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

package/dist/pcd-worker.js

@@ -1,2 +1,832 @@
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l()(this,r),n=e.call(this),o()(F()(n),"precision",void 0),n.precision=t,n}return p()(r,[{key:"typeId",get:function(){return k.Float}},{key:M,get:function(){return"Float"}},{key:"toString",value:function(){return"Float".concat(this.precision)}}]),r}(C),Y=function(t){D()(r,t);var e=B(r);function r(){return l()(this,r),e.call(this,W)}return r}(V);Symbol.toStringTag;Symbol.toStringTag;Symbol.toStringTag;Symbol.toStringTag;j=Symbol.toStringTag;var H=function(t){D()(r,t);var e=B(r);function r(t,n){var i;return l()(this,r),i=e.call(this),o()(F()(i),"listSize",void 0),o()(F()(i),"children",void 0),i.listSize=t,i.children=[n],i}return p()(r,[{key:"typeId",get:function(){return k.FixedSizeList}},{key:"valueType",get:function(){return this.children[0].type}},{key:"valueField",get:function(){return this.children[0]}},{key:j,get:function(){return"FixedSizeList"}},{key:"toString",value:function(){return"FixedSizeList[".concat(this.listSize,"]<").concat(this.valueType,">")}}]),r}(C);Symbol.toStringTag;var $=r(9),J=r.n($);function Z(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 q(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 q(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 q(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 K=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=Z(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=Q(Q(new Map,this.metadata),o.metadata)}else r=e;var i,a=Object.create(null),u=Z(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=Z(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 Q(t,e){return new Map([].concat(J()(t||new Map),J()(e||new Map)))}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:I(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=[];return void 0!==r.x&&n.push(new L("POSITION",new H(3,new L("xyz",new Y)),!1)),void 0!==r.normal_x&&n.push(new L("NORMAL",new H(3,new L("xyz",new Y)),!1)),void 0!==r.rgb&&n.push(new L("COLOR_0",new H(3,new L("rgb",new G)),!1)),new K(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:"3.1.0-alpha.3",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)}}())}]);
-//# sourceMappingURL=pcd-worker.js.map
+(() => {
+  // ../worker-utils/src/lib/worker-utils/get-transfer-list.ts
+  function getTransferList(object, recursive = true, transfers) {
+    const transfersSet = transfers || new Set();
+    if (!object) {
+    } else if (isTransferable(object)) {
+      transfersSet.add(object);
+    } else if (isTransferable(object.buffer)) {
+      transfersSet.add(object.buffer);
+    } else if (ArrayBuffer.isView(object)) {
+    } else if (recursive && typeof object === "object") {
+      for (const key in object) {
+        getTransferList(object[key], recursive, transfersSet);
+      }
+    }
+    return transfers === void 0 ? Array.from(transfersSet) : [];
+  }
+  function isTransferable(object) {
+    if (!object) {
+      return false;
+    }
+    if (object instanceof ArrayBuffer) {
+      return true;
+    }
+    if (typeof MessagePort !== "undefined" && object instanceof MessagePort) {
+      return true;
+    }
+    if (typeof ImageBitmap !== "undefined" && object instanceof ImageBitmap) {
+      return true;
+    }
+    if (typeof OffscreenCanvas !== "undefined" && object instanceof OffscreenCanvas) {
+      return true;
+    }
+    return false;
+  }
+
+  // ../worker-utils/src/lib/worker-farm/worker-body.ts
+  var onMessageWrapperMap = new Map();
+  var WorkerBody = class {
+    static set onmessage(onMessage) {
+      self.onmessage = (message) => {
+        if (!isKnownMessage(message)) {
+          return;
+        }
