npm - @loaders.gl/pcd - Versions diffs - 3.1.0-alpha.3 → 4.0.0-alpha.4 - Mend

@loaders.gl/pcd 3.1.0-alpha.3 → 4.0.0-alpha.4

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 (8) hide show

package/dist/lib/parse-pcd.js CHANGED Viewed

@@ -17,7 +17,7 @@ export default function parsePCD(data) {
     case 'binary_compressed':
     default:
-      throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
+      throw new Error("PCD: ".concat(pcdHeader.data, " files are not supported"));
   }
   attributes = getMeshAttributes(attributes);

package/dist/lib/parse-pcd.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"sources":["../../src/lib/parse-pcd.ts"],"names":["getMeshBoundingBox","getPCDSchema","LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","Error","getMeshAttributes","header","getMeshHeader","metadata","Map","JSON","stringify","boundingBox","schema","loaderData","mode","indices","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"],"mappings":"AAQA,SAAQA,kBAAR,QAAiC,oBAAjC;AAGA,SAAQC,YAAR,QAA2B,kBAA3B;AAqBA,MAAMC,aAAsB,GAAG,IAA/B;AAOA,eAAe,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,CAAW,QAAOL,SAAS,CAACJ,IAAK,0BAAjC,CAAN;AAXJ;;AAcAM,EAAAA,UAAU,GAAGI,iBAAiB,CAACJ,UAAD,CAA9B;AAEA,QAAMK,MAAM,GAAGC,aAAa,CAACR,SAAD,EAAYE,UAAZ,CAA5B;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,GAAGrB,YAAY,CAACO,SAAD,EAAYS,QAAZ,CAA3B;AAEA,SAAO;AACLM,IAAAA,UAAU,EAAE;AACVR,MAAAA,MAAM,EAAEP;AADE,KADP;AAILO,IAAAA,MAJK;AAKLO,IAAAA,MALK;AAMLE,IAAAA,IAAI,EAAE,CAND;AAOLC,IAAAA,OAAO,EAAE,IAPJ;AAQLf,IAAAA;AARK,GAAP;AAUD;;AAGD,SAASM,aAAT,CAAuBR,SAAvB,EAA6CE,UAA7C,EAAmG;AACjG,MAAI,OAAOF,SAAS,CAACkB,KAAjB,KAA2B,QAA3B,IAAuC,OAAOlB,SAAS,CAACmB,MAAjB,KAA4B,QAAvE,EAAiF;AAC/E,UAAMC,UAAU,GAAGpB,SAAS,CAACkB,KAAV,GAAkBlB,SAAS,CAACmB,MAA/C;AACA,WAAO;AACLE,MAAAA,WAAW,EAAED,UADR;AAELP,MAAAA,WAAW,EAAErB,kBAAkB,CAACU,UAAD;AAF1B,KAAP;AAID;;AACD,SAAOF,SAAP;AACD;;AAMD,SAASM,iBAAT,CAA2BJ,UAA3B,EAAmG;AACjG,QAAMoB,oBAAoC,GAAG;AAC3CC,IAAAA,QAAQ,EAAE;AAERC,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBvB,UAAU,CAACwB,QAA5B,CAFC;AAGRC,MAAAA,IAAI,EAAE;AAHE;AADiC,GAA7C;;AAQA,MAAIzB,UAAU,CAAC0B,MAAX,IAAqB1B,UAAU,CAAC0B,MAAX,CAAkBC,MAAlB,GAA2B,CAApD,EAAuD;AACrDP,IAAAA,oBAAoB,CAACQ,MAArB,GAA8B;AAC5BN,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBvB,UAAU,CAAC0B,MAA5B,CADqB;AAE5BD,MAAAA,IAAI,EAAE;AAFsB,KAA9B;AAID;;AAED,MAAIzB,UAAU,CAAC6B,KAAX,IAAoB7B,UAAU,CAAC6B,KAAX,CAAiBF,MAAjB,GAA0B,CAAlD,EAAqD;AAEnDP,IAAAA,oBAAoB,CAACU,OAArB,GAA+B;AAC7BR,MAAAA,KAAK,EAAE,IAAIS,UAAJ,CAAe/B,UAAU,CAAC6B,KAA1B,CADsB;AAE7BJ,MAAAA,IAAI,EAAE;AAFuB,KAA/B;AAID;;AAED,SAAOL,oBAAP;AACD;;AAQD,SAASrB,cAAT,CAAwBL,IAAxB,EAAiD;AAC/C,QAAMsC,OAAO,GAAGtC,IAAI,CAACuC,MAAL,CAAY,sBAAZ,CAAhB;AACA,QAAMC,OAAO,GAAG,uBAAuBC,IAAvB,CAA4BzC,IAAI,CAAC0C,MAAL,CAAYJ,OAAO,GAAG,CAAtB,CAA5B,CAAhB;AAEA,QAAMlC,SAAc,GAAG,EAAvB;AACAA,EAAAA,SAAS,CAACJ,IAAV,GAAiBwC,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAnC;;AACA,MAAIA,OAAO,KAAK,IAAhB,EAAsB;AACpBpC,IAAAA,SAAS,CAACuC,SAAV,GAAsB,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAP,CAAWP,MAAvB,IAAiCK,OAAvD;AACD;;AACDlC,EAAAA,SAAS,CAACwC,GAAV,GAAgB5C,IAAI,CAAC0C,MAAL,CAAY,CAAZ,EAAetC,SAAS,CAACuC,SAAzB,CAAhB;AAIAvC,EAAAA,SAAS,CAACwC,GAAV,GAAgBxC,SAAS,CAACwC,GAAV,CAAcC,OAAd,CAAsB,QAAtB,EAAgC,EAAhC,CAAhB;AAIAzC,EAAAA,SAAS,CAAC0C,OAAV,GAAoB,gBAAgBL,IAAhB,CAAqBrC,SAAS,CAACwC,GAA/B,CAApB;AACAxC,EAAAA,SAAS,CAAC2C,MAAV,GAAmB,eAAeN,IAAf,CAAoBrC,SAAS,CAACwC,GAA9B,CAAnB;AACAxC,EAAAA,SAAS,CAAC2B,IAAV,GAAiB,aAAaU,IAAb,CAAkBrC,SAAS,CAACwC,GAA5B,CAAjB;AACAxC,EAAAA,SAAS,CAAC4C,IAAV,GAAiB,aAAaP,IAAb,CAAkBrC,SAAS,CAACwC,GAA5B,CAAjB;AACAxC,EAAAA,SAAS,CAAC6C,KAAV,GAAkB,cAAcR,IAAd,CAAmBrC,SAAS,CAACwC,GAA7B,CAAlB;AACAxC,EAAAA,SAAS,CAACkB,KAAV,GAAkB,cAAcmB,IAAd,CAAmBrC,SAAS,CAACwC,GAA7B,CAAlB;AACAxC,EAAAA,SAAS,CAACmB,MAAV,GAAmB,eAAekB,IAAf,CAAoBrC,SAAS,CAACwC,GAA9B,CAAnB;AACAxC,EAAAA,SAAS,CAAC8C,SAAV,GAAsB,kBAAkBT,IAAlB,CAAuBrC,SAAS,CAACwC,GAAjC,CAAtB;AACAxC,EAAAA,SAAS,CAAC+C,MAAV,GAAmB,eAAeV,IAAf,CAAoBrC,SAAS,CAACwC,GAA9B,CAAnB;;AAIA,MAAIxC,SAAS,CAAC0C,OAAV,KAAsB,IAA1B,EAAgC;AAC9B1C,IAAAA,SAAS,CAAC0C,OAAV,GAAoBM,UAAU,CAAChD,SAAS,CAAC0C,OAAV,CAAkB,CAAlB,CAAD,CAA9B;AACD;;AAED,MAAI1C,SAAS,CAAC2C,MAAV,KAAqB,IAAzB,EAA+B;AAC7B3C,IAAAA,SAAS,CAAC2C,MAAV,GAAmB3C,SAAS,CAAC2C,MAAV,CAAiB,CAAjB,EAAoBM,KAApB,CAA0B,GAA1B,CAAnB;AACD;;AAED,MAAIjD,SAAS,CAAC4C,IAAV,KAAmB,IAAvB,EAA6B;AAC3B5C,IAAAA,SAAS,CAAC4C,IAAV,GAAiB5C,SAAS,CAAC4C,IAAV,CAAe,CAAf,EAAkBK,KAAlB,CAAwB,GAAxB,CAAjB;AACD;;AAED,MAAIjD,SAAS,CAACkB,KAAV,KAAoB,IAAxB,EAA8B;AAC5BlB,IAAAA,SAAS,CAACkB,KAAV,GAAkBgC,QAAQ,CAAClD,SAAS,CAACkB,KAAV,CAAgB,CAAhB,CAAD,EAAqB,EAArB,CAA1B;AACD;;AAED,MAAIlB,SAAS,CAACmB,MAAV,KAAqB,IAAzB,EAA+B;AAC7BnB,IAAAA,SAAS,CAACmB,MAAV,GA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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 = getMeshAttributes(attributes);\n\n const header = getMeshHeader(pcdHeader, attributes);\n\n const metadata = new Map([\n ['mode', '0'],\n ['boundingBox', JSON.stringify(header.boundingBox)]\n ]);\n\n const schema = getPCDSchema(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 getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): 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 getMeshAttributes(attributes: HeaderAttributes): {[attributeName: string]: MeshAttribute} {\n const normalizedAttributes: MeshAttributes = {\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/*\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"],"file":"parse-pcd.js"}
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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 = getMeshAttributes(attributes);\n\n const header = getMeshHeader(pcdHeader, attributes);\n\n const metadata = new Map([\n ['mode', '0'],\n ['boundingBox', JSON.stringify(header.boundingBox)]\n ]);\n\n const schema = getPCDSchema(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 getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): 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 getMeshAttributes(attributes: HeaderAttributes): {[attributeName: string]: MeshAttribute} {\n const normalizedAttributes: MeshAttributes = {\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/*\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"],"file":"parse-pcd.js"}

package/dist/pcd-loader.js CHANGED Viewed

@@ -1,4 +1,4 @@
-const VERSION = typeof "3.1.0-alpha.3" !== 'undefined' ? "3.1.0-alpha.3" : 'latest';
+const VERSION = typeof "4.0.0-alpha.4" !== 'undefined' ? "4.0.0-alpha.4" : 'latest';
 export const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',