,EAAE;AAHE;AADuC,GAAnD;;AAQA,MAAI3B,UAAU,CAAC4B,MAAX,IAAqB5B,UAAU,CAAC4B,MAAX,CAAkBC,MAAlB,GAA2B,CAApD,EAAuD;AACrDP,IAAAA,oBAAoB,CAACQ,MAArB,GAA8B;AAC5BN,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBzB,UAAU,CAAC4B,MAA5B,CADqB;AAE5BD,MAAAA,IAAI,EAAE;AAFsB,KAA9B;AAID;;AAED,MAAI3B,UAAU,CAAC+B,KAAX,IAAoB/B,UAAU,CAAC+B,KAAX,CAAiBF,MAAjB,GAA0B,CAAlD,EAAqD;AAEnDP,IAAAA,oBAAoB,CAACU,OAArB,GAA+B;AAC7BR,MAAAA,KAAK,EAAE,IAAIS,UAAJ,CAAejC,UAAU,CAAC+B,KAA1B,CADsB;AAE7BJ,MAAAA,IAAI,EAAE;AAFuB,KAA/B;AAID;;AAED,SAAOL,oBAAP;AACD;;AAQD,SAASvB,cAAT,CAAwBL,IAAxB,EAAiD;AAC/C,QAAMwC,OAAO,GAAGxC,IAAI,CAACyC,MAAL,CAAY,sBAAZ,CAAhB;AACA,QAAMC,OAAO,GAAG,uBAAuBC,IAAvB,CAA4B3C,IAAI,CAAC4C,MAAL,CAAYJ,OAAO,GAAG,CAAtB,CAA5B,CAAhB;AAEA,QAAMjB,SAAc,GAAG,EAAvB;AACAA,EAAAA,SAAS,CAACvB,IAAV,GAAiB0C,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAnC;;AACA,MAAIA,OAAO,KAAK,IAAhB,EAAsB;AACpBnB,IAAAA,SAAS,CAACsB,SAAV,GAAsB,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAP,CAAWP,MAAvB,IAAiCK,OAAvD;AACD;;AACDjB,EAAAA,SAAS,CAACuB,GAAV,GAAgB9C,IAAI,CAAC4C,MAAL,CAAY,CAAZ,EAAerB,SAAS,CAACsB,SAAzB,CAAhB;AAIAtB,EAAAA,SAAS,CAACuB,GAAV,GAAgBvB,SAAS,CAACuB,GAAV,CAAcC,OAAd,CAAsB,QAAtB,EAAgC,EAAhC,CAAhB;AAIAxB,EAAAA,SAAS,CAACyB,OAAV,GAAoB,gBAAgBL,IAAhB,CAAqBpB,SAAS,CAACuB,GAA/B,CAApB;AACAvB,EAAAA,SAAS,CAAC0B,MAAV,GAAmB,eAAeN,IAAf,CAAoBpB,SAAS,CAACuB,GAA9B,CAAnB;AACAvB,EAAAA,SAAS,CAACU,IAAV,GAAiB,aAAaU,IAAb,CAAkBpB,SAAS,CAACuB,GAA5B,CAAjB;AACAvB,EAAAA,SAAS,CAAC2B,IAAV,GAAiB,aAAaP,IAAb,CAAkBpB,SAAS,CAACuB,GAA5B,CAAjB;AACAvB,EAAAA,SAAS,CAAC4B,KAAV,GAAkB,cAAcR,IAAd,CAAmBpB,SAAS,CAACuB,GAA7B,CAAlB;AACAvB,EAAAA,SAAS,CAACC,KAAV,GAAkB,cAAcmB,IAAd,CAAmBpB,SAAS,CAACuB,GAA7B,CAAlB;AACAvB,EAAAA,SAAS,CAACE,MAAV,GAAmB,eAAekB,IAAf,CAAoBpB,SAAS,CAACuB,GAA9B,CAAnB;AACAvB,EAAAA,SAAS,CAAC6B,SAAV,GAAsB,kBAAkBT,IAAlB,CAAuBpB,SAAS,CAACuB,GAAjC,CAAtB;AACAvB,EAAAA,SAAS,CAAC8B,MAAV,GAAmB,eAAeV,IAAf,CAAoBpB,SAAS,CAACuB,GAA9B,CAAnB;;AAIA,MAAIvB,SAAS,CAACyB,OAAV,KAAsB,IAA1B,EAAgC;AAC9BzB,IAAAA,SAAS,CAACyB,OAAV,GAAoBM,UAAU,CAAC/B,SAAS,CAACyB,OAAV,CAAkB,CAAlB,CAAD,CAA9B;AACD;;AAED,MAAIzB,SAAS,CAAC0B,MAAV,KAAqB,IAAzB,EAA+B;AAC7B1B,IAAAA,SAAS,CAAC0B,MAAV,GAAmB1B,SAAS,CAAC0B,MAAV,CAAiB,CAAjB,EAAoBM,KAApB,CAA0B,GAA1B,CAAnB;AACD;;AAED,MAAIhC,SAAS,CAAC2B,IAAV,KAAmB,IAAvB,EAA6B;AAC3B3B,IAAAA,SAAS,CAAC2B,IAAV,GAAiB3B,SAAS,CAAC2B,IAAV,CAAe,CAAf,EAAkBK,KAAlB,CAAwB,GAAxB,CAAjB;AACD;;AAED,MAAIhC,SAAS,CAACC,KAAV,KAAoB,IAAxB,EAA8B;AAC5BD,IAAAA,SAAS,CAACC,KAAV,GAAkBgC,QAAQ,CAACjC,SAAS,CAACC,KAAV,CAAgB,CAAhB,CAAD,EAAqB,EAArB,CAA1B;AACD;;AAED,MAAID,SAAS,CAACE,MAAV,KAAqB,IAAzB,EAA+B;AAC7BF,IAAAA,SAAS,CAACE,MAAV,GAAmB+B,QAAQ,CAACjC,SAAS,CAACE,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MAAIF,SAAS,CAAC6B,SAAV,KAAwB,IAA5B,EAAkC;AAChC7B,IAAAA,SAAS,CAAC6B,SAAV,GAAsB7B,SAAS,CAAC6B,SAAV,CAAoB,CAApB,CAAtB;AACD;;AAED,MAAI7B,SAAS,CAAC8B,MAAV,KAAqB,IAAzB,EAA+B;AAC7B9B,IAAAA,SAAS,CAAC8B,MAAV,GAAmBG,QAAQ,CAACjC,SAAS,CAAC8B,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MACE9B,SAAS,CAAC8B,MAAV,KAAqB,IAArB,IACA,OAAO9B,SAAS,CAACC,KAAjB,KAA2B,QAD3B,IAEA,OAAOD,SAAS,CAACE,MAAjB,KAA4B,QAH9B,EAIE;AACAF,IAAAA,SAAS,CAAC8B,MAAV,GAAmB9B,SAAS,CAACC,KAAV,GAAkBD,SAAS,CAACE,MAA/C;AACD;;AAED,MAAIF,SAAS,CAACU,IAAV,KAAmB,IAAvB,EAA6B;AAC3BV,IAAAA,SAAS,CAACU,IAAV,GAAiBV,SAAS,CAACU,IAAV,CAAe,CAAf,EAAkBsB,KAAlB,CAAwB,GAAxB,EAA6BE,GAA7B,CAAkCC,CAAD,IAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAhD,CAAjB;AACD;;AAED,MAAInC,SAAS,CAAC4B,KAAV,KAAoB,IAAxB,EAA8B;AAC5B5B,IAAAA,SAAS,CAAC4B,KAAV,GAAkB5B,SAAS,CAAC4B,KAAV,CAAgB,CAAhB,EAAmBI,KAAnB,CAAyB,GAAzB,EAA8BE,GAA9B,CAAmCC,CAAD,IAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAjD,CAAlB;AACD,GAFD,MAEO;AACLnC,IAAAA,SAAS,CAAC4B,KAAV,GAAkB,EAAlB;;AACA,QAAI5B,SAAS,CAAC0B,MAAV,KAAqB,IAAzB,EAA+B;AAC7B,WAAK,IAAIU,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGpC,SAAS,CAAC0B,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChDpC,QAAAA,SAAS,CAAC4B,KAAV,CAAgBS,IAAhB,CAAqB,CAArB;AACD;AACF;AACF;;AAEDrC,EAAAA,SAAS,CAACsC,MAAV,GAAmB,EAAnB;AAEA,MAAIC,OAAO,GAAG,CAAd;;AACA,MAAIvC,SAAS,CAAC0B,MAAV,KAAqB,IAArB,IAA6B1B,SAAS,CAACU,IAAV,KAAmB,IAApD,EAA0D;AACxD,SAAK,IAAI0B,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGpC,SAAS,CAAC0B,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChD,UAAIpC,SAAS,CAACvB,IAAV,KAAmB,OAAvB,EAAgC;AAC9BuB,QAAAA,SAAS,CAACsC,MAAV,CAAiBtC,SAAS,CAAC0B,MAAV,CAAiBU,CAAjB,CAAjB,IAAwCA,CAAxC;AACD,OAFD,MAEO;AACLpC,QAAAA,SAAS,CAACsC,MAAV,CAAiBtC,SAAS,CAAC0B,MAAV,CAAiBU,CAAjB,CAAjB,IAAwCG,OAAxC;AACAA,QAAAA,OAAO,IAAIvC,SAAS,CAACU,IAAV,CAAe0B,CAAf,CAAX;AACD;AACF;AACF;;AAGDpC,EAAAA,SAAS,CAACwC,OAAV,GAAoBD,OAApB;AAEA,SAAOvC,SAAP;AACD;;AAOD,SAAShB,aAAT,CAAuBgB,SAAvB,EAA6CtB,QAA7C,EAAiF;AAC/E,QAAM+B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAMwB,MAAM,GAAGtC,SAAS,CAACsC,MAAzB;AACA,QAAMG,OAAO,GAAG/D,QAAQ,CAAC2C,MAAT,CAAgBrB,SAAS,CAACsB,SAA1B,CAAhB;AACA,QAAMoB,KAAK,GAAGD,OAAO,CAACT,KAAR,CAAc,IAAd,CAAd;;AAEA,OAAK,IAAII,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGM,KAAK,CAAC9B,MAA1B,EAAkCwB,CAAC,EAAnC,EAAuC;AACrC,QAAIM,KAAK,CAACN,CAAD,CAAL,KAAa,EAAjB,EAAqB;AACnB,YAAMO,IAAI,GAAGD,KAAK,CAACN,CAAD,CAAL,CAASJ,KAAT,CAAe,GAAf,CAAb;;AAEA,UAAIM,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACH,CAAR,CAAL,CAAxB;AACA1B,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACO,CAAR,CAAL,CAAxB;AACApC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACQ,CAAR,CAAL,CAAxB;AACD;;AAED,UAAIR,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B,cAAMI,UAAU,GAAGjB,UAAU,CAACY,IAAI,CAACL,MAAM,CAACS,GAAR,CAAL,CAA7B;AACA,cAAME,WAAW,GAAG,IAAIzC,YAAJ,CAAiB,CAACwC,UAAD,CAAjB,CAApB;AACA,cAAME,QAAQ,GAAG,IAAIC,QAAJ,CAAaF,WAAW,CAACG,MAAzB,EAAiC,CAAjC,CAAjB;AACAtC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AAED;;AAED,UAAIf,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACgB,QAAR,CAAL,CAAtB;AACA3C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACiB,QAAR,CAAL,CAAtB;AACA5C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACkB,QAAR,CAAL,CAAtB;AACD;AACF;AACF;;AAED,SAAO;AAAC/C,IAAAA,QAAD;AAAWE,IAAAA,MAAX;AAAmBG,IAAAA;AAAnB,GAAP;AACD;;AAOD,SAAS7B,cAAT,CAAwBe,SAAxB,EAA8CvB,IAA9C,EAAuF;AACrF,QAAMgC,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAMoC,QAAQ,GAAG,IAAIC,QAAJ,CAAa1E,IAAb,EAAmBuB,SAAS,CAACsB,SAA7B,CAAjB;AACA,QAAMgB,MAAM,GAAGtC,SAAS,CAACsC,MAAzB;;AAEA,OAAK,IAAIF,CAAC,GAAG,CAAR,EAAWqB,GAAG,GAAG,CAAtB,EAAyBrB,CAAC,GAAGpC,SAAS,CAAC8B,MAAvC,EAA+CM,CAAC,IAAIqB,GAAG,IAAIzD,SAAS,CAACwC,OAArE,EAA8E;AAC5E,QAAIF,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACH,CAAjC,EAAoC5D,aAApC,CAAd;AACAkC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACO,CAAjC,EAAoCtE,aAApC,CAAd;AACAkC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACQ,CAAjC,EAAoCvE,aAApC,CAAd;AACD;;AAED,QAAI+D,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B9B,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACD;;AAED,QAAIT,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACgB,QAAjC,EAA2C/E,aAA3C,CAAZ;AACAoC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACiB,QAAjC,EAA2ChF,aAA3C,CAAZ;AACAoC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACkB,QAAjC,EAA2CjF,aAA3C,CAAZ;AACD;AACF;;AAED,SAAO;AAACkC,IAAAA,QAAD;AAAWE,IAAAA,MAAX;AAAmBG,IAAAA;AAAnB,GAAP;AACD;;AAOD,SAASlB,sBAAT,CAAgCI,SAAhC,EAAsDV,QAAtD,EAAwF;AACtF,QAAMgD,MAAM,GAAGtC,SAAS,CAACsC,MAAzB;AAEA,QAAMZ,MAAe,GAAG,EAAxB;;AAEA,MAAIY,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BlB,IAAAA,MAAM,CAACW,IAAP,CACE,IAAIsB,aAAJ,CAAU,UAAV,EAAsB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIvB,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjClB,IAAAA,MAAM,CAACW,IAAP,CAAY,IAAIsB,aAAJ,CAAU,QAAV,EAAoB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIvB,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5BlB,IAAAA,MAAM,CAACW,IAAP,CAAY,IAAIsB,aAAJ,CAAU,SAAV,EAAqB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIG,aAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIC,cAAJ,CAAWrC,MAAX,EAAmBpC,QAAnB,CAAP;AACD","sourcesContent":["// PCD Loader, adapted from THREE.js (MIT license)\n//\n// Attributions per original THREE.js source file:\n//\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\n//\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n\nimport {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport {getMeshBoundingBox} from '@loaders.gl/schema';\n\ntype BoundingBox = [[number, number, number], [number, number, number]];\n\ntype SchemaMetadata = Map<string, any>;\n\ntype PCDheader = {\n data: any;\n headerLen: number;\n str: string;\n version: RegExpExecArray | null | number;\n fields: RegExpExecArray | null | string[];\n size: RegExpExecArray | null | number[];\n type: RegExpExecArray | null | string[];\n count: RegExpExecArray | null | number[];\n width: RegExpExecArray | number;\n height: RegExpExecArray | number;\n viewpoint: RegExpExecArray | null | string;\n points: RegExpExecArray | number;\n offset: {[index: string]: number};\n rowSize: number;\n vertexCount: number;\n boundingBox: BoundingBox;\n};\n\ntype NormalizedAttributes = {\n POSITION: {\n value: Float32Array;\n size: number;\n };\n NORMAL?: {\n value: Float32Array;\n size: number;\n };\n COLOR_0?: {\n value: Uint8Array;\n size: number;\n };\n};\n\ntype HeaderAttributes = {\n [attributeName: string]: number[];\n};\n\nconst LITTLE_ENDIAN: boolean = true;\n\n/**\n *\n * @param data\n * @returns\n */\nexport default function parsePCD(data: ArrayBufferLike) {\n // parse header (always ascii format)\n const textData = new TextDecoder().decode(data);\n const pcdHeader = parsePCDHeader(textData);\n\n let attributes: any = {};\n\n // parse data\n switch (pcdHeader.data) {\n case 'ascii':\n attributes = parsePCDASCII(pcdHeader, textData);\n break;\n\n case 'binary':\n attributes = parsePCDBinary(pcdHeader, data);\n break;\n\n case 'binary_compressed':\n default:\n throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n }\n\n attributes = getNormalizedAttributes(attributes);\n\n const header = getNormalizedHeader(pcdHeader, attributes);\n\n const metadata = new Map([\n ['mode', '0'],\n ['boundingBox', JSON.stringify(header.boundingBox)]\n ]);\n\n const schema = getSchemaFromPCDHeader(pcdHeader, metadata);\n\n return {\n loaderData: {\n header: pcdHeader\n },\n header,\n schema,\n mode: 0, // POINTS\n indices: null,\n attributes\n };\n}\n\n// Create a header that contains common data for PointCloud category loaders\nfunction getNormalizedHeader(\n PCDheader: PCDheader,\n attributes: NormalizedAttributes\n): Partial<PCDheader> {\n if (typeof PCDheader.width === 'number' && typeof PCDheader.height === 'number') {\n const pointCount = PCDheader.width * PCDheader.height; // Supports \"organized\" point sets\n return {\n vertexCount: pointCount,\n boundingBox: getMeshBoundingBox(attributes)\n };\n }\n return PCDheader;\n}\n\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getNormalizedAttributes(attributes: HeaderAttributes): NormalizedAttributes {\n const normalizedAttributes: NormalizedAttributes = {\n POSITION: {\n // Binary PCD is only 32 bit\n value: new Float32Array(attributes.position),\n size: 3\n }\n };\n\n if (attributes.normal && attributes.normal.length > 0) {\n normalizedAttributes.NORMAL = {\n value: new Float32Array(attributes.normal),\n size: 3\n };\n }\n\n if (attributes.color && attributes.color.length > 0) {\n // TODO - RGBA\n normalizedAttributes.COLOR_0 = {\n value: new Uint8Array(attributes.color),\n size: 3\n };\n }\n\n return normalizedAttributes;\n}\n\n/**\n * Incoming data parsing\n * @param data\n * @returns Header\n */\n/* eslint-disable complexity, max-statements */\nfunction parsePCDHeader(data: string): PCDheader {\n const result1 = data.search(/[\\r\\n]DATA\\s(\\S*)\\s/i);\n const result2 = /[\\r\\n]DATA\\s(\\S*)\\s/i.exec(data.substr(result1 - 1));\n\n const PCDheader: any = {};\n PCDheader.data = result2 && result2[1];\n if (result2 !