+        const { type, payload } = message.data;
+        onMessage(type, payload);
+      };
+    }
+    static addEventListener(onMessage) {
+      let onMessageWrapper = onMessageWrapperMap.get(onMessage);
+      if (!onMessageWrapper) {
+        onMessageWrapper = (message) => {
+          if (!isKnownMessage(message)) {
+            return;
+          }
+          const { type, payload } = message.data;
+          onMessage(type, payload);
+        };
+      }
+      self.addEventListener("message", onMessageWrapper);
+    }
+    static removeEventListener(onMessage) {
+      const onMessageWrapper = onMessageWrapperMap.get(onMessage);
+      onMessageWrapperMap.delete(onMessage);
+      self.removeEventListener("message", onMessageWrapper);
+    }
+    static postMessage(type, payload) {
+      if (self) {
+        const data = { source: "loaders.gl", type, payload };
+        const transferList = getTransferList(payload);
+        self.postMessage(data, transferList);
+      }
+    }
+  };
+  function isKnownMessage(message) {
+    const { type, data } = message;
+    return type === "message" && data && typeof data.source === "string" && data.source.startsWith("loaders.gl");
+  }
+
+  // ../loader-utils/src/lib/worker-loader-utils/create-loader-worker.ts
+  var requestId = 0;
+  function createLoaderWorker(loader) {
+    if (typeof self === "undefined") {
+      return;
+    }
+    WorkerBody.onmessage = async (type, payload) => {
+      switch (type) {
+        case "process":
+          try {
+            const { input, options = {} } = payload;
+            const result = await parseData({
+              loader,
+              arrayBuffer: input,
+              options,
+              context: {
+                parse: parseOnMainThread
+              }
+            });
+            WorkerBody.postMessage("done", { result });
+          } catch (error) {
+            const message = error instanceof Error ? error.message : "";
+            WorkerBody.postMessage("error", { error: message });
+          }
+          break;
+        default:
+      }
+    };
+  }
+  function parseOnMainThread(arrayBuffer, options) {
+    return new Promise((resolve, reject) => {
+      const id = requestId++;
+      const onMessage = (type, payload2) => {
+        if (payload2.id !== id) {
+          return;
+        }
+        switch (type) {
+          case "done":
+            WorkerBody.removeEventListener(onMessage);
+            resolve(payload2.result);
+            break;
+          case "error":
+            WorkerBody.removeEventListener(onMessage);
+            reject(payload2.error);
+            break;
+          default:
+        }
+      };
+      WorkerBody.addEventListener(onMessage);
+      const payload = { id, input: arrayBuffer, options };
+      WorkerBody.postMessage("process", payload);
+    });
+  }
+  async function parseData({ loader, arrayBuffer, options, context }) {
+    let data;
+    let parser;
+    if (loader.parseSync || loader.parse) {
+      data = arrayBuffer;
+      parser = loader.parseSync || loader.parse;
+    } else if (loader.parseTextSync) {
+      const textDecoder = new TextDecoder();
+      data = textDecoder.decode(arrayBuffer);
+      parser = loader.parseTextSync;
+    } else {
+      throw new Error(`Could not load data with ${loader.name} loader`);
+    }
+    options = {
+      ...options,
+      modules: loader && loader.options && loader.options.modules || {},
+      worker: false
+    };
+    return await parser(data, { ...options }, context, loader);
+  }
+
+  // ../schema/src/category/mesh/mesh-utils.ts
+  function getMeshBoundingBox(attributes) {
+    let minX = Infinity;
+    let minY = Infinity;
+    let minZ = Infinity;
+    let maxX = -Infinity;
+    let maxY = -Infinity;
+    let maxZ = -Infinity;
+    const positions = attributes.POSITION ? attributes.POSITION.value : [];
+    const len = positions && positions.length;
+    for (let i = 0; i < len; i += 3) {
+      const x = positions[i];
+      const y = positions[i + 1];
+      const z = positions[i + 2];
+      minX = x < minX ? x : minX;
+      minY = y < minY ? y : minY;
+      minZ = z < minZ ? z : minZ;
+      maxX = x > maxX ? x : maxX;
+      maxY = y > maxY ? y : maxY;
+      maxZ = z > maxZ ? z : maxZ;
+    }
+    return [
+      [minX, minY, minZ],
+      [maxX, maxY, maxZ]
+    ];
+  }
+
+  // ../schema/src/lib/utils/assert.ts
+  function assert(condition, message) {
+    if (!condition) {
+      throw new Error(message || "loader assertion failed.");
+    }
+  }
+
+  // ../schema/src/lib/schema/impl/schema.ts
+  var Schema = class {
+    constructor(fields, metadata) {
+      assert(Array.isArray(fields));
+      checkNames(fields);
+      this.fields = fields;
+      this.metadata = metadata || new Map();
+    }
+    compareTo(other) {
+      if (this.metadata !== other.metadata) {
+        return false;
+      }
+      if (this.fields.length !== other.fields.length) {
+        return false;
+      }
+      for (let i = 0; i < this.fields.length; ++i) {
+        if (!this.fields[i].compareTo(other.fields[i])) {
+          return false;
+        }
+      }
+      return true;
+    }
+    select(...columnNames) {
+      const nameMap = Object.create(null);
+      for (const name of columnNames) {
+        nameMap[name] = true;
+      }
+      const selectedFields = this.fields.filter((field) => nameMap[field.name]);
+      return new Schema(selectedFields, this.metadata);
+    }
+    selectAt(...columnIndices) {
+      const selectedFields = columnIndices.map((index) => this.fields[index]).filter(Boolean);
+      return new Schema(selectedFields, this.metadata);
+    }
+    assign(schemaOrFields) {
+      let fields;
+      let metadata = this.metadata;
+      if (schemaOrFields instanceof Schema) {
+        const otherSchema = schemaOrFields;
+        fields = otherSchema.fields;
+        metadata = mergeMaps(mergeMaps(new Map(), this.metadata), otherSchema.metadata);
+      } else {
+        fields = schemaOrFields;
+      }
+      const fieldMap = Object.create(null);
+      for (const field of this.fields) {
+        fieldMap[field.name] = field;
+      }
+      for (const field of fields) {
+        fieldMap[field.name] = field;
+      }
+      const mergedFields = Object.values(fieldMap);
+      return new Schema(mergedFields, metadata);
+    }
+  };
+  function checkNames(fields) {
+    const usedNames = {};
+    for (const field of fields) {
+      if (usedNames[field.name]) {
+        console.warn("Schema: duplicated field name", field.name, field);
+      }
+      usedNames[field.name] = true;
+    }
+  }
+  function mergeMaps(m1, m2) {
+    return new Map([...m1 || new Map(), ...m2 || new Map()]);
+  }
+
+  // ../schema/src/lib/schema/impl/field.ts
+  var Field = class {
+    constructor(name, type, nullable = false, metadata = new Map()) {
+      this.name = name;
+      this.type = type;
+      this.nullable = nullable;
+      this.metadata = metadata;
+    }
+    get typeId() {
+      return this.type && this.type.typeId;
+    }
+    clone() {
+      return new Field(this.name, this.type, this.nullable, this.metadata);
+    }
+    compareTo(other) {
+      return this.name === other.name && this.type === other.type && this.nullable === other.nullable && this.metadata === other.metadata;
+    }
+    toString() {
+      return `${this.type}${this.nullable ? ", nullable" : ""}${this.metadata ? `, metadata: ${this.metadata}` : ""}`;
+    }
+  };