== null) {\n PCDheader.headerLen = (result2 && result2[0].length) + result1;\n }\n PCDheader.str = data.substr(0, PCDheader.headerLen);\n\n // remove comments\n\n PCDheader.str = PCDheader.str.replace(/\\#.*/gi, '');\n\n // parse\n\n PCDheader.version = /VERSION (.*)/i.exec(PCDheader.str);\n PCDheader.fields = /FIELDS (.*)/i.exec(PCDheader.str);\n PCDheader.size = /SIZE (.*)/i.exec(PCDheader.str);\n PCDheader.type = /TYPE (.*)/i.exec(PCDheader.str);\n PCDheader.count = /COUNT (.*)/i.exec(PCDheader.str);\n PCDheader.width = /WIDTH (.*)/i.exec(PCDheader.str);\n PCDheader.height = /HEIGHT (.*)/i.exec(PCDheader.str);\n PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec(PCDheader.str);\n PCDheader.points = /POINTS (.*)/i.exec(PCDheader.str);\n\n // evaluate\n\n if (PCDheader.version !== null) {\n PCDheader.version = parseFloat(PCDheader.version[1]);\n }\n\n if (PCDheader.fields !== null) {\n PCDheader.fields = PCDheader.fields[1].split(' ');\n }\n\n if (PCDheader.type !== null) {\n PCDheader.type = PCDheader.type[1].split(' ');\n }\n\n if (PCDheader.width !== null) {\n PCDheader.width = parseInt(PCDheader.width[1], 10);\n }\n\n if (PCDheader.height !== null) {\n PCDheader.height = parseInt(PCDheader.height[1], 10);\n }\n\n if (PCDheader.viewpoint !== null) {\n PCDheader.viewpoint = PCDheader.viewpoint[1];\n }\n\n if (PCDheader.points !== null) {\n PCDheader.points = parseInt(PCDheader.points[1], 10);\n }\n\n if (\n PCDheader.points === null &&\n typeof PCDheader.width === 'number' &&\n typeof PCDheader.height === 'number'\n ) {\n PCDheader.points = PCDheader.width * PCDheader.height;\n }\n\n if (PCDheader.size !== null) {\n PCDheader.size = PCDheader.size[1].split(' ').map((x) => parseInt(x, 10));\n }\n\n if (PCDheader.count !== null) {\n PCDheader.count = PCDheader.count[1].split(' ').map((x) => parseInt(x, 10));\n } else {\n PCDheader.count = [];\n if (PCDheader.fields !== null) {\n for (let i = 0; i < PCDheader.fields.length; i++) {\n PCDheader.count.push(1);\n }\n }\n }\n\n PCDheader.offset = {};\n\n let sizeSum = 0;\n if (PCDheader.fields !== null && PCDheader.size !== null) {\n for (let i = 0; i < PCDheader.fields.length; i++) {\n if (PCDheader.data === 'ascii') {\n PCDheader.offset[PCDheader.fields[i]] = i;\n } else {\n PCDheader.offset[PCDheader.fields[i]] = sizeSum;\n sizeSum += PCDheader.size[i];\n }\n }\n }\n\n // for binary only\n PCDheader.rowSize = sizeSum;\n\n return PCDheader;\n}\n/**\n * @param PCDheader\n * @param textData\n * @returns [attributes]\n */\n/* eslint-enable complexity, max-statements */\nfunction parsePCDASCII(PCDheader: PCDheader, textData: string): HeaderAttributes {\n const position: number[] = [];\n const normal: number[] = [];\n const color: number[] = [];\n\n const offset = PCDheader.offset;\n const pcdData = textData.substr(PCDheader.headerLen);\n const lines = pcdData.split('\\n');\n\n for (let i = 0; i < lines.length; i++) {\n if (lines[i] !== '') {\n const line = lines[i].split(' ');\n\n if (offset.x !== undefined) {\n position.push(parseFloat(line[offset.x]));\n position.push(parseFloat(line[offset.y]));\n position.push(parseFloat(line[offset.z]));\n }\n\n if (offset.rgb !== undefined) {\n const floatValue = parseFloat(line[offset.rgb]);\n const binaryColor = new Float32Array([floatValue]);\n const dataview = new DataView(binaryColor.buffer, 0);\n color.push(dataview.getUint8(0));\n color.push(dataview.getUint8(1));\n color.push(dataview.getUint8(2));\n // TODO - handle alpha channel / RGBA?\n }\n\n if (offset.normal_x !== undefined) {\n normal.push(parseFloat(line[offset.normal_x]));\n normal.push(parseFloat(line[offset.normal_y]));\n normal.push(parseFloat(line[offset.normal_z]));\n }\n }\n }\n\n return {position, normal, color};\n}\n\n/**\n * @param PCDheader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinary(PCDheader: PCDheader, data: ArrayBufferLike): HeaderAttributes {\n const position: number[] = [];\n const normal: number[] = [];\n const color: number[] = [];\n\n const dataview = new DataView(data, PCDheader.headerLen);\n const offset = PCDheader.offset;\n\n for (let i = 0, row = 0; i < PCDheader.points; i++, row += PCDheader.rowSize) {\n if (offset.x !== undefined) {\n position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));\n position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));\n position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));\n }\n\n if (offset.rgb !== undefined) {\n color.push(dataview.getUint8(row + offset.rgb + 0));\n color.push(dataview.getUint8(row + offset.rgb + 1));\n color.push(dataview.getUint8(row + offset.rgb + 2));\n }\n\n if (offset.normal_x !== undefined) {\n normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));\n normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));\n normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));\n }\n }\n\n return {position, normal, color};\n}\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nfunction getSchemaFromPCDHeader(PCDheader: PCDheader, metadata: SchemaMetadata): Schema {\n const offset = PCDheader.offset;\n\n const fields: Field[] = [];\n\n if (offset.x !== undefined) {\n fields.push(\n new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n );\n }\n\n if (offset.normal_x !== undefined) {\n fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n }\n\n if (offset.rgb !== undefined) {\n fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n }\n\n return new Schema(fields, metadata);\n}\n"],"file":"parse-pcd.js"}
1
+ {"version":3,"sources":["../../../src/lib/parse-pcd.ts"],"names":["LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","Error","getNormalizedAttributes","header","getNormalizedHeader","metadata","Map","JSON","stringify","boundingBox","schema","getSchemaFromPCDHeader","loaderData","mode","indices","PCDheader","width","height","pointCount","vertexCount","normalizedAttributes","POSITION","value","Float32Array","position","size","normal","length","NORMAL","color","COLOR_0","Uint8Array","result1","search","result2","exec","substr","headerLen","str","replace","version","fields","type","count","viewpoint","points","parseFloat","split","parseInt","map","x","i","push","offset","sizeSum","rowSize","pcdData","lines","line","undefined","y","z","rgb","floatValue","binaryColor","dataview","DataView","buffer","getUint8","normal_x","normal_y","normal_z","row","getFloat32","Field","FixedSizeList","Float32","Uint8","Schema"],"mappings":";;;;;;;AAUA;;AA6CA,IAAMA,aAAsB,GAAG,IAA/B;;AAOe,SAASC,QAAT,CAAkBC,IAAlB,EAAyC;AAEtD,MAAMC,QAAQ,GAAG,IAAIC,WAAJ,GAAkBC,MAAlB,CAAyBH,IAAzB,CAAjB;AACA,MAAMI,SAAS,GAAGC,cAAc,CAACJ,QAAD,CAAhC;AAEA,MAAIK,UAAe,GAAG,EAAtB;;AAGA,UAAQF,SAAS,CAACJ,IAAlB;AACE,SAAK,OAAL;AACEM,MAAAA,UAAU,GAAGC,aAAa,CAACH,SAAD,EAAYH,QAAZ,CAA1B;AACA;;AAEF,SAAK,QAAL;AACEK,MAAAA,UAAU,GAAGE,cAAc,CAACJ,SAAD,EAAYJ,IAAZ,CAA3B;AACA;;AAEF,SAAK,mBAAL;AACA;AACE,YAAM,IAAIS,KAAJ,gBAAkBL,SAAS,CAACJ,IAA5B,8BAAN;AAXJ;;AAcAM,EAAAA,UAAU,GAAGI,uBAAuB,CAACJ,UAAD,CAApC;AAEA,MAAMK,MAAM,GAAGC,mBAAmB,CAACR,SAAD,EAAYE,UAAZ,CAAlC;AAEA,MAAMO,QAAQ,GAAG,IAAIC,GAAJ,CAAQ,CACvB,CAAC,MAAD,EAAS,GAAT,CADuB,EAEvB,CAAC,aAAD,EAAgBC,IAAI,CAACC,SAAL,CAAeL,MAAM,CAACM,WAAtB,CAAhB,CAFuB,CAAR,CAAjB;AAKA,MAAMC,MAAM,GAAGC,sBAAsB,CAACf,SAAD,EAAYS,QAAZ,CAArC;AAEA,SAAO;AACLO,IAAAA,UAAU,EAAE;AACVT,MAAAA,MAAM,EAAEP;AADE,KADP;AAILO,IAAAA,MAAM,EAANA,MAJK;AAKLO,IAAAA,MAAM,EAANA,MALK;AAMLG,IAAAA,IAAI,EAAE,CAND;AAOLC,IAAAA,OAAO,EAAE,IAPJ;AAQLhB,IAAAA,UAAU,EAAVA;AARK,GAAP;AAUD;;AAGD,SAASM,mBAAT,CACEW,SADF,EAEEjB,UAFF,EAGsB;AACpB,MAAI,OAAOiB,SAAS,CAACC,KAAjB,KAA2B,QAA3B,IAAuC,OAAOD,SAAS,CAACE,MAAjB,KAA4B,QAAvE,EAAiF;AAC/E,QAAMC,UAAU,GAAGH,SAAS,CAACC,KAAV,GAAkBD,SAAS,CAACE,MAA/C;AACA,WAAO;AACLE,MAAAA,WAAW,EAAED,UADR;AAELT,MAAAA,WAAW,EAAE,gCAAmBX,UAAnB;AAFR,KAAP;AAID;;AACD,SAAOiB,SAAP;AACD;;AAMD,SAASb,uBAAT,CAAiCJ,UAAjC,EAAqF;AACnF,MAAMsB,oBAA0C,GAAG;AACjDC,IAAAA,QAAQ,EAAE;AAERC,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBzB,UAAU,CAAC0B,QAA5B,CAFC;AAGRC,MAAAA,IAAI,EAAE;AAHE;AADuC,GAAnD;;AAQA,MAAI3B,UAAU,CAAC4B,MAAX,IAAqB5B,UAAU,CAAC4B,MAAX,CAAkBC,MAAlB,GAA2B,CAApD,EAAuD;AACrDP,IAAAA,oBAAoB,CAACQ,MAArB,GAA8B;AAC5BN,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBzB,UAAU,CAAC4B,MAA5B,CADqB;AAE5BD,MAAAA,IAAI,EAAE;AAFsB,KAA9B;AAID;;AAED,MAAI3B,UAAU,CAAC+B,KAAX,IAAoB/B,UAAU,CAAC+B,KAAX,CAAiBF,MAAjB,GAA0B,CAAlD,EAAqD;AAEnDP,IAAAA,oBAAoB,CAACU,OAArB,GAA+B;AAC7BR,MAAAA,KAAK,EAAE,IAAIS,UAAJ,CAAejC,UAAU,CAAC+B,KAA1B,CADsB;AAE7BJ,MAAAA,IAAI,EAAE;AAFuB,KAA/B;AAID;;AAED,SAAOL,oBAAP;AACD;;AAQD,SAASvB,cAAT,CAAwBL,IAAxB,EAAiD;AAC/C,MAAMwC,OAAO,GAAGxC,IAAI,CAACyC,MAAL,CAAY,sBAAZ,CAAhB;AACA,MAAMC,OAAO,GAAG,uBAAuBC,IAAvB,CAA4B3C,IAAI,CAAC4C,MAAL,CAAYJ,OAAO,GAAG,CAAtB,CAA5B,CAAhB;AAEA,MAAMjB,SAAc,GAAG,EAAvB;AACAA,EAAAA,SAAS,CAACvB,IAAV,GAAiB0C,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAnC;;AACA,MAAIA,OAAO,KAAK,IAAhB,EAAsB;AACpBnB,IAAAA,SAAS,CAACsB,SAAV,GAAsB,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAP,CAAWP,MAAvB,IAAiCK,OAAvD;AACD;;AACDjB,EAAAA,SAAS,CAACuB,GAAV,GAAgB9C,IAAI,CAAC4C,MAAL,CAAY,CAAZ,EAAerB,SAAS,CAACsB,SAAzB,CAAhB;AAIAtB,EAAAA,SAAS,CAACuB,GAAV,GAAgBvB,SAAS,CAACuB,GAAV,CAAcC,OAAd,CAAsB,QAAtB,EAAgC,EAAhC,CAAhB;AAIAxB,EAAAA,SAAS,CAACyB,OAAV,GAAoB,gBAAgBL,IAAhB,CAAqBpB,SAAS,CAACuB,GAA/B,CAApB;AACAvB,EAAAA,SAAS,CAAC0B,MAAV,GAAmB,eAAeN,IAAf,CAAoBpB,SAAS,CAACuB,GAA9B,CAAnB;AACAvB,EAAAA,SAAS,CAACU,IAAV,GAAiB,aAAaU,IAAb,CAAkBpB,SAAS,CAACuB,GAA5B,CAAjB;AACAvB,EAAAA,SAAS,CAAC2B,IAAV,GAAiB,aAAaP,IAAb,CAAkBpB,SAAS,CAACuB,GAA5B,CAAjB;AACAvB,EAAAA,SAAS,CAAC4B,KAAV,GAAkB,cAAcR,IAAd,CAAmBpB,SAAS,CAACuB,GAA7B,CAAlB;AACAvB,EAAAA,SAAS,CAACC,KAAV,GAAkB,cAAcmB,IAAd,CAAmBpB,SAAS,CAACuB,GAA7B,CAAlB;AACAvB,EAAAA,SAAS,CAACE,MAAV,GAAmB,eAAekB,IAAf,CAAoBpB,SAAS,CAACuB,GAA9B,CAAnB;AACAvB,EAAAA,SAAS,CAAC6B,SAAV,GAAsB,kBAAkBT,IAAlB,CAAuBpB,SAAS,CAACuB,GAAjC,CAAtB;AACAvB,EAAAA,SAAS,CAAC8B,MAAV,GAAmB,eAAeV,IAAf,CAAoBpB,SAAS,CAACuB,GAA9B,CAAnB;;AAIA,MAAIvB,SAAS,CAACyB,OAAV,KAAsB,IAA1B,EAAgC;AAC9BzB,IAAAA,SAAS,CAACyB,OAAV,GAAoBM,UAAU,CAAC/B,SAAS,CAACyB,OAAV,CAAkB,CAAlB,CAAD,CAA9B;AACD;;AAED,MAAIzB,SAAS,CAAC0B,MAAV,KAAqB,IAAzB,EAA+B;AAC7B1B,IAAAA,SAAS,CAAC0B,MAAV,GAAmB1B,SAAS,CAAC0B,MAAV,CAAiB,CAAjB,EAAoBM,KAApB,CAA0B,GAA1B,CAAnB;AACD;;AAED,MAAIhC,SAAS,CAAC2B,IAAV,KAAmB,IAAvB,EAA6B;AAC3B3B,IAAAA,SAAS,CAAC2B,IAAV,GAAiB3B,SAAS,CAAC2B,IAAV,CAAe,CAAf,EAAkBK,KAAlB,CAAwB,GAAxB,CAAjB;AACD;;AAED,MAAIhC,SAAS,CAACC,KAAV,KAAoB,IAAxB,EAA8B;AAC5BD,IAAAA,SAAS,CAACC,KAAV,GAAkBgC,QAAQ,CAACjC,SAAS,CAACC,KAAV,CAAgB,CAAhB,CAAD,EAAqB,EAArB,CAA1B;AACD;;AAED,MAAID,SAAS,CAACE,MAAV,KAAqB,IAAzB,EAA+B;AAC7BF,IAAAA,SAAS,CAACE,MAAV,GAAmB+B,QAAQ,CAACjC,SAAS,CAACE,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MAAIF,SAAS,CAAC6B,SAAV,KAAwB,IAA5B,EAAkC;AAChC7B,IAAAA,SAAS,CAAC6B,SAAV,GAAsB7B,SAAS,CAAC6B,SAAV,CAAoB,CAApB,CAAtB;AACD;;AAED,MAAI7B,SAAS,CAAC8B,MAAV,KAAqB,IAAzB,EAA+B;AAC7B9B,IAAAA,SAAS,CAAC8B,MAAV,GAAmBG,QAAQ,CAACjC,SAAS,CAAC8B,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MACE9B,SAAS,CAAC8B,MAAV,KAAqB,IAArB,IACA,OAAO9B,SAAS,CAACC,KAAjB,KAA2B,QAD3B,IAEA,OAAOD,SAAS,CAACE,MAAjB,KAA4B,QAH9B,EAIE;AACAF,IAAAA,SAAS,CAAC8B,MAAV,GAAmB9B,SAAS,CAACC,KAAV,GAAkBD,SAAS,CAACE,MAA/C;AACD;;AAED,MAAIF,SAAS,CAACU,IAAV,KAAmB,IAAvB,EAA6B;AAC3BV,IAAAA,SAAS,CAACU,IAAV,GAAiBV,SAAS,CAACU,IAAV,CAAe,CAAf,EAAkBsB,KAAlB,CAAwB,GAAxB,EAA6BE,GAA7B,CAAiC,UAACC,CAAD;AAAA,aAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAf;AAAA,KAAjC,CAAjB