+
+  // ../schema/src/lib/schema/impl/enum.ts
+  var Type;
+  (function(Type2) {
+    Type2[Type2["NONE"] = 0] = "NONE";
+    Type2[Type2["Null"] = 1] = "Null";
+    Type2[Type2["Int"] = 2] = "Int";
+    Type2[Type2["Float"] = 3] = "Float";
+    Type2[Type2["Binary"] = 4] = "Binary";
+    Type2[Type2["Utf8"] = 5] = "Utf8";
+    Type2[Type2["Bool"] = 6] = "Bool";
+    Type2[Type2["Decimal"] = 7] = "Decimal";
+    Type2[Type2["Date"] = 8] = "Date";
+    Type2[Type2["Time"] = 9] = "Time";
+    Type2[Type2["Timestamp"] = 10] = "Timestamp";
+    Type2[Type2["Interval"] = 11] = "Interval";
+    Type2[Type2["List"] = 12] = "List";
+    Type2[Type2["Struct"] = 13] = "Struct";
+    Type2[Type2["Union"] = 14] = "Union";
+    Type2[Type2["FixedSizeBinary"] = 15] = "FixedSizeBinary";
+    Type2[Type2["FixedSizeList"] = 16] = "FixedSizeList";
+    Type2[Type2["Map"] = 17] = "Map";
+    Type2[Type2["Dictionary"] = -1] = "Dictionary";
+    Type2[Type2["Int8"] = -2] = "Int8";
+    Type2[Type2["Int16"] = -3] = "Int16";
+    Type2[Type2["Int32"] = -4] = "Int32";
+    Type2[Type2["Int64"] = -5] = "Int64";
+    Type2[Type2["Uint8"] = -6] = "Uint8";
+    Type2[Type2["Uint16"] = -7] = "Uint16";
+    Type2[Type2["Uint32"] = -8] = "Uint32";
+    Type2[Type2["Uint64"] = -9] = "Uint64";
+    Type2[Type2["Float16"] = -10] = "Float16";
+    Type2[Type2["Float32"] = -11] = "Float32";
+    Type2[Type2["Float64"] = -12] = "Float64";
+    Type2[Type2["DateDay"] = -13] = "DateDay";
+    Type2[Type2["DateMillisecond"] = -14] = "DateMillisecond";
+    Type2[Type2["TimestampSecond"] = -15] = "TimestampSecond";
+    Type2[Type2["TimestampMillisecond"] = -16] = "TimestampMillisecond";
+    Type2[Type2["TimestampMicrosecond"] = -17] = "TimestampMicrosecond";
+    Type2[Type2["TimestampNanosecond"] = -18] = "TimestampNanosecond";
+    Type2[Type2["TimeSecond"] = -19] = "TimeSecond";
+    Type2[Type2["TimeMillisecond"] = -20] = "TimeMillisecond";
+    Type2[Type2["TimeMicrosecond"] = -21] = "TimeMicrosecond";
+    Type2[Type2["TimeNanosecond"] = -22] = "TimeNanosecond";
+    Type2[Type2["DenseUnion"] = -23] = "DenseUnion";
+    Type2[Type2["SparseUnion"] = -24] = "SparseUnion";
+    Type2[Type2["IntervalDayTime"] = -25] = "IntervalDayTime";
+    Type2[Type2["IntervalYearMonth"] = -26] = "IntervalYearMonth";
+  })(Type || (Type = {}));
+
+  // ../schema/src/lib/schema/impl/type.ts
+  var DataType = class {
+    static isNull(x) {
+      return x && x.typeId === Type.Null;
+    }
+    static isInt(x) {
+      return x && x.typeId === Type.Int;
+    }
+    static isFloat(x) {
+      return x && x.typeId === Type.Float;
+    }
+    static isBinary(x) {
+      return x && x.typeId === Type.Binary;
+    }
+    static isUtf8(x) {
+      return x && x.typeId === Type.Utf8;
+    }
+    static isBool(x) {
+      return x && x.typeId === Type.Bool;
+    }
+    static isDecimal(x) {
+      return x && x.typeId === Type.Decimal;
+    }
+    static isDate(x) {
+      return x && x.typeId === Type.Date;
+    }
+    static isTime(x) {
+      return x && x.typeId === Type.Time;
+    }
+    static isTimestamp(x) {
+      return x && x.typeId === Type.Timestamp;
+    }
+    static isInterval(x) {
+      return x && x.typeId === Type.Interval;
+    }
+    static isList(x) {
+      return x && x.typeId === Type.List;
+    }
+    static isStruct(x) {
+      return x && x.typeId === Type.Struct;
+    }
+    static isUnion(x) {
+      return x && x.typeId === Type.Union;
+    }
+    static isFixedSizeBinary(x) {
+      return x && x.typeId === Type.FixedSizeBinary;
+    }
+    static isFixedSizeList(x) {
+      return x && x.typeId === Type.FixedSizeList;
+    }
+    static isMap(x) {
+      return x && x.typeId === Type.Map;
+    }
+    static isDictionary(x) {
+      return x && x.typeId === Type.Dictionary;
+    }
+    get typeId() {
+      return Type.NONE;
+    }
+    compareTo(other) {
+      return this === other;
+    }
+  };
+  var Null = class extends DataType {
+    get typeId() {
+      return Type.Null;
+    }
+    get [Symbol.toStringTag]() {
+      return "Null";
+    }
+    toString() {
+      return "Null";
+    }
+  };
+  var Bool = class extends DataType {
+    get typeId() {
+      return Type.Bool;
+    }
+    get [Symbol.toStringTag]() {
+      return "Bool";
+    }
+    toString() {
+      return "Bool";
+    }
+  };
+  var Int = class extends DataType {
+    constructor(isSigned, bitWidth) {
+      super();
+      this.isSigned = isSigned;
+      this.bitWidth = bitWidth;
+    }
+    get typeId() {
+      return Type.Int;
+    }
+    get [Symbol.toStringTag]() {
+      return "Int";
+    }
+    toString() {
+      return `${this.isSigned ? "I" : "Ui"}nt${this.bitWidth}`;
+    }
+  };
+  var Uint8 = class extends Int {
+    constructor() {
+      super(false, 8);
+    }
+  };
+  var Precision = {
+    HALF: 16,
+    SINGLE: 32,
+    DOUBLE: 64
+  };
+  var Float = class extends DataType {
+    constructor(precision) {
+      super();
+      this.precision = precision;
+    }
+    get typeId() {
+      return Type.Float;
+    }
+    get [Symbol.toStringTag]() {
+      return "Float";
+    }
+    toString() {
+      return `Float${this.precision}`;
+    }
+  };
+  var Float32 = class extends Float {
+    constructor() {
+      super(Precision.SINGLE);
+    }
+  };
+  var Binary = class extends DataType {
+    constructor() {
+      super();
+    }
+    get typeId() {
+      return Type.Binary;
+    }
+    toString() {
+      return "Binary";
+    }
+    get [Symbol.toStringTag]() {
+      return "Binary";
+    }
+  };
+  var Utf8 = class extends DataType {
+    get typeId() {
+      return Type.Utf8;
+    }
+    get [Symbol.toStringTag]() {
+      return "Utf8";
+    }
+    toString() {
+      return "Utf8";
+    }
+  };
+  var DateUnit = {
+    DAY: 0,
+    MILLISECOND: 1
+  };
+  var Date = class extends DataType {
+    constructor(unit) {
+      super();
+      this.unit = unit;
+    }
+    get typeId() {
+      return Type.Date;
+    }
+    get [Symbol.toStringTag]() {
+      return "Date";
+    }
+    toString() {
+      return `Date${(this.unit + 1) * 32}<${DateUnit[this.unit]}>`;
+    }
+  };
+  var TimeUnit = {
+    SECOND: 1,
+    MILLISECOND: 1e3,
+    MICROSECOND: 1e6,
+    NANOSECOND: 1e9
+  };
+  var Time = class extends DataType {
+    constructor(unit, bitWidth) {
+      super();
+      this.unit = unit;
+      this.bitWidth = bitWidth;
+    }
+    get typeId() {
+      return Type.Time;
+    }
+    toString() {
+      return `Time${this.bitWidth}<${TimeUnit[this.unit]}>`;
+    }
+    get [Symbol.toStringTag]() {
+      return "Time";
+    }
+  };
+  var Timestamp = class extends DataType {
+    constructor(unit, timezone = null) {
+      super();
+      this.unit = unit;
+      this.timezone = timezone;
+    }
+    get typeId() {
+      return Type.Timestamp;
+    }
+    get [Symbol.toStringTag]() {
+      return "Timestamp";
+    }
+    toString() {
+      return `Timestamp<${TimeUnit[this.unit]}${this.timezone ? `, ${this.timezone}` : ""}>`;
+    }
+  };
+  var IntervalUnit = {
+    DAY_TIME: 0,
+    YEAR_MONTH: 1
+  };
+  var Interval = class extends DataType {
+    constructor(unit) {
+      super();
+      this.unit = unit;
+    }
+    get typeId() {
+      return Type.Interval;
+    }
+    get [Symbol.toStringTag]() {
+      return "Interval";
+    }
+    toString() {
+      return `Interval<${IntervalUnit[this.unit]}>`;
+    }
+  };
+  var FixedSizeList = class extends DataType {