;AACD;;AAED,MAAInC,SAAS,CAAC4B,KAAV,KAAoB,IAAxB,EAA8B;AAC5B5B,IAAAA,SAAS,CAAC4B,KAAV,GAAkB5B,SAAS,CAAC4B,KAAV,CAAgB,CAAhB,EAAmBI,KAAnB,CAAyB,GAAzB,EAA8BE,GAA9B,CAAkC,UAACC,CAAD;AAAA,aAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAf;AAAA,KAAlC,CAAlB;AACD,GAFD,MAEO;AACLnC,IAAAA,SAAS,CAAC4B,KAAV,GAAkB,EAAlB;;AACA,QAAI5B,SAAS,CAAC0B,MAAV,KAAqB,IAAzB,EAA+B;AAC7B,WAAK,IAAIU,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGpC,SAAS,CAAC0B,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChDpC,QAAAA,SAAS,CAAC4B,KAAV,CAAgBS,IAAhB,CAAqB,CAArB;AACD;AACF;AACF;;AAEDrC,EAAAA,SAAS,CAACsC,MAAV,GAAmB,EAAnB;AAEA,MAAIC,OAAO,GAAG,CAAd;;AACA,MAAIvC,SAAS,CAAC0B,MAAV,KAAqB,IAArB,IAA6B1B,SAAS,CAACU,IAAV,KAAmB,IAApD,EAA0D;AACxD,SAAK,IAAI0B,EAAC,GAAG,CAAb,EAAgBA,EAAC,GAAGpC,SAAS,CAAC0B,MAAV,CAAiBd,MAArC,EAA6CwB,EAAC,EAA9C,EAAkD;AAChD,UAAIpC,SAAS,CAACvB,IAAV,KAAmB,OAAvB,EAAgC;AAC9BuB,QAAAA,SAAS,CAACsC,MAAV,CAAiBtC,SAAS,CAAC0B,MAAV,CAAiBU,EAAjB,CAAjB,IAAwCA,EAAxC;AACD,OAFD,MAEO;AACLpC,QAAAA,SAAS,CAACsC,MAAV,CAAiBtC,SAAS,CAAC0B,MAAV,CAAiBU,EAAjB,CAAjB,IAAwCG,OAAxC;AACAA,QAAAA,OAAO,IAAIvC,SAAS,CAACU,IAAV,CAAe0B,EAAf,CAAX;AACD;AACF;AACF;;AAGDpC,EAAAA,SAAS,CAACwC,OAAV,GAAoBD,OAApB;AAEA,SAAOvC,SAAP;AACD;;AAOD,SAAShB,aAAT,CAAuBgB,SAAvB,EAA6CtB,QAA7C,EAAiF;AAC/E,MAAM+B,QAAkB,GAAG,EAA3B;AACA,MAAME,MAAgB,GAAG,EAAzB;AACA,MAAMG,KAAe,GAAG,EAAxB;AAEA,MAAMwB,MAAM,GAAGtC,SAAS,CAACsC,MAAzB;AACA,MAAMG,OAAO,GAAG/D,QAAQ,CAAC2C,MAAT,CAAgBrB,SAAS,CAACsB,SAA1B,CAAhB;AACA,MAAMoB,KAAK,GAAGD,OAAO,CAACT,KAAR,CAAc,IAAd,CAAd;;AAEA,OAAK,IAAII,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGM,KAAK,CAAC9B,MAA1B,EAAkCwB,CAAC,EAAnC,EAAuC;AACrC,QAAIM,KAAK,CAACN,CAAD,CAAL,KAAa,EAAjB,EAAqB;AACnB,UAAMO,IAAI,GAAGD,KAAK,CAACN,CAAD,CAAL,CAASJ,KAAT,CAAe,GAAf,CAAb;;AAEA,UAAIM,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACH,CAAR,CAAL,CAAxB;AACA1B,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACO,CAAR,CAAL,CAAxB;AACApC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACQ,CAAR,CAAL,CAAxB;AACD;;AAED,UAAIR,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B,YAAMI,UAAU,GAAGjB,UAAU,CAACY,IAAI,CAACL,MAAM,CAACS,GAAR,CAAL,CAA7B;AACA,YAAME,WAAW,GAAG,IAAIzC,YAAJ,CAAiB,CAACwC,UAAD,CAAjB,CAApB;AACA,YAAME,QAAQ,GAAG,IAAIC,QAAJ,CAAaF,WAAW,CAACG,MAAzB,EAAiC,CAAjC,CAAjB;AACAtC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AAED;;AAED,UAAIf,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACgB,QAAR,CAAL,CAAtB;AACA3C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACiB,QAAR,CAAL,CAAtB;AACA5C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACkB,QAAR,CAAL,CAAtB;AACD;AACF;AACF;;AAED,SAAO;AAAC/C,IAAAA,QAAQ,EAARA,QAAD;AAAWE,IAAAA,MAAM,EAANA,MAAX;AAAmBG,IAAAA,KAAK,EAALA;AAAnB,GAAP;AACD;;AAOD,SAAS7B,cAAT,CAAwBe,SAAxB,EAA8CvB,IAA9C,EAAuF;AACrF,MAAMgC,QAAkB,GAAG,EAA3B;AACA,MAAME,MAAgB,GAAG,EAAzB;AACA,MAAMG,KAAe,GAAG,EAAxB;AAEA,MAAMoC,QAAQ,GAAG,IAAIC,QAAJ,CAAa1E,IAAb,EAAmBuB,SAAS,CAACsB,SAA7B,CAAjB;AACA,MAAMgB,MAAM,GAAGtC,SAAS,CAACsC,MAAzB;;AAEA,OAAK,IAAIF,CAAC,GAAG,CAAR,EAAWqB,GAAG,GAAG,CAAtB,EAAyBrB,CAAC,GAAGpC,SAAS,CAAC8B,MAAvC,EAA+CM,CAAC,IAAIqB,GAAG,IAAIzD,SAAS,CAACwC,OAArE,EAA8E;AAC5E,QAAIF,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACH,CAAjC,EAAoC5D,aAApC,CAAd;AACAkC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACO,CAAjC,EAAoCtE,aAApC,CAAd;AACAkC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACQ,CAAjC,EAAoCvE,aAApC,CAAd;AACD;;AAED,QAAI+D,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B9B,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACD;;AAED,QAAIT,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACgB,QAAjC,EAA2C/E,aAA3C,CAAZ;AACAoC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACiB,QAAjC,EAA2ChF,aAA3C,CAAZ;AACAoC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACkB,QAAjC,EAA2CjF,aAA3C,CAAZ;AACD;AACF;;AAED,SAAO;AAACkC,IAAAA,QAAQ,EAARA,QAAD;AAAWE,IAAAA,MAAM,EAANA,MAAX;AAAmBG,IAAAA,KAAK,EAALA;AAAnB,GAAP;AACD;;AAOD,SAASlB,sBAAT,CAAgCI,SAAhC,EAAsDV,QAAtD,EAAwF;AACtF,MAAMgD,MAAM,GAAGtC,SAAS,CAACsC,MAAzB;AAEA,MAAMZ,MAAe,GAAG,EAAxB;;AAEA,MAAIY,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BlB,IAAAA,MAAM,CAACW,IAAP,CACE,IAAIsB,aAAJ,CAAU,UAAV,EAAsB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIvB,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjClB,IAAAA,MAAM,CAACW,IAAP,CAAY,IAAIsB,aAAJ,CAAU,QAAV,EAAoB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIvB,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5BlB,IAAAA,MAAM,CAACW,IAAP,CAAY,IAAIsB,aAAJ,CAAU,SAAV,EAAqB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIG,aAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIC,cAAJ,CAAWrC,MAAX,EAAmBpC,QAAnB,CAAP;AACD","sourcesContent":["// PCD Loader, adapted from THREE.js (MIT license)\n//\n// Attributions per original THREE.js source file:\n//\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\n//\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n\nimport {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport {getMeshBoundingBox} from '@loaders.gl/schema';\n\ntype BoundingBox = [[number, number, number], [number, number, number]];\n\ntype SchemaMetadata = Map<string, any>;\n\ntype PCDheader = {\n data: any;\n headerLen: number;\n str: string;\n version: RegExpExecArray | null | number;\n fields: RegExpExecArray | null | string[];\n size: RegExpExecArray | null | number[];\n type: RegExpExecArray | null | string[];\n count: RegExpExecArray | null | number[];\n width: RegExpExecArray | number;\n height: RegExpExecArray | number;\n viewpoint: RegExpExecArray | null | string;\n points: RegExpExecArray | number;\n offset: {[index: string]: number};\n rowSize: number;\n vertexCount: number;\n boundingBox: BoundingBox;\n};\n\ntype NormalizedAttributes = {\n POSITION: {\n value: Float32Array;\n size: number;\n };\n NORMAL?: {\n value: Float32Array;\n size: number;\n };\n COLOR_0?: {\n value: Uint8Array;\n size: number;\n };\n};\n\ntype HeaderAttributes = {\n [attributeName: string]: number[];\n};\n\nconst LITTLE_ENDIAN: boolean = true;\n\n/**\n *\n * @param data\n * @returns\n */\nexport default function parsePCD(data: ArrayBufferLike) {\n // parse header (always ascii format)\n const textData = new TextDecoder().decode(data);\n const pcdHeader = parsePCDHeader(textData);\n\n let attributes: any = {};\n\n // parse data\n switch (pcdHeader.data) {\n case 'ascii':\n attributes = parsePCDASCII(pcdHeader, textData);\n break;\n\n case 'binary':\n attributes = parsePCDBinary(pcdHeader, data);\n break;\n\n case 'binary_compressed':\n default:\n throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n }\n\n attributes = getNormalizedAttributes(attributes);\n\n const header = getNormalizedHeader(pcdHeader, attributes);\n\n const metadata = new Map([\n ['mode', '0'],\n ['boundingBox', JSON.stringify(header.boundingBox)]\n ]);\n\n const schema = getSchemaFromPCDHeader(pcdHeader, metadata);\n\n return {\n loaderData: {\n header: pcdHeader\n },\n header,\n schema,\n mode: 0, // POINTS\n indices: null,\n attributes\n };\n}\n\n// Create a header that contains common data for PointCloud category loaders\nfunction getNormalizedHeader(\n PCDheader: PCDheader,\n attributes: NormalizedAttributes\n): Partial<PCDheader> {\n if (typeof PCDheader.width === 'number' && typeof PCDheader.height === 'number') {\n const pointCount = PCDheader.width * PCDheader.height; // Supports \"organized\" point sets\n return {\n vertexCount: pointCount,\n boundingBox: getMeshBoundingBox(attributes)\n };\n }\n return PCDheader;\n}\n\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getNormalizedAttributes(attributes: HeaderAttributes): NormalizedAttributes {\n const normalizedAttributes: NormalizedAttributes = {\n POSITION: {\n // Binary PCD is only 32 bit\n value: new Float32Array(attributes.position),\n size: 3\n }\n };\n\n if (attributes.normal && attributes.normal.length > 0) {\n normalizedAttributes.NORMAL = {\n value: new Float32Array(attributes.normal),\n size: 3\n };\n }\n\n if (attributes.color && attributes.color.length > 0) {\n // TODO - RGBA\n normalizedAttributes.COLOR_0 = {\n value: new Uint8Array(attributes.color),\n size: 3\n };\n }\n\n return normalizedAttributes;\n}\n\n/**\n * Incoming data parsing\n * @param data\n * @returns Header\n */\n/* eslint-disable complexity, max-statements */\nfunction parsePCDHeader(data: string): PCDheader {\n const result1 = data.search(/[\\r\\n]DATA\\s(\\S*)\\s/i);\n const result2 = /[\\r\\n]DATA\\s(\\S*)\\s/i.exec(data.substr(result1 - 1));\n\n const PCDheader: any = {};\n PCDheader.data = result2 && result2[1];\n if (result2 !== null) {\n PCDheader.headerLen = (result2 && result2[0].length) + result1;\n }\n PCDheader.str = data.substr(0, PCDheader.headerLen);\n\n // remove comments\n\n PCDheader.str = PCDheader.str.replace(/\\#.*/gi, '');\n\n // parse\n\n PCDheader.version = /VERSION (.*)/i.exec(PCDheader.str);\n PCDheader.fields = /FIELDS (.*)/i.exec(PCDheader.str);\n PCDheader.size = /SIZE (.*)/i.exec(PCDheader.str);\n PCDheader.type = /TYPE (.*)/i.exec(PCDheader.str);\n PCDheader.count = /COUNT (.*)/i.exec(PCDheader.str);\n PCDheader.width = /WIDTH (.*)/i.exec(PCDheader.str);\n PCDheader.height = /HEIGHT (.*)/i.exec(PCDheader.str);\n PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec(PCDheader.str);\n PCDheader.points = /POINTS (.*)/i.exec(PCDheader.str);\n\n // evaluate\n\n if (PCDheader.version !== null) {\n PCDheader.version = parseFloat(PCDheader.version[1]);\n }\n\n if (PCDheader.fields !== null) {\n PCDheader.fields = PCDheader.fields[1].split(' ');\n }\n\n if (PCDheader.type !== null) {\n PCDheader.type = PCDheader.type[1].split(' ');\n }\n\n if (PCDheader.width !== null) {\n PCDheader.width = parseInt(PCDheader.width[1], 10);\n }\n\n if (PCDheader.height !== null) {\n PCDheader.height = parseInt(PCDheader.height[1], 10);\n }\n\n if (PCDheader.viewpoint !== null) {\n PCDheader.viewpoint = PCDheader.viewpoint[1];\n }\n\n if (PCDheader.points !== null) {\n PCDheader.points = parseInt(PCDheader.points[1], 10);\n }\n\n if (\n PCDheader.points === null &&\n typeof PCDheader.width === 'number' &&\n typeof PCDheader.height === 'number'\n ) {\n PCDheader.points = PCDheader.width * PCDheader.height;\n }\n\n if (PCDheader.size !== null) {\n PCDheader.size = PCDheader.size[1].split(' ').map((x) => parseInt(x, 10));\n }\n\n if (PCDheader.count !== null) {\n PCDheader.count = PCDheader.count[1].split(' ').map((x) => parseInt(x, 10));\n } else {\n PCDheader.count = [];\n if (PCDheader.fields !== null) {\n for (let i = 0; i < PCDheader.fields.length; i++) {\n PCDheader.count.push(1);\n }\n }\n }\n\n PCDheader.offset = {};\n\n let sizeSum = 0;\n if (PCDheader.fields !== null && PCDheader.size !== null) {\n for (let i = 0; i < PCDheader.fields.length; i++) {\n if (PCDheader.data === 'ascii') {\n PCDheader.offset[PCDheader.fields[i]] = i;\n } else {\n PCDheader.offset[PCDheader.fields[i]] = sizeSum;\n sizeSum += PCDheader.size[i];\n }\n }\n }\n\n // for binary only\n PCDheader.rowSize = sizeSum;\n\n return PCDheader;\n}\n/**\n * @param PCDheader\n * @param textData\n * @returns [attributes]\n */\n/* eslint-enable complexity, max-statements */\nfunction parsePCDASCII(PCDheader: PCDheader, textData: string): HeaderAttributes {\n const position: number[] = [];\n const normal: number[] = [];\n const color: number[] = [];\n\n const offset = PCDheader.offset;\n const pcdData = textData.substr(PCDheader.headerLen);\n const lines = pcdData.split('\\n');\n\n for (let i = 0; i < lines.length; i++) {\n if (lines[i] !== '') {\n const line = lines[i].split(' ');\n\n if (offset.x !== undefined) {\n position.push(parseFloat(line[offset.x]));\n position.push(parseFloat(line[offset.y]));\n position.push(parseFloat(line[offset.z]));\n }\n\n if (offset.rgb !== undefined) {\n const floatValue = parseFloat(line[offset.rgb]);\n const binaryColor = new Float32Array([floatValue]);\n const dataview = new DataView(binaryColor.buffer, 0);\n color.push(dataview.getUint8(0));\n color.push(dataview.getUint8(1));\n color.push(dataview.getUint8(2));\n // TODO - handle alpha channel / RGBA?\n }\n\n if (offset.normal_x !== undefined) {\n normal.push(parseFloat(line[offset.normal_x]));\n normal.push(parseFloat(line[offset.normal_y]));\n normal.push(parseFloat(line[offset.normal_z]));\n }\n }\n }\n\n return {position, normal, color};\n}\n\n/**\n * @param PCDheader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinary(PCDheader: PCDheader, data: ArrayBufferLike): HeaderAttributes {\n const position: number[] = [];\n const normal: number[] = [];\n const color: number[] = [];\n\n const dataview = new DataView(data, PCDheader.headerLen);\n const offset = PCDheader.offset;\n\n for (let i = 0, row = 0; i < PCDheader.points; i++, row += PCDheader.rowSize) {\n if (offset.x !== undefined) {\n position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));\n position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));\n position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));\n }\n\n if (offset.rgb !== undefined) {\n color.push(dataview.getUint8(row + offset.rgb + 0));\n color.push(dataview.getUint8(row + offset.rgb + 1));\n color.push(dataview.getUint8(row + offset.rgb + 2));\n }\n\n if (offset.normal_x !== undefined) {\n normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));\n normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));\n normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));\n }\n }\n\n return {position, normal, color};\n}\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nfunction getSchemaFromPCDHeader(PCDheader: PCDheader, metadata: SchemaMetadata): Schema {\n const offset = PCDheader.offset;\n\n const fields: Field[] = [];\n\n if (offset.x !== undefined) {\n fields.push(\n new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n );\n }\n\n if (offset.normal_x !== undefined) {\n fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n }\n\n if (offset.rgb !== undefined) {\n fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n }\n\n return new Schema(fields, metadata);\n}\n"],"file":"parse-pcd.js"}
package/dist/es5/pcd-loader.js CHANGED
@@ -4,8 +4,8 @@ Object.defineProperty(exports, "__esModule", {
4
4
  value: true
5
5
  });
6
6
  exports._typecheckPCDLoader = exports.PCDLoader = void 0;
7
- const VERSION = typeof "3.0.13" !== 'undefined' ? "3.0.13" : 'latest';
8
- const PCDLoader = {
7
+ var VERSION = typeof "3.0.14" !== 'undefined' ? "3.0.14" : 'latest';
8
+ var PCDLoader = {
9
9
  name: 'PCD (Point Cloud Data)',
10
10
  id: 'pcd',
11
11
  module: 'pcd',
@@ -18,6 +18,6 @@ const PCDLoader = {
18
18
  }
19
19
  };
20
20
  exports.PCDLoader = PCDLoader;
21
- const _typecheckPCDLoader = PCDLoader;
21
+ var _typecheckPCDLoader = PCDLoader;
22
22
  exports._typecheckPCDLoader = _typecheckPCDLoader;
23
23
  //# sourceMappingURL=pcd-loader.js.map
package/dist/es5/pcd-loader.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"sources":["../../src/pcd-loader.ts"],"names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"mappings":";;;;;;AAIA,MAAMA,OAAO,GAAG,oBAAuB,WAAvB,cAAmD,QAAnE;AAKO,MAAMC,SAAS,GAAG;AACvBC,EAAAA,IAAI,EAAE,wBADiB;AAEvBC,EAAAA,EAAE,EAAE,KAFmB;AAGvBC,EAAAA,MAAM,EAAE,KAHe;AAIvBC,EAAAA,OAAO,EAAEL,OAJc;AAKvBM,EAAAA,MAAM,EAAE,IALe;AAMvBC,EAAAA,UAAU,EAAE,CAAC,KAAD,CANW;AAOvBC,EAAAA,SAAS,EAAE,CAAC,YAAD,CAPY;AAQvBC,EAAAA,OAAO,EAAE;AACPC,IAAAA,GAAG,EAAE;AADE;AARc,CAAlB;;AAaA,MAAMC,mBAA2B,GAAGV,SAApC","sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n name: 'PCD (Point Cloud Data)',\n id: 'pcd',\n module: 'pcd',\n version: VERSION,\n worker: true,\n extensions: ['pcd'],\n mimeTypes: ['text/plain'],\n options: {\n pcd: {}\n }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"file":"pcd-loader.js"}
1
+ {"version":3,"sources":["../../src/pcd-loader.ts"],"names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"mappings":";;;;;;AAIA,IAAMA,OAAO,GAAG,oBAAuB,WAAvB,cAAmD,QAAnE;AAKO,IAAMC,SAAS,GAAG;AACvBC,EAAAA,IAAI,EAAE,wBADiB;AAEvBC,EAAAA,EAAE,EAAE,KAFmB;AAGvBC,EAAAA,MAAM,EAAE,KAHe;AAIvBC,EAAAA,OAAO,EAAEL,OAJc;AAKvBM,EAAAA,MAAM,EAAE,IALe;AAMvBC,EAAAA,UAAU,EAAE,CAAC,KAAD,CANW;AAOvBC,EAAAA,SAAS,EAAE,CAAC,YAAD,CAPY;AAQvBC,EAAAA,OAAO,EAAE;AACPC,IAAAA,GAAG,EAAE;AADE;AARc,CAAlB;;AAaA,IAAMC,mBAA2B,GAAGV,SAApC","sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n name: 'PCD (Point Cloud Data)',\n id: 'pcd',\n module: 'pcd',\n version: VERSION,\n worker: true,\n extensions: ['pcd'],\n mimeTypes: ['text/plain'],\n options: {\n pcd: {}\n }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"file":"pcd-loader.js"}
package/dist/esm/pcd-loader.js CHANGED
@@ -1,4 +1,4 @@
1
- const VERSION = typeof "3.0.13" !== 'undefined' ? "3.0.13" : 'latest';
1
+ const VERSION = typeof "3.0.14" !== 'undefined' ? "3.0.14" : 'latest';
2
2
  export const PCDLoader = {
3
3
  name: 'PCD (Point Cloud Data)',
4
4
  id: 'pcd',
package/dist/pcd-worker.js CHANGED
@@ -1,2 +1,2 @@
1
- !function(t){var e={};function r(n){if(e[n])return e[n].exports;var o=e[n]={i:n,l:!1,exports:{}};return t[n].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=t,r.c=e,r.d=function(t,e,n){r.o(t,e)||Object.defineProperty(t,e,{enumerable:!0,get:n})},r.r=function(t){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})},r.t=function(t,e){if(1&e&&(t=r(t)),8&e)return t;if(4&e&&"object"==typeof t&&t&&t.__esModule)return t;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,"default",{enumerable:!0,value:t}),2&e&&"string"!=typeof t)for(var o in t)r.d(n,o,function(e){return t[e]}.bind(null,o));return n},r.n=function(t){var e=t&&t.__esModule?function(){return t.default}:function(){return t};return r.d(e,"a",e),e},r.o=function(t,e){return Object.prototype.hasOwnProperty.call(t,e)},r.p="",r(r.s=19)}([function(t,e){t.exports=function(t,e){if(!(t instanceof e))throw new TypeError("Cannot call a class as a function")},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(14);t.exports=function(t,e){if("function"!=typeof e&&null!==e)throw new TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&n(t,e)},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t,e,r){return e in t?Object.defineProperty(t,e,{value:r,enumerable:!0,configurable:!0,writable:!0}):t[e]=r,t},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){function r(t,e){for(var r=0;r<e.length;r++){var n=e[r];n.enumerable=n.enumerable||!1,n.configurable=!0,"value"in n&&(n.writable=!0),Object.defineProperty(t,n.key,n)}}t.exports=function(t,e,n){return e&&r(t.prototype,e),n&&r(t,n),t},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t){if(void 0===t)throw new ReferenceError("this hasn't been initialised - super() hasn't been called");return t},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){t.exports=r(13)},function(t,e){function r(t,e,r,n,o,i,a){try{var u=t[i](a),s=u.value}catch(t){return void r(t)}u.done?e(s):Promise.resolve(s).then(n,o)}t.exports=function(t){return function(){var e=this,n=arguments;return new Promise((function(o,i){var a=t.apply(e,n);function u(t){r(a,o,i,u,s,"next",t)}function s(t){r(a,o,i,u,s,"throw",t)}u(void 0)}))}},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){function r(e){return"function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?(t.exports=r=function(t){return typeof t},t.exports.default=t.exports,t.exports.__esModule=!0):(t.exports=r=function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t},t.exports.default=t.exports,t.exports.__esModule=!0),r(e)}t.exports=r,t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){function r(e){return t.exports=r=Object.setPrototypeOf?Object.getPrototypeOf:function(t){return t.__proto__||Object.getPrototypeOf(t)},t.exports.default=t.exports,t.exports.__esModule=!0,r(e)}t.exports=r,t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(15),o=r(16),i=r(17),a=r(18);t.exports=function(t){return n(t)||o(t)||i(t)||a()},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t,e){(null==e||e>t.length)&&(e=t.length);for(var r=0,n=new Array(e);r<e;r++)n[r]=t[r];return n},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(7).default,o=r(4);t.exports=function(t,e){return!e||"object"!==n(e)&&"function"!=typeof e?o(t):e},t.exports.default=t.exports,t.exports.__esModule=!0},,function(t,e,r){var n=function(t){"use strict";var e=Object.prototype,r=e.hasOwnProperty,n="function"==typeof Symbol?Symbol:{},o=n.iterator||"@@iterator",i=n.asyncIterator||"@@asyncIterator",a=n.toStringTag||"@@toStringTag";function u(t,e,r){return Object.defineProperty(t,e,{value:r,enumerable:!0,configurable:!0,writable:!0}),t[e]}try{u({},"")}catch(t){u=function(t,e,r){return t[e]=r}}function s(t,e,r,n){var o=e&&e.prototype instanceof f?e:f,i=Object.create(o.prototype),a=new O(n||[]);return i._invoke=function(t,e,r){var n="suspendedStart";return function(o,i){if("executing"===n)throw new Error("Generator is already running");if("completed"===n){if("throw"===o)throw i;return I()}for(r.method=o,r.arg=i;;){var a=r.delegate;if(a){var u=b(a,r);if(u){if(u===l)continue;return u}}if("next"===r.method)r.sent=r._sent=r.arg;else if("throw"===r.method){if("suspendedStart"===n)throw n="completed",r.arg;r.dispatchException(r.arg)}else"return"===r.method&&r.abrupt("return",r.arg);n="executing";var s=c(t,e,r);if("normal"===s.type){if(n=r.done?"completed":"suspendedYield",s.arg===l)continue;return{value:s.arg,done:r.done}}"throw"===s.type&&(n="completed",r.method="throw",r.arg=s.arg)}}}(t,r,a),i}function c(t,e,r){try{return{type:"normal",arg:t.call(e,r)}}catch(t){return{type:"throw",arg:t}}}t.wrap=s;var l={};function f(){}function p(){}function d(){}var y={};y[o]=function(){return this};var h=Object.getPrototypeOf,v=h&&h(h(_([])));v&&v!==e&&r.call(v,o)&&(y=v);var m=d.prototype=f.prototype=Object.create(y);function g(t){["next","throw","return"].forEach((function(e){u(t,e,(function(t){return this._invoke(e,t)}))}))}function x(t,e){var n;this._invoke=function(o,i){function a(){return new e((function(n,a){!function n(o,i,a,u){var s=c(t[o],t,i);if("throw"!==s.type){var l=s.arg,f=l.value;return f&&"object"==typeof f&&r.call(f,"__await")?e.resolve(f.__await).then((function(t){n("next",t,a,u)}),(function(t){n("throw",t,a,u)})):e.resolve(f).then((function(t){l.value=t,a(l)}),(function(t){return n("throw",t,a,u)}))}u(s.arg)}(o,i,n,a)}))}return n=n?n.then(a,a):a()}}function b(t,e){var r=t.iterator[e.method];if(void 0===r){if(e.delegate=null,"throw"===e.method){if(t.iterator.return&&(e.method="return",e.arg=void 0,b(t,e),"throw"===e.method))return l;e.method="throw",e.arg=new TypeError("The iterator does not provide a 'throw' method")}return l}var n=c(r,t.iterator,e.arg);if("throw"===n.type)return e.method="throw",e.arg=n.arg,e.delegate=null,l;var o=n.arg;return o?o.done?(e[t.resultName]=o.value,e.next=t.nextLoc,"return"!