+    constructor(listSize, child) {
+      super();
+      this.listSize = listSize;
+      this.children = [child];
+    }
+    get typeId() {
+      return Type.FixedSizeList;
+    }
+    get valueType() {
+      return this.children[0].type;
+    }
+    get valueField() {
+      return this.children[0];
+    }
+    get [Symbol.toStringTag]() {
+      return "FixedSizeList";
+    }
+    toString() {
+      return `FixedSizeList[${this.listSize}]<${this.valueType}>`;
+    }
+  };
+  var Struct = class extends DataType {
+    constructor(children) {
+      super();
+      this.children = children;
+    }
+    get typeId() {
+      return Type.Struct;
+    }
+    toString() {
+      return `Struct<{${this.children.map((f) => `${f.name}:${f.type}`).join(", ")}}>`;
+    }
+    get [Symbol.toStringTag]() {
+      return "Struct";
+    }
+  };
+
+  // src/lib/get-pcd-schema.ts
+  function getPCDSchema(PCDheader, metadata) {
+    const offset = PCDheader.offset;
+    const fields = [];
+    if (offset.x !== void 0) {
+      fields.push(new Field("POSITION", new FixedSizeList(3, new Field("xyz", new Float32())), false));
+    }
+    if (offset.normal_x !== void 0) {
+      fields.push(new Field("NORMAL", new FixedSizeList(3, new Field("xyz", new Float32())), false));
+    }
+    if (offset.rgb !== void 0) {
+      fields.push(new Field("COLOR_0", new FixedSizeList(3, new Field("rgb", new Uint8())), false));
+    }
+    return new Schema(fields, metadata);
+  }
+
+  // src/lib/parse-pcd.ts
+  var LITTLE_ENDIAN = true;
+  function parsePCD(data) {
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    let attributes = {};
+    switch (pcdHeader.data) {
+      case "ascii":
+        attributes = parsePCDASCII(pcdHeader, textData);
+        break;
+      case "binary":
+        attributes = parsePCDBinary(pcdHeader, data);
+        break;
+      case "binary_compressed":
+      default:
+        throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
+    }
+    attributes = getMeshAttributes(attributes);
+    const header = getMeshHeader(pcdHeader, attributes);
+    const metadata = new Map([
+      ["mode", "0"],
+      ["boundingBox", JSON.stringify(header.boundingBox)]
+    ]);
+    const schema = getPCDSchema(pcdHeader, metadata);
+    return {
+      loaderData: {
+        header: pcdHeader
+      },
+      header,
+      schema,
+      mode: 0,
+      indices: null,
+      attributes
+    };
+  }
+  function getMeshHeader(pcdHeader, attributes) {
+    if (typeof pcdHeader.width === "number" && typeof pcdHeader.height === "number") {
+      const pointCount = pcdHeader.width * pcdHeader.height;
+      return {
+        vertexCount: pointCount,
+        boundingBox: getMeshBoundingBox(attributes)
+      };
+    }
+    return pcdHeader;
+  }
+  function getMeshAttributes(attributes) {
+    const normalizedAttributes = {
+      POSITION: {
+        value: new Float32Array(attributes.position),
+        size: 3
+      }
+    };
+    if (attributes.normal && attributes.normal.length > 0) {
+      normalizedAttributes.NORMAL = {
+        value: new Float32Array(attributes.normal),
+        size: 3
+      };
+    }
+    if (attributes.color && attributes.color.length > 0) {
+      normalizedAttributes.COLOR_0 = {
+        value: new Uint8Array(attributes.color),
+        size: 3
+      };
+    }
+    return normalizedAttributes;
+  }
+  function parsePCDHeader(data) {
+    const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
+    const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
+    const pcdHeader = {};
+    pcdHeader.data = result2 && result2[1];
+    if (result2 !== null) {
+      pcdHeader.headerLen = (result2 && result2[0].length) + result1;
+    }
+    pcdHeader.str = data.substr(0, pcdHeader.headerLen);
+    pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, "");
+    pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
+    pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
+    pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
+    pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);
+    pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);
+    pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);
+    pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
+    pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
+    pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
+    if (pcdHeader.version !== null) {
+      pcdHeader.version = parseFloat(pcdHeader.version[1]);
+    }
+    if (pcdHeader.fields !== null) {
+      pcdHeader.fields = pcdHeader.fields[1].split(" ");
+    }
+    if (pcdHeader.type !== null) {
+      pcdHeader.type = pcdHeader.type[1].split(" ");
+    }
+    if (pcdHeader.width !== null) {
+      pcdHeader.width = parseInt(pcdHeader.width[1], 10);
+    }
+    if (pcdHeader.height !== null) {
+      pcdHeader.height = parseInt(pcdHeader.height[1], 10);
+    }
+    if (pcdHeader.viewpoint !== null) {
+      pcdHeader.viewpoint = pcdHeader.viewpoint[1];
+    }
+    if (pcdHeader.points !== null) {
+      pcdHeader.points = parseInt(pcdHeader.points[1], 10);
+    }
+    if (pcdHeader.points === null && typeof pcdHeader.width === "number" && typeof pcdHeader.height === "number") {
+      pcdHeader.points = pcdHeader.width * pcdHeader.height;
+    }
+    if (pcdHeader.size !== null) {
+      pcdHeader.size = pcdHeader.size[1].split(" ").map((x) => parseInt(x, 10));
+    }
+    if (pcdHeader.count !== null) {
+      pcdHeader.count = pcdHeader.count[1].split(" ").map((x) => parseInt(x, 10));
+    } else {
+      pcdHeader.count = [];
+      if (pcdHeader.fields !== null) {
+        for (let i = 0; i < pcdHeader.fields.length; i++) {
+          pcdHeader.count.push(1);
+        }
+      }
+    }
+    pcdHeader.offset = {};
+    let sizeSum = 0;
+    if (pcdHeader.fields !== null && pcdHeader.size !== null) {
+      for (let i = 0; i < pcdHeader.fields.length; i++) {
+        if (pcdHeader.data === "ascii") {
+          pcdHeader.offset[pcdHeader.fields[i]] = i;
+        } else {
+          pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
+          sizeSum += pcdHeader.size[i];
+        }
+      }
+    }
+    pcdHeader.rowSize = sizeSum;
+    return pcdHeader;
+  }
+  function parsePCDASCII(pcdHeader, textData) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const offset = pcdHeader.offset;
+    const pcdData = textData.substr(pcdHeader.headerLen);
+    const lines = pcdData.split("\n");
+    for (let i = 0; i < lines.length; i++) {
+      if (lines[i] !== "") {
+        const line = lines[i].split(" ");
+        if (offset.x !== void 0) {
+          position.push(parseFloat(line[offset.x]));
+          position.push(parseFloat(line[offset.y]));
+          position.push(parseFloat(line[offset.z]));
+        }
+        if (offset.rgb !== void 0) {
+          const floatValue = parseFloat(line[offset.rgb]);
+          const binaryColor = new Float32Array([floatValue]);
+          const dataview = new DataView(binaryColor.buffer, 0);
+          color.push(dataview.getUint8(0));
+          color.push(dataview.getUint8(1));
+          color.push(dataview.getUint8(2));
+        }
+        if (offset.normal_x !== void 0) {
+          normal.push(parseFloat(line[offset.normal_x]));
+          normal.push(parseFloat(line[offset.normal_y]));
+          normal.push(parseFloat(line[offset.normal_z]));
+        }
+      }
+    }
+    return { position, normal, color };
+  }
+  function parsePCDBinary(pcdHeader, data