==e.method&&(e.method="next",e.arg=void 0),e.delegate=null,l):o:(e.method="throw",e.arg=new TypeError("iterator result is not an object"),e.delegate=null,l)}function w(t){var e={tryLoc:t[0]};1 in t&&(e.catchLoc=t[1]),2 in t&&(e.finallyLoc=t[2],e.afterLoc=t[3]),this.tryEntries.push(e)}function S(t){var e=t.completion||{};e.type="normal",delete e.arg,t.completion=e}function O(t){this.tryEntries=[{tryLoc:"root"}],t.forEach(w,this),this.reset(!0)}function _(t){if(t){var e=t[o];if(e)return e.call(t);if("function"==typeof t.next)return t;if(!isNaN(t.length)){var n=-1,i=function e(){for(;++n<t.length;)if(r.call(t,n))return e.value=t[n],e.done=!1,e;return e.value=void 0,e.done=!0,e};return i.next=i}}return{next:I}}function I(){return{value:void 0,done:!0}}return p.prototype=m.constructor=d,d.constructor=p,p.displayName=u(d,a,"GeneratorFunction"),t.isGeneratorFunction=function(t){var e="function"==typeof t&&t.constructor;return!!e&&(e===p||"GeneratorFunction"===(e.displayName||e.name))},t.mark=function(t){return Object.setPrototypeOf?Object.setPrototypeOf(t,d):(t.__proto__=d,u(t,a,"GeneratorFunction")),t.prototype=Object.create(m),t},t.awrap=function(t){return{__await:t}},g(x.prototype),x.prototype[i]=function(){return this},t.AsyncIterator=x,t.async=function(e,r,n,o,i){void 0===i&&(i=Promise);var a=new x(s(e,r,n,o),i);return t.isGeneratorFunction(r)?a:a.next().then((function(t){return t.done?t.value:a.next()}))},g(m),u(m,a,"Generator"),m[o]=function(){return this},m.toString=function(){return"[object Generator]"},t.keys=function(t){var e=[];for(var r in t)e.push(r);return e.reverse(),function r(){for(;e.length;){var n=e.pop();if(n in t)return r.value=n,r.done=!1,r}return r.done=!0,r}},t.values=_,O.prototype={constructor:O,reset:function(t){if(this.prev=0,this.next=0,this.sent=this._sent=void 0,this.done=!1,this.delegate=null,this.method="next",this.arg=void 0,this.tryEntries.forEach(S),!t)for(var e in this)"t"===e.charAt(0)&&r.call(this,e)&&!isNaN(+e.slice(1))&&(this[e]=void 0)},stop:function(){this.done=!0;var t=this.tryEntries[0].completion;if("throw"===t.type)throw t.arg;return this.rval},dispatchException:function(t){if(this.done)throw t;var e=this;function n(r,n){return a.type="throw",a.arg=t,e.next=r,n&&(e.method="next",e.arg=void 0),!!n}for(var o=this.tryEntries.length-1;o>=0;--o){var i=this.tryEntries[o],a=i.completion;if("root"===i.tryLoc)return n("end");if(i.tryLoc<=this.prev){var u=r.call(i,"catchLoc"),s=r.call(i,"finallyLoc");if(u&&s){if(this.prev<i.catchLoc)return n(i.catchLoc,!0);if(this.prev<i.finallyLoc)return n(i.finallyLoc)}else if(u){if(this.prev<i.catchLoc)return n(i.catchLoc,!0)}else{if(!s)throw new Error("try statement without catch or finally");if(this.prev<i.finallyLoc)return n(i.finallyLoc)}}}},abrupt:function(t,e){for(var n=this.tryEntries.length-1;n>=0;--n){var o=this.tryEntries[n];if(o.tryLoc<=this.prev&&r.call(o,"finallyLoc")&&this.prev<o.finallyLoc){var i=o;break}}i&&("break"===t||"continue"===t)&&i.tryLoc<=e&&e<=i.finallyLoc&&(i=null);var a=i?i.completion:{};return a.type=t,a.arg=e,i?(this.method="next",this.next=i.finallyLoc,l):this.complete(a)},complete:function(t,e){if("throw"===t.type)throw t.arg;return"break"===t.type||"continue"===t.type?this.next=t.arg:"return"===t.type?(this.rval=this.arg=t.arg,this.method="return",this.next="end"):"normal"===t.type&&e&&(this.next=e),l},finish:function(t){for(var e=this.tryEntries.length-1;e>=0;--e){var r=this.tryEntries[e];if(r.finallyLoc===t)return this.complete(r.completion,r.afterLoc),S(r),l}},catch:function(t){for(var e=this.tryEntries.length-1;e>=0;--e){var r=this.tryEntries[e];if(r.tryLoc===t){var n=r.completion;if("throw"===n.type){var o=n.arg;S(r)}return o}}throw new Error("illegal catch attempt")},delegateYield:function(t,e,r){return this.delegate={iterator:_(t),resultName:e,nextLoc:r},"next"===this.method&&(this.arg=void 0),l}},t}(t.exports);try{regeneratorRuntime=n}catch(t){Function("r","regeneratorRuntime = r")(n)}},function(t,e){function r(e,n){return t.exports=r=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t},t.exports.default=t.exports,t.exports.__esModule=!0,r(e,n)}t.exports=r,t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(10);t.exports=function(t){if(Array.isArray(t))return n(t)},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t){if("undefined"!=typeof Symbol&&null!=t[Symbol.iterator]||null!=t["@@iterator"])return Array.from(t)},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(10);t.exports=function(t,e){if(t){if("string"==typeof t)return n(t,e);var r=Object.prototype.toString.call(t).slice(8,-1);return"Object"===r&&t.constructor&&(r=t.constructor.name),"Map"===r||"Set"===r?Array.from(t):"Arguments"===r||/^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(r)?n(t,e):void 0}},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(){throw new TypeError("Invalid attempt to spread non-iterable instance.\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method.")},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){"use strict";r.r(e);var n=r(2),o=r.n(n),i=r(6),a=r.n(i),u=r(5),s=r.n(u),c=r(0),l=r.n(c),f=r(3),p=r.n(f),d=r(7),y=r.n(d);function h(t){return!!t&&(t instanceof ArrayBuffer||("undefined"!=typeof MessagePort&&t instanceof MessagePort||("undefined"!=typeof ImageBitmap&&t instanceof ImageBitmap||"undefined"!=typeof OffscreenCanvas&&t instanceof OffscreenCanvas)))}var v=new Map,m=function(){function t(){l()(this,t)}return p()(t,null,[{key:"onmessage",set:function(t){self.onmessage=function(e){if(g(e)){var r=e.data,n=r.type,o=r.payload;t(n,o)}}}},{key:"addEventListener",value:function(t){var e=v.get(t);e||(e=function(e){if(g(e)){var r=e.data,n=r.type,o=r.payload;t(n,o)}}),self.addEventListener("message",e)}},{key:"removeEventListener",value:function(t){var e=v.get(t);v.delete(t),self.removeEventListener("message",e)}},{key:"postMessage",value:function(t,e){if(self){var r={source:"loaders.gl",type:t,payload:e},n=function t(e){var r=!(arguments.length>1&&void 0!==arguments[1])||arguments[1],n=arguments.length>2?arguments[2]:void 0,o=n||new Set;if(e){if(h(e))o.add(e);else if(h(e.buffer))o.add(e.buffer);else if(ArrayBuffer.isView(e));else if(r&&"object"===y()(e))for(var i in e)t(e[i],r,o)}else;return void 0===n?Array.from(o):[]}(e);self.postMessage(r,n)}}}]),t}();function g(t){var e=t.type,r=t.data;return"message"===e&&r&&"string"==typeof r.source&&r.source.startsWith("loaders.gl")}function x(t,e){var r=Object.keys(t);if(Object.getOwnPropertySymbols){var n=Object.getOwnPropertySymbols(t);e&&(n=n.filter((function(e){return Object.getOwnPropertyDescriptor(t,e).enumerable}))),r.push.apply(r,n)}return r}function b(t){for(var e=1;e<arguments.length;e++){var r=null!=arguments[e]?arguments[e]:{};e%2?x(Object(r),!0).forEach((function(e){o()(t,e,r[e])})):Object.getOwnPropertyDescriptors?Object.defineProperties(t,Object.getOwnPropertyDescriptors(r)):x(Object(r)).forEach((function(e){Object.defineProperty(t,e,Object.getOwnPropertyDescriptor(r,e))}))}return t}var w=0;function S(t,e){return new Promise((function(r,n){var o=w++;m.addEventListener((function t(e,i){if(i.id===o)switch(e){case"done":m.removeEventListener(t),r(i.result);break;case"error":m.removeEventListener(t),n(i.error)}}));var i={id:o,input:t,options:e};m.postMessage("process",i)}))}function O(t){return _.apply(this,arguments)}function _(){return(_=a()(s.a.mark((function t(e){var r,n,o,i,a,u,c;return s.a.wrap((function(t){for(;;)switch(t.prev=t.next){case 0:if(r=e.loader,n=e.arrayBuffer,o=e.options,i=e.context,!r.parseSync&&!r.parse){t.next=6;break}a=n,u=r.parseSync||r.parse,t.next=13;break;case 6:if(!r.parseTextSync){t.next=12;break}c=new TextDecoder,a=c.decode(n),u=r.parseTextSync,t.next=13;break;case 12:throw new Error("Could not load data with ".concat(r.name," loader"));case 13:return o=b(b({},o),{},{modules:r&&r.options&&r.options.modules||{},worker:!1}),t.next=16,u(a,b({},o),i,r);case 16:return t.abrupt("return",t.sent);case 17:case"end":return t.stop()}}),t)})))).apply(this,arguments)}var I,k,T,M,j=function(){function t(e,r){var n=arguments.length>2&&void 0!==arguments[2]&&arguments[2],i=arguments.length>3&&void 0!==arguments[3]?arguments[3]:new Map;l()(this,t),o()(this,"name",void 0),o()(this,"type",void 0),o()(this,"nullable",void 0),o()(this,"metadata",void 0),this.name=e,this.type=r,this.nullable=n,this.metadata=i}return p()(t,[{key:"typeId",get:function(){return this.type&&this.type.typeId}},{key:"clone",value:function(){return new t(this.name,this.type,this.nullable,this.metadata)}},{key:"compareTo",value:function(t){return this.name===t.name&&this.type===t.type&&this.nullable===t.nullable&&this.metadata===t.metadata}},{key:"toString",value:function(){return"".concat(this.type).concat(this.nullable?", nullable":"").concat(this.metadata?", metadata: ".concat(this.metadata):"")}}]),t}(),L=r(4),E=r.n(L),F=r(1),P=r.n(F),D=r(11),A=r.n(D),N=r(8),z=r.n(N);function U(t){var e=function(){if("undefined"==typeof Reflect||!Reflect.construct)return!1;if(Reflect.construct.sham)return!1;if("function"==typeof Proxy)return!0;try{return Boolean.prototype.valueOf.call(Reflect.construct(Boolean,[],(function(){}))),!0}catch(t){return!1}}();return function(){var r,n=z()(t);if(e){var o=z()(this).constructor;r=Reflect.construct(n,arguments,o)}else r=n.apply(this,arguments);return A()(this,r)}}!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"}(I||(I={}));var B=function(){function t(){l()(this,t)}return p()(t,[{key:"typeId",get:function(){return I.NONE}},{key:"compareTo",value:function(t){return this===t}}],[{key:"isNull",value:function(t){return t&&t.typeId===I.Null}},{key:"isInt",value:function(t){return t&&t.typeId===I.Int}},{key:"isFloat",value:function(t){return t&&t.typeId===I.Float}},{key:"isBinary",value:function(t){return t&&t.typeId===I.Binary}},{key:"isUtf8",value:function(t){return t&&t.typeId===I.Utf8}},{key:"isBool",value:function(t){return t&&t.typeId===I.Bool}},{key:"isDecimal",value:function(t){return t&&t.typeId===I.Decimal}},{key:"isDate",value:function(t){return t&&t.typeId===I.Date}},{key:"isTime",value:function(t){return t&&t.typeId===I.Time}},{key:"isTimestamp",value:function(t){return t&&t.typeId===I.Timestamp}},{key:"isInterval",value:function(t){return t&&t.typeId===I.Interval}},{key:"isList",value:function(t){return t&&t.typeId===I.List}},{key:"isStruct",value:function(t){return t&&t.typeId===I.Struct}},{key:"isUnion",value:function(t){return t&&t.typeId===I.Union}},{key:"isFixedSizeBinary",value:function(t){return t&&t.typeId===I.FixedSizeBinary}},{key:"isFixedSizeList",value:function(t){return t&&t.typeId===I.FixedSizeList}},{key:"isMap",value:function(t){return t&&t.typeId===I.Map}},{key:"isDictionary",value:function(t){return t&&t.typeId===I.Dictionary}}]),t}();k=Symbol.toStringTag;var C=function(t){P()(r,t);var e=U(r);function r(t,n){var i;return l()(this,r),i=e.call(this),o()(E()(i),"isSigned",void 0),o()(E()(i),"bitWidth",void 0),i.isSigned=t,i.bitWidth=n,i}return p()(r,[{key:"typeId",get:function(){return I.Int}},{key:k,get:function(){return"Int"}},{key:"toString",value:function(){return"".concat(this.isSigned?"I":"Ui","nt").concat(this.bitWidth)}}]),r}(B),R=function(t){P()(r,t);var e=U(r);function r(){return l()(this,r),e.call(this,!1,8)}return r}(C),G=32;T=Symbol.toStringTag;var W=function(t){P()(r,t);var e=U(r);function r(t){var n;return l()(this,r),n=e.call(this),o()(E()(n),"precision",void 0),n.precision=t,n}return p()(r,[{key:"typeId",get:function(){return I.Float}},{key:T,get:function(){return"Float"}},{key:"toString",value:function(){return"Float".concat(this.precision)}}]),r}(B),V=function(t){P()(r,t);var e=U(r);function r(){return l()(this,r),e.call(this,G)}return r}(W);Symbol.toStringTag;Symbol.toStringTag;Symbol.toStringTag;Symbol.toStringTag;M=Symbol.toStringTag;var Y=function(t){P()(r,t);var e=U(r);function r(t,n){var i;return l()(this,r),i=e.call(this),o()(E()(i),"listSize",void 0),o()(E()(i),"children",void 0),i.listSize=t,i.children=[n],i}return p()(r,[{key:"typeId",get:function(){return I.FixedSizeList}},{key:"valueType",get:function(){return this.children[0].type}},{key:"valueField",get:function(){return this.children[0]}},{key:M,get:function(){return"FixedSizeList"}},{key:"toString",value:function(){return"FixedSizeList[".concat(this.listSize,"]<").concat(this.valueType,">")}}]),r}(B),H=r(9),$=r.n(H);function J(t,e){var r="undefined"!=typeof Symbol&&t[Symbol.iterator]||t["@@iterator"];if(!r){if(Array.isArray(t)||(r=function(t,e){if(!t)return;if("string"==typeof t)return Z(t,e);var r=Object.prototype.toString.call(t).slice(8,-1);"Object"===r&&t.constructor&&(r=t.constructor.name);if("Map"===r||"Set"===r)return Array.from(t);if("Arguments"===r||/^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(r))return Z(t,e)}(t))||e&&t&&"number"==typeof t.length){r&&(t=r);var n=0,o=function(){};return{s:o,n:function(){return n>=t.length?{done:!0}:{done:!1,value:t[n++]}},e:function(t){throw t},f:o}}throw new TypeError("Invalid attempt to iterate non-iterable instance.\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method.")}var i,a=!0,u=!1;return{s:function(){r=r.call(t)},n:function(){var t=r.next();return a=t.done,t},e:function(t){u=!0,i=t},f:function(){try{a||null==r.return||r.return()}finally{if(u)throw i}}}}function Z(t,e){(null==e||e>t.length)&&(e=t.length);for(var r=0,n=new Array(e);r<e;r++)n[r]=t[r];return n}var q=function(){function t(e,r){l()(this,t),o()(this,"fields",void 0),o()(this,"metadata",void 0),function(t,e){if(!t)throw new Error(e||"loader assertion failed.")}(Array.isArray(e)),function(t){var e,r={},n=J(t);try{for(n.s();!(e=n.n()).done;){var o=e.value;r[o.name]&&console.warn("Schema: duplicated field name",o.name,o),r[o.name]=!0}}catch(t){n.e(t)}finally{n.f()}}(e),this.fields=e,this.metadata=r||new Map}return p()(t,[{key:"compareTo",value:function(t){if(this.metadata!==t.metadata)return!1;if(this.fields.length!==t.fields.length)return!1;for(var e=0;e<this.fields.length;++e)if(!this.fields[e].compareTo(t.fields[e]))return!1;return!0}},{key:"select",value:function(){for(var e=Object.create(null),r=arguments.length,n=new Array(r),o=0;o<r;o++)n[o]=arguments[o];for(var i=0,a=n;i<a.length;i++){var u=a[i];e[u]=!0}var s=this.fields.filter((function(t){return e[t.name]}));return new t(s,this.metadata)}},{key:"selectAt",value:function(){for(var e=this,r=arguments.length,n=new Array(r),o=0;o<r;o++)n[o]=arguments[o];var i=n.map((function(t){return e.fields[t]})).filter(Boolean);return new t(i,this.metadata)}},{key:"assign",value:function(e){var r,n=this.metadata;if(e instanceof t){var o=e;r=o.fields,n=K(K(new Map,this.metadata),o.metadata)}else r=e;var i,a=Object.create(null),u=J(this.fields);try{for(u.s();!(i=u.n()).done;){var s=i.value;a[s.name]=s}}catch(t){u.e(t)}finally{u.f()}var c,l=J(r);try{for(l.s();!(c=l.n()).done;){var f=c.value;a[f.name]=f}}catch(t){l.e(t)}finally{l.f()}return new t(Object.values(a),n)}}]),t}();function K(t,e){return new Map([].concat($()(t||new Map),$()(e||new Map)))}function Q(t){for(var e=1/0,r=1/0,n=1/0,o=-1/0,i=-1/0,a=-1/0,u=t.POSITION?t.POSITION.value:[],s=u&&u.length,c=0;c<s;c+=3){var l=u[c],f=u[c+1],p=u[c+2];e=l<e?l:e,r=f<r?f:r,n=p<n?p:n,o=l>o?l:o,i=f>i?f:i,a=p>a?p:a}return[[e,r,n],[o,i,a]]}function X(t){var e=(new TextDecoder).decode(t),r=function(t){var e=t.search(/[\r\n]DATA\s(\S*)\s/i),r=/[\r\n]DATA\s(\S*)\s/i.exec(t.substr(e-1)),n={};n.data=r&&r[1],null!==r&&(n.headerLen=(r&&r[0].length)+e);n.str=t.substr(0,n.headerLen),n.str=n.str.replace(/\#.*/gi,""),n.version=/VERSION (.*)/i.exec(n.str),n.fields=/FIELDS (.*)/i.exec(n.str),n.size=/SIZE (.*)/i.exec(n.str),n.type=/TYPE (.*)/i.exec(n.str),n.count=/COUNT (.*)/i.exec(n.str),n.width=/WIDTH (.*)/i.exec(n.str),n.height=/HEIGHT (.*)/i.exec(n.str),n.viewpoint=/VIEWPOINT (.*)/i.exec(n.str),n.points=/POINTS (.*)/i.exec(n.str),null!==n.version&&(n.version=parseFloat(n.version[1]));null!==n.fields&&(n.fields=n.fields[1].split(" "));null!==n.type&&(n.type=n.type[1].split(" "));null!==n.width&&(n.width=parseInt(n.width[1],10));null!==n.height&&(n.height=parseInt(n.height[1],10));null!==n.viewpoint&&(n.viewpoint=n.viewpoint[1]);null!==n.points&&(n.points=parseInt(n.points[1],10));null===n.points&&"number"==typeof n.width&&"number"==typeof n.height&&(n.points=n.width*n.height);null!==n.size&&(n.size=n.size[1].split(" ").map((function(t){return parseInt(t,10)})));if(null!==n.count)n.count=n.count[1].split(" ").map((function(t){return parseInt(t,10)}));else if(n.count=[],null!==n.fields)for(var o=0;o<n.fields.length;o++)n.count.push(1);n.offset={};var i=0;if(null!==n.fields&&null!==n.size)for(var a=0;a<n.fields.length;a++)"ascii"===n.data?n.offset[n.fields[a]]=a:(n.offset[n.fields[a]]=i,i+=n.size[a]);return n.rowSize=i,n}(e),n={};switch(r.data){case"ascii":n=function(t,e){for(var r=[],n=[],o=[],i=t.offset,a=e.substr(t.headerLen).split("\n"),u=0;u<a.length;u++)if(""!==a[u]){var s=a[u].split(" ");if(void 0!==i.x&&(r.push(parseFloat(s[i.x])),r.push(parseFloat(s[i.y])),r.push(parseFloat(s[i.z]))),void 0!==i.rgb){var c=parseFloat(s[i.rgb]),l=new Float32Array([c]),f=new DataView(l.buffer,0);o.push(f.getUint8(0)),o.push(f.getUint8(1)),o.push(f.getUint8(2))}void 0!==i.normal_x&&(n.push(parseFloat(s[i.normal_x])),n.push(parseFloat(s[i.normal_y])),n.push(parseFloat(s[i.normal_z])))}return{position:r,normal:n,color:o}}(r,e);break;case"binary":n=function(t,e){for(var r=[],n=[],o=[],i=new DataView(e,t.headerLen),a=t.offset,u=0,s=0;u<t.points;u++,s+=t.rowSize)void 0!==a.x&&(r.push(i.getFloat32(s+a.x,!0)),r.push(i.getFloat32(s+a.y,!0)),r.push(i.getFloat32(s+a.z,!0))),void 0!==a.rgb&&(o.push(i.getUint8(s+a.rgb+0)),o.push(i.getUint8(s+a.rgb+1)),o.push(i.getUint8(s+a.rgb+2))),void 0!==a.normal_x&&(n.push(i.getFloat32(s+a.normal_x,!0)),n.push(i.getFloat32(s+a.normal_y,!0)),n.push(i.getFloat32(s+a.normal_z,!0)));return{position:r,normal:n,color:o}}(r,t);break;case"binary_compressed":default:throw new Error("PCD: ".concat(r.data," files are not supported"))}var o=function(t,e){if("number"==typeof t.width&&"number"==typeof t.height){return{vertexCount:t.width*t.height,boundingBox:Q(e)}}return t}(r,n=function(t){var 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}(n));return{loaderData:{header:r},header:o,schema:function(t,e){var r=t.offset,n=[];void 0!==r.x&&n.push(new j("POSITION",new Y(3,new j("xyz",new V)),!1));void 0!==r.normal_x&&n.push(new j("NORMAL",new Y(3,new j("xyz",new V)),!1));void 0!==r.rgb&&n.push(new j("COLOR_0",new Y(3,new j("rgb",new R)),!1));return new q(n,e)}(r,new Map([["mode","0"],["boundingBox",JSON.stringify(o.boundingBox)]])),mode:0,indices:null,attributes:n}}var tt={name:"PCD (Point Cloud Data)",id:"pcd",module:"pcd",version:"3.0.13",worker:!0,extensions:["pcd"],mimeTypes:["text/plain"],options:{pcd:{}}};function et(t,e){var r=Object.keys(t);if(Object.getOwnPropertySymbols){var n=Object.getOwnPropertySymbols(t);e&&(n=n.filter((function(e){return Object.getOwnPropertyDescriptor(t,e).enumerable}))),r.push.apply(r,n)}return r}function rt(t){for(var e=1;e<arguments.length;e++){var r=null!=arguments[e]?arguments[e]:{};e%2?et(Object(r),!0).forEach((function(e){o()(t,e,r[e])})):Object.getOwnPropertyDescriptors?Object.defineProperties(t,Object.getOwnPropertyDescriptors(r)):et(Object(r)).forEach((function(e){Object.defineProperty(t,e,Object.getOwnPropertyDescriptor(r,e))}))}return t}var nt,ot,it=rt(rt({},tt),{},{parse:(nt=a()(s.a.mark((function t(e){return s.a.wrap((function(t){for(;;)switch(t.prev=t.next){case 0:return t.abrupt("return",X(e));case 1:case"end":return t.stop()}}),t)}))),function(t){return nt.apply(this,arguments)}),parseSync:X});ot=it,"undefined"!=typeof self&&(m.onmessage=function(){var t=a()(s.a.mark((function t(e,r){var n,o,i,a,u;return s.a.wrap((function(t){for(;;)switch(t.prev=t.next){case 0:t.t0=e,t.next="process"===t.t0?3:16;break;case 3:return t.prev=3,n=r.input,o=r.options,i=void 0===o?{}:o,t.next=7,O({loader:ot,arrayBuffer:n,options:i,context:{parse:S}});case 7:a=t.sent,m.postMessage("done",{result:a}),t.next=15;break;case 11:t.prev=11,t.t1=t.catch(3),u=t.t1 instanceof Error?t.t1.message:"",m.postMessage("error",{error:u});case 15:return t.abrupt("break",16);case 16:case"end":return t.stop()}}),t,null,[[3,11]])})));return function(e,r){return t.apply(this,arguments)}}())}]);
1
+ !function(t){var e={};function r(n){if(e[n])return e[n].exports;var o=e[n]={i:n,l:!1,exports:{}};return t[n].call(o.exports,o,o.exports,r),o.l=!0,o.exports}r.m=t,r.c=e,r.d=function(t,e,n){r.o(t,e)||Object.defineProperty(t,e,{enumerable:!0,get:n})},r.r=function(t){"undefined"!=typeof Symbol&&Symbol.toStringTag&&Object.defineProperty(t,Symbol.toStringTag,{value:"Module"}),Object.defineProperty(t,"__esModule",{value:!0})},r.t=function(t,e){if(1&e&&(t=r(t)),8&e)return t;if(4&e&&"object"==typeof t&&t&&t.__esModule)return t;var n=Object.create(null);if(r.r(n),Object.defineProperty(n,"default",{enumerable:!0,value:t}),2&e&&"string"!=typeof t)for(var o in t)r.d(n,o,function(e){return t[e]}.bind(null,o));return n},r.n=function(t){var e=t&&t.__esModule?function(){return t.default}:function(){return t};return r.d(e,"a",e),e},r.o=function(t,e){return Object.prototype.hasOwnProperty.call(t,e)},r.p="",r(r.s=19)}([function(t,e){t.exports=function(t,e){if(!(t instanceof e))throw new TypeError("Cannot call a class as a function")},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(14);t.exports=function(t,e){if("function"!=typeof e&&null!==e)throw new TypeError("Super expression must either be null or a function");t.prototype=Object.create(e&&e.prototype,{constructor:{value:t,writable:!0,configurable:!0}}),e&&n(t,e)},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t,e,r){return e in t?Object.defineProperty(t,e,{value:r,enumerable:!0,configurable:!0,writable:!0}):t[e]=r,t},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){function r(t,e){for(var r=0;r<e.length;r++){var n=e[r];n.enumerable=n.enumerable||!1,n.configurable=!0,"value"in n&&(n.writable=!0),Object.defineProperty(t,n.key,n)}}t.exports=function(t,e,n){return e&&r(t.prototype,e),n&&r(t,n),t},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t){if(void 0===t)throw new ReferenceError("this hasn't been initialised - super() hasn't been called");return t},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){t.exports=r(13)},function(t,e){function r(t,e,r,n,o,i,a){try{var u=t[i](a),s=u.value}catch(t){return void r(t)}u.done?e(s):Promise.resolve(s).then(n,o)}t.exports=function(t){return function(){var e=this,n=arguments;return new Promise((function(o,i){var a=t.apply(e,n);function u(t){r(a,o,i,u,s,"next",t)}function s(t){r(a,o,i,u,s,"throw",t)}u(void 0)}))}},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){function r(e){return"function"==typeof Symbol&&"symbol"==typeof Symbol.iterator?(t.exports=r=function(t){return typeof t},t.exports.default=t.exports,t.exports.__esModule=!0):(t.exports=r=function(t){return t&&"function"==typeof Symbol&&t.constructor===Symbol&&t!==Symbol.prototype?"symbol":typeof t},t.exports.default=t.exports,t.exports.__esModule=!0),r(e)}t.exports=r,t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){function r(e){return t.exports=r=Object.setPrototypeOf?Object.getPrototypeOf:function(t){return t.__proto__||Object.getPrototypeOf(t)},t.exports.default=t.exports,t.exports.__esModule=!0,r(e)}t.exports=r,t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(15),o=r(16),i=r(17),a=r(18);t.exports=function(t){return n(t)||o(t)||i(t)||a()},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t,e){(null==e||e>t.length)&&(e=t.length);for(var r=0,n=new Array(e);r<e;r++)n[r]=t[r];return n},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(7).default,o=r(4);t.exports=function(t,e){return!e||"object"!==n(e)&&"function"!=typeof e?o(t):e},t.exports.default=t.exports,t.exports.__esModule=!0},,function(t,e,r){var n=function(t){"use strict";var e=Object.prototype,r=e.hasOwnProperty,n="function"==typeof Symbol?Symbol:{},o=n.iterator||"@@iterator",i=n.asyncIterator||"@@asyncIterator",a=n.toStringTag||"@@toStringTag";function u(t,e,r){return Object.defineProperty(t,e,{value:r,enumerable:!0,configurable:!0,writable:!0}),t[e]}try{u({},"")}catch(t){u=function(t,e,r){return t[e]=r}}function s(t,e,r,n){var o=e&&e.prototype instanceof f?e:f,i=Object.create(o.prototype),a=new O(n||[]);return i._invoke=function(t,e,r){var n="suspendedStart";return function(o,i){if("executing"===n)throw new Error("Generator is already running");if("completed"===n){if("throw"===o)throw i;return I()}for(r.method=o,r.arg=i;;){var a=r.delegate;if(a){var u=b(a,r);if(u){if(u===l)continue;return u}}if("next"===r.method)r.sent=r._sent=r.arg;else if("throw"===r.method){if("suspendedStart"===n)throw n="completed",r.arg;r.dispatchException(r.arg)}else"return"===r.method&&r.abrupt("return",r.arg);n="executing";var s=c(t,e,r);if("normal"===s.type){if(n=r.done?"completed":"suspendedYield",s.arg===l)continue;return{value:s.arg,done:r.done}}"throw"===s.type&&(n="completed",r.method="throw",r.arg=s.arg)}}}(t,r,a),i}function c(t,e,r){try{return{type:"normal",arg:t.call(e,r)}}catch(t){return{type:"throw",arg:t}}}t.wrap=s;var l={};function f(){}function p(){}function d(){}var y={};y[o]=function(){return this};var h=Object.getPrototypeOf,v=h&&h(h(_([])));v&&v!==e&&r.call(v,o)&&(y=v);var m=d.prototype=f.prototype=Object.create(y);function g(t){["next","throw","return"].forEach((function(e){u(t,e,(function(t){return this._invoke(e,t)}))}))}function x(t,e){var n;this._invoke=function(o,i){function a(){return new e((function(n,a){!function n(o,i,a,u){var s=c(t[o],t,i);if("throw"!==s.type){var l=s.arg,f=l.value;return f&&"object"==typeof f&&r.call(f,"__await")?e.resolve(f.__await).then((function(t){n("next",t,a,u)}),(function(t){n("throw",t,a,u)})):e.resolve(f).then((function(t){l.value=t,a(l)}),(function(t){return n("throw",t,a,u)}))}u(s.arg)}(o,i,n,a)}))}return n=n?n.then(a,a):a()}}function b(t,e){var r=t.iterator[e.method];if(void 0===r){if(e.delegate=null,"throw"===e.method){if(t.iterator.return&&(e.method="return",e.arg=void 0,b(t,e),"throw"===e.method))return l;e.method="throw",e.arg=new TypeError("The iterator does not provide a 'throw' method")}return l}var n=c(r,t.iterator,e.arg);if("throw"===n.type)return e.method="throw",e.arg=n.arg,e.delegate=null,l;var o=n.arg;return o?o.done?(e[t.resultName]=o.value,e.next=t.nextLoc,"return"!==e.method&&(e.method="next",e.arg=void 0),e.delegate=null,l):o:(e.method="throw",e.arg=new TypeError("iterator result is not an object"),e.delegate=null,l)}function w(t){var e={tryLoc:t[0]};1 in t&&(e.catchLoc=t[1]),2 in t&&(e.finallyLoc=t[2],e.afterLoc=t[3]),this.tryEntries.push(e)}function S(t){var e=t.completion||{};e.type="normal",delete e.arg,t.completion=e}function O(t){this.tryEntries=[{tryLoc:"root"}],t.forEach(w,this),this.reset(!0)}function _(t){if(t){var e=t[o];if(e)return e.call(t);if("function"==typeof t.next)return t;if(!isNaN(t.length)){var n=-1,i=function e(){for(;++n<t.length;)if(r.call(t,n))return e.value=t[n],e.done=!1,e;return e.value=void 0,e.done=!0,e};return i.next=i}}return{next:I}}function I(){return{value:void 0,done:!0}}return p.prototype=m.constructor=d,d.constructor=p,p.displayName=u(d,a,"GeneratorFunction"),t.isGeneratorFunction=function(t){var e="function"==typeof t&&t.constructor;return!!e&&(e===p||"GeneratorFunction"===(e.displayName||e.name))},t.mark=function(t){return Object.setPrototypeOf?Object.setPrototypeOf(t,d):(t.__proto__=d,u(t,a,"GeneratorFunction")),t.prototype=Object.create(m),t},t.awrap=function(t){return{__await:t}},g(x.prototype),x.prototype[i]=function(){return this},t.AsyncIterator=x,t.async=function(e,r,n,o,i){void 0===i&&(i=Promise);var a=new x(s(e,r,n,o),i);return t.isGeneratorFunction(r)?a:a.next().then((function(t){return t.done?t.value:a.next()}))},g(m),u(m,a,"Generator"),m[o]=function(){return this},m.toString=function(){return"[object Generator]"},t.keys=function(t){var e=[];for(var r in t)e.push(r);return e.reverse(),function r(){for(;e.length;){var n=e.pop();if(n in t)return r.value=n,r.done=!1,r}return r.done=!0,r}},t.values=_,O.prototype={constructor:O,reset:function(t){if(this.prev=0,this.next=0,this.sent=this._sent=void 0,this.done=!1,this.delegate=null,this.method="next",this.arg=void 0,this.tryEntries.forEach(S),!t)for(var e in this)"t"===e.charAt(0)&&r.call(this,e)&&!isNaN(+e.slice(1))&&(this[e]=void 0)},stop:function(){this.done=!0;var t=this.tryEntries[0].completion;if("throw"===t.type)throw t.arg;return this.rval},dispatchException:function(t){if(this.done)throw t;var e=this;function n(r,n){return a.type="throw",a.arg=t,e.next=r,n&&(e.method="next",e.arg=void 0),!!n}for(var o=this.tryEntries.length-1;o>=0;--o){var i=this.tryEntries[o],a=i.completion;if("root"===i.tryLoc)return n("end");if(i.tryLoc<=this.prev){var u=r.call(i,"catchLoc"),s=r.call(i,"finallyLoc");if(u&&s){if(this.prev<i.catchLoc)return n(i.catchLoc,!0);if(this.prev<i.finallyLoc)return n(i.finallyLoc)}else if(u){if(this.prev<i.catchLoc)return n(i.catchLoc,!0)}else{if(!s)throw new Error("try statement without catch or finally");if(this.prev<i.finallyLoc)return n(i.finallyLoc)}}}},abrupt:function(t,e){for(var n=this.tryEntries.length-1;n>=0;--n){var o=this.tryEntries[n];if(o.tryLoc<=this.prev&&r.call(o,"finallyLoc")&&this.prev<o.finallyLoc){var i=o;break}}i&&("break"===t||"continue"===t)&&i.tryLoc<=e&&e<=i.finallyLoc&&(i=null);var a=i?i.completion:{};return a.type=t,a.arg=e,i?(this.method="next",this.next=i.finallyLoc,l):this.complete(a)},complete:function(t,e){if("throw"===t.type)throw t.arg;return"break"===t.type||"continue"===t.type?this.next=t.arg:"return"===t.type?(this.rval=this.arg=t.arg,this.method="return",this.next="end"):"normal"===t.type&&e&&(this.next=e),l},finish:function(t){for(var e=this.tryEntries.length-1;e>=0;--e){var r=this.tryEntries[e];if(r.finallyLoc===t)return this.complete(r.completion,r.afterLoc),S(r),l}},catch:function(t){for(var e=this.tryEntries.length-1;e>=0;--e){var r=this.tryEntries[e];if(r.tryLoc===t){var n=r.completion;if("throw"===n.type){var o=n.arg;S(r)}return o}}throw new Error("illegal catch attempt")},delegateYield:function(t,e,r){return this.delegate={iterator:_(t),resultName:e,nextLoc:r},"next"===this.method&&(this.arg=void 0),l}},t}(t.exports);try{regeneratorRuntime=n}catch(t){Function("r","regeneratorRuntime = r")(n)}},function(t,e){function r(e,n){return t.exports=r=Object.setPrototypeOf||function(t,e){return t.__proto__=e,t},t.exports.default=t.exports,t.exports.__esModule=!0,r(e,n)}t.exports=r,t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(10);t.exports=function(t){if(Array.isArray(t))return n(t)},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(t){if("undefined"!=typeof Symbol&&null!=t[Symbol.iterator]||null!=t["@@iterator"])return Array.from(t)},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){var n=r(10);t.exports=function(t,e){if(t){if("string"==typeof t)return n(t,e);var r=Object.prototype.toString.call(t).slice(8,-1);return"Object"===r&&t.constructor&&(r=t.constructor.name),"Map"===r||"Set"===r?Array.from(t):"Arguments"===r||/^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(r)?n(t,e):void 0}},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e){t.exports=function(){throw new TypeError("Invalid attempt to spread non-iterable instance.\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method.")},t.exports.default=t.exports,t.exports.__esModule=!0},function(t,e,r){"use strict";r.r(e);var n=r(2),o=r.n(n),i=r(6),a=r.n(i),u=r(5),s=r.n(u),c=r(0),l=r.n(c),f=r(3),p=r.n(f),d=r(7),y=r.n(d);function h(t){return!!t&&(t instanceof ArrayBuffer||("undefined"!=typeof MessagePort&&t instanceof MessagePort||("undefined"!=typeof ImageBitmap&&t instanceof ImageBitmap||"undefined"!=typeof OffscreenCanvas&&t instanceof OffscreenCanvas)))}var v=new Map,m=function(){function t(){l()(this,t)}return p()(t,null,[{key:"onmessage",set:function(t){self.onmessage=function(e){if(g(e)){var r=e.data,n=r.type,o=r.payload;t(n,o)}}}},{key:"addEventListener",value:function(t){var e=v.get(t);e||(e=function(e){if(g(e)){var r=e.data,n=r.type,o=r.payload;t(n,o)}}),self.addEventListener("message",e)}},{key:"removeEventListener",value:function(t){var e=v.get(t);v.delete(t),self.removeEventListener("message",e)}},{key:"postMessage",value:function(t,e){if(self){var r={source:"loaders.gl",type:t,payload:e},n=function t(e){var r=!(arguments.length>1&&void 0!==arguments[1])||arguments[1],n=arguments.length>2?arguments[2]:void 0,o=n||new Set;if(e){if(h(e))o.add(e);else if(h(e.buffer))o.add(e.buffer);else if(ArrayBuffer.isView(e));else if(r&&"object"===y()(e))for(var i in e)t(e[i],r,o)}else;return void 0===n?Array.from(o):[]}(e);self.postMessage(r,n)}}}]),t}();function g(t){var e=t.type,r=t.data;return"message"===e&&r&&"string"==typeof r.source&&r.source.startsWith("loaders.gl")}function x(t,e){var r=Object.keys(t);if(Object.getOwnPropertySymbols){var n=Object.getOwnPropertySymbols(t);e&&(n=n.filter((function(e){return Object.getOwnPropertyDescriptor(t,e).enumerable}))),r.push.apply(r,n)}return r}function b(t){for(var e=1;e<arguments.length;e++){var r=null!=arguments[e]?arguments[e]:{};e%2?x(Object(r),!0).forEach((function(e){o()(t,e,r[e])})):Object.getOwnPropertyDescriptors?Object.defineProperties(t,Object.getOwnPropertyDescriptors(r)):x(Object(r)).forEach((function(e){Object.defineProperty(t,e,Object.getOwnPropertyDescriptor(r,e))}))}return t}var w=0;function S(t,e){return new Promise((function(r,n){var o=w++;m.addEventListener((function t(e,i){if(i.id===o)switch(e){case"done":m.removeEventListener(t),r(i.result);break;case"error":m.removeEventListener(t),n(i.error)}}));var i={id:o,input:t,options:e};m.postMessage("process",i)}))}function O(t){return _.apply(this,arguments)}function _(){return(_=a()(s.a.mark((function t(e){var r,n,o,i,a,u,c;return s.a.wrap((function(t){for(;;)switch(t.prev=t.next){case 0:if(r=e.loader,n=e.arrayBuffer,o=e.options,i=e.context,!r.parseSync&&!r.parse){t.next=6;break}a=n,u=r.parseSync||r.parse,t.next=13;break;case 6:if(!r.parseTextSync){t.next=12;break}c=new TextDecoder,a=c.decode(n),u=r.parseTextSync,t.next=13;break;case 12:throw new Error("Could not load data with ".concat(r.name," loader"));case 13:return o=b(b({},o),{},{modules:r&&r.options&&r.options.modules||{},worker:!1}),t.next=16,u(a,b({},o),i,r);case 16:return t.abrupt("return",t.sent);case 17:case"end":return t.stop()}}),t)})))).apply(this,arguments)}var I,k,T,M,j=function(){function t(e,r){var n=arguments.length>2&&void 0!==arguments[2]&&arguments[2],i=arguments.length>3&&void 0!==arguments[3]?arguments[3]:new Map;l()(this,t),o()(this,"name",void 0),o()(this,"type",void 0),o()(this,"nullable",void 0),o()(this,"metadata",void 0),this.name=e,this.type=r,this.nullable=n,this.metadata=i}return p()(t,[{key:"typeId",get:function(){return this.type&&this.type.typeId}},{key:"clone",value:function(){return new t(this.name,this.type,this.nullable,this.metadata)}},{key:"compareTo",value:function(t){return this.name===t.name&&this.type===t.type&&this.nullable===t.nullable&&this.metadata===t.metadata}},{key:"toString",value:function(){return"".concat(this.type).concat(this.nullable?", nullable":"").concat(this.metadata?", metadata: ".concat(this.metadata):"")}}]),t}(),L=r(4),E=r.n(L),F=r(1),P=r.n(F),D=r(11),A=r.n(D),N=r(8),z=r.n(N);function U(t){var e=function(){if("undefined"==typeof Reflect||!Reflect.construct)return!1;if(Reflect.construct.sham)return!1;if("function"==typeof Proxy)return!0;try{return Boolean.prototype.valueOf.call(Reflect.construct(Boolean,[],(function(){}))),!0}catch(t){return!1}}();return function(){var r,n=z()(t);if(e){var o=z()(this).constructor;r=Reflect.construct(n,arguments,o)}else r=n.apply(this,arguments);return A()(this,r)}}!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"}(I||(I={}));var B=function(){function t(){l()(this,t)}return p()(t,[{key:"typeId",get:function(){return I.NONE}},{key:"compareTo",value:function(t){return this===t}}],[{key:"isNull",value:function(t){return t&&t.typeId===I.Null}},{key:"isInt",value:function(t){return t&&t.typeId===I.Int}},{key:"isFloat",value:function(t){return t&&t.typeId===I.Float}},{key:"isBinary",value:function(t){return t&&t.typeId===I.Binary}},{key:"isUtf8",value:function(t){return t&&t.typeId===I.Utf8}},{key:"isBool",value:function(t){return t&&t.typeId===I.Bool}},{key:"isDecimal",value:function(t){return t&&t.typeId===I.Decimal}},{key:"isDate",value:function(t){return t&&t.typeId===I.Date}},{key:"isTime",value:function(t){return t&&t.typeId===I.Time}},{key:"isTimestamp",value:function(t){return t&&t.typeId===I.Timestamp}},{key:"isInterval",value:function(t){return t&&t.typeId===I.Interval}},{key:"isList",value:function(t){return t&&t.typeId===I.List}},{key:"isStruct",value:function(t){return t&&t.typeId===I.Struct}},{key:"isUnion",value:function(t){return t&&t.typeId===I.Union}},{key:"isFixedSizeBinary",value:function(t){return t&&t.typeId===I.FixedSizeBinary}},{key:"isFixedSizeList",value:function(t){return t&&t.typeId===I.FixedSizeList}},{key:"isMap",value:function(t){return t&&t.typeId===I.Map}},{key:"isDictionary",value:function(t){return t&&t.typeId===I.Dictionary}}]),t}();k=Symbol.toStringTag;var C=function(t){P()(r,t);var e=U(r);function r(t,n){var i;return l()(this,r),i=e.call(this),o()(E()(i),"isSigned",void 0),o()(E()(i),"bitWidth",void 0),i.isSigned=t,i.bitWidth=n,i}return p()(r,[{key:"typeId",get:function(){return I.Int}},{key:k,get:function(){return"Int"}},{key:"toString",value:function(){return"".concat(this.isSigned?"I":"Ui","nt").concat(this.bitWidth)}}]),r}(B),R=function(t){P()(r,t);var e=U(r);function r(){return l()(this,r),e.call(this,!1,8)}return r}(C),G=32;T=Symbol.toStringTag;var W=function(t){P()(r,t);var e=U(r);function r(t){var n;return l()(this,r),n=e.call(this),o()(E()(n),"precision",void 0),n.precision=t,n}return p()(r,[{key:"typeId",get:function(){return I.Float}},{key:T,get:function(){return"Float"}},{key:"toString",value:function(){return"Float".concat(this.precision)}}]),r}(B),V=function(t){P()(r,t);var e=U(r);function r(){return l()(this,r),e.call(this,G)}return r}(W);Symbol.toStringTag;Symbol.toStringTag;Symbol.toStringTag;Symbol.toStringTag;M=Symbol.toStringTag;var Y=function(t){P()(r,t);var e=U(r);function r(t,n){var i;return l()(this,r),i=e.call(this),o()(E()(i),"listSize",void 0),o()(E()(i),"children",void 0),i.listSize=t,i.children=[n],i}return p()(r,[{key:"typeId",get:function(){return I.FixedSizeList}},{key:"valueType",get:function(){return this.children[0].type}},{key:"valueField",get:function(){return this.children[0]}},{key:M,get:function(){return"FixedSizeList"}},{key:"toString",value:function(){return"FixedSizeList[".concat(this.listSize,"]<").concat(this.valueType,">")}}]),r}(B),H=r(9),$=r.n(H);function J(t,e){var r="undefined"!=typeof Symbol&&t[Symbol.iterator]||t["@@iterator"];if(!r){if(Array.isArray(t)||(r=function(t,e){if(!t)return;if("string"==typeof t)return Z(t,e);var r=Object.prototype.toString.call(t).slice(8,-1);"Object"===r&&t.constructor&&(r=t.constructor.name);if("Map"===r||"Set"===r)return Array.from(t);if("Arguments"===r||/^(?:Ui|I)nt(?:8|16|32)(?:Clamped)?Array$/.test(r))return Z(t,e)}(t))||e&&t&&"number"==typeof t.length){r&&(t=r);var n=0,o=function(){};return{s:o,n:function(){return n>=t.length?{done:!0}:{done:!1,value:t[n++]}},e:function(t){throw t},f:o}}throw new TypeError("Invalid attempt to iterate non-iterable instance.\nIn order to be iterable, non-array objects must have a [Symbol.iterator]() method.")}var i,a=!0,u=!1;return{s:function(){r=r.call(t)},n:function(){var t=r.next();return a=t.done,t},e:function(t){u=!0,i=t},f:function(){try{a||null==r.return||r.return()}finally{if(u)throw i}}}}function Z(t,e){(null==e||e>t.length)&&(e=t.length);for(var r=0,n=new Array(e);r<e;r++)n[r]=t[r];return n}var q=function(){function t(e,r){l()(this,t),o()(this,"fields",void 0),o()(this,"metadata",void 0),function(t,e){if(!t)throw new Error(e||"loader assertion failed.")}(Array.isArray(e)),function(t){var e,r={},n=J(t);try{for(n.s();!(e=n.n()).done;){var o=e.value;r[o.name]&&console.warn("Schema: duplicated field name",o.name,o),r[o.name]=!0}}catch(t){n.e(t)}finally{n.f()}}(e),this.fields=e,this.metadata=r||new Map}return p()(t,[{key:"compareTo",value:function(t){if(this.metadata!==t.metadata)return!1;if(this.fields.length!==t.fields.length)return!1;for(var e=0;e<this.fields.length;++e)if(!this.fields[e].compareTo(t.fields[e]))return!1;return!0}},{key:"select",value:function(){for(var e=Object.create(null),r=arguments.length,n=new Array(r),o=0;o<r;o++)n[o]=arguments[o];for(var i=0,a=n;i<a.length;i++){var u=a[i];e[u]=!0}var s=this.fields.filter((function(t){return e[t.name]}));return new t(s,this.metadata)}},{key:"selectAt",value:function(){for(var e=this,r=arguments.length,n=new Array(r),o=0;o<r;o++)n[o]=arguments[o];var i=n.map((function(t){return e.fields[t]})).filter(Boolean);return new t(i,this.metadata)}},{key:"assign",value:function(e){var r,n=this.metadata;if(e instanceof t){var o=e;r=o.fields,n=K(K(new Map,this.metadata),o.metadata)}else r=e;var i,a=Object.create(null),u=J(this.fields);try{for(u.s();!(i=u.n()).done;){var s=i.value;a[s.name]=s}}catch(t){u.e(t)}finally{u.f()}var c,l=J(r);try{for(l.s();!(c=l.n()).done;){var f=c.value;a[f.name]=f}}catch(t){l.e(t)}finally{l.f()}return new t(Object.values(a),n)}}]),t}();function K(t,e){return new Map([].concat($()(t||new Map),$()(e||new Map)))}function Q(t){for(var e=1/0,r=1/0,n=1/0,o=-1/0,i=-1/0,a=-1/0,u=t.POSITION?t.POSITION.value:[],s=u&&u.length,c=0;c<s;c+=3){var l=u[c],f=u[c+1],p=u[c+2];e=l<e?l:e,r=f<r?f:r,n=p<n?p:n,o=l>o?l:o,i=f>i?f:i,a=p>a?p:a}return[[e,r,n],[o,i,a]]}function X(t){var e=(new TextDecoder).decode(t),r=function(t){var e=t.search(/[\r\n]DATA\s(\S*)\s/i),r=/[\r\n]DATA\s(\S*)\s/i.exec(t.substr(e-1)),n={};n.data=r&&r[1],null!==r&&(n.headerLen=(r&&r[0].length)+e);n.str=t.substr(0,n.headerLen),n.str=n.str.replace(/\#.*/gi,""),n.version=/VERSION (.*)/i.exec(n.str),n.fields=/FIELDS (.*)/i.exec(n.str),n.size=/SIZE (.*)/i.exec(n.str),n.type=/TYPE (.*)/i.exec(n.str),n.count=/COUNT (.*)/i.exec(n.str),n.width=/WIDTH (.*)/i.exec(n.str),n.height=/HEIGHT (.*)/i.exec(n.str),n.viewpoint=/VIEWPOINT (.*)/i.exec(n.str),n.points=/POINTS (.*)/i.exec(n.str),null!==n.version&&(n.version=parseFloat(n.version[1]));null!==n.fields&&(n.fields=n.fields[1].split(" "));null!==n.type&&(n.type=n.type[1].split(" "));null!==n.width&&(n.width=parseInt(n.width[1],10));null!==n.height&&(n.height=parseInt(n.height[1],10));null!==n.viewpoint&&(n.viewpoint=n.viewpoint[1]);null!==n.points&&(n.points=parseInt(n.points[1],10));null===n.points&&"number"==typeof n.width&&"number"==typeof n.height&&(n.points=n.width*n.height);null!==n.size&&(n.size=n.size[1].split(" ").map((function(t){return parseInt(t,10)})));if(null!==n.count)n.count=n.count[1].split(" ").map((function(t){return parseInt(t,10)}));else if(n.count=[],null!==n.fields)for(var o=0;o<n.fields.length;o++)n.count.push(1);n.offset={};var i=0;if(null!==n.fields&&null!==n.size)for(var a=0;a<n.fields.length;a++)"ascii"===n.data?n.offset[n.fields[a]]=a:(n.offset[n.fields[a]]=i,i+=n.size[a]);return n.rowSize=i,n}(e),n={};switch(r.data){case"ascii":n=function(t,e){for(var r=[],n=[],o=[],i=t.offset,a=e.substr(t.headerLen).split("\n"),u=0;u<a.length;u++)if(""!==a[u]){var s=a[u].split(" ");if(void 0!==i.x&&(r.push(parseFloat(s[i.x])),r.push(parseFloat(s[i.y])),r.push(parseFloat(s[i.z]))),void 0!==i.rgb){var c=parseFloat(s[i.rgb]),l=new Float32Array([c]),f=new DataView(l.buffer,0);o.push(f.getUint8(0)),o.push(f.getUint8(1)),o.push(f.getUint8(2))}void 0!==i.normal_x&&(n.push(parseFloat(s[i.normal_x])),n.push(parseFloat(s[i.normal_y])),n.push(parseFloat(s[i.normal_z])))}return{position:r,normal:n,color:o}}(r,e);break;case"binary":n=function(t,e){for(var r=[],n=[],o=[],i=new DataView(e,t.headerLen),a=t.offset,u=0,s=0;u<t.points;u++,s+=t.rowSize)void 0!==a.x&&(r.push(i.getFloat32(s+a.x,!0)),r.push(i.getFloat32(s+a.y,!0)),r.push(i.getFloat32(s+a.z,!0))),void 0!==a.rgb&&(o.push(i.getUint8(s+a.rgb+0)),o.push(i.getUint8(s+a.rgb+1)),o.push(i.getUint8(s+a.rgb+2))),void 0!==a.normal_x&&(n.push(i.getFloat32(s+a.normal_x,!0)),n.push(i.getFloat32(s+a.normal_y,!0)),n.push(i.getFloat32(s+a.normal_z,!0)));return{position:r,normal:n,color:o}}(r,t);break;case"binary_compressed":default:throw new Error("PCD: ".concat(r.data," files are not supported"))}var o=function(t,e){if("number"==typeof t.width&&"number"==typeof t.height){return{vertexCount:t.width*t.height,boundingBox:Q(e)}}return t}(r,n=function(t){var 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}(n));return{loaderData:{header:r},header:o,schema:function(t,e){var r=t.offset,n=[];void 0!==r.x&&n.push(new j("POSITION",new Y(3,new j("xyz",new V)),!1));void 0!==r.normal_x&&n.push(new j("NORMAL",new Y(3,new j("xyz",new V)),!1));void 0!==r.rgb&&n.push(new j("COLOR_0",new Y(3,new j("rgb",new R)),!1));return new q(n,e)}(r,new Map([["mode","0"],["boundingBox",JSON.stringify(o.boundingBox)]])),mode:0,indices:null,attributes:n}}var tt={name:"PCD (Point Cloud Data)",id:"pcd",module:"pcd",version:"3.0.14",worker:!0,extensions:["pcd"],mimeTypes:["text/plain"],options:{pcd:{}}};function et(t,e){var r=Object.keys(t);if(Object.getOwnPropertySymbols){var n=Object.getOwnPropertySymbols(t);e&&(n=n.filter((function(e){return Object.getOwnPropertyDescriptor(t,e).enumerable}))),r.push.apply(r,n)}return r}function rt(t){for(var e=1;e<arguments.length;e++){var r=null!=arguments[e]?arguments[e]:{};e%2?et(Object(r),!0).forEach((function(e){o()(t,e,r[e])})):Object.getOwnPropertyDescriptors?Object.defineProperties(t,Object.getOwnPropertyDescriptors(r)):et(Object(r)).forEach((function(e){Object.defineProperty(t,e,Object.getOwnPropertyDescriptor(r,e))}))}return t}var nt,ot,it=rt(rt({},tt),{},{parse:(nt=a()(s.a.mark((function t(e){return s.a.wrap((function(t){for(;;)switch(t.prev=t.next){case 0:return t.abrupt("return",X(e));case 1:case"end":return t.stop()}}),t)}))),function(t){return nt.apply(this,arguments)}),parseSync:X});ot=it,"undefined"!=typeof self&&(m.onmessage=function(){var t=a()(s.a.mark((function t(e,r){var n,o,i,a,u;return s.a.wrap((function(t){for(;;)switch(t.prev=t.next){case 0:t.t0=e,t.next="process"===t.t0?3:16;break;case 3:return t.prev=3,n=r.input,o=r.options,i=void 0===o?{}:o,t.next=7,O({loader:ot,arrayBuffer:n,options:i,context:{parse:S}});case 7:a=t.sent,m.postMessage("done",{result:a}),t.next=15;break;case 11:t.prev=11,t.t1=t.catch(3),u=t.t1 instanceof Error?t.t1.message:"",m.postMessage("error",{error:u});case 15:return t.abrupt("break",16);case 16:case"end":return t.stop()}}),t,null,[[3,11]])})));return function(e,r){return t.apply(this,arguments)}}())}]);
2
2
  //# sourceMappingURL=pcd-worker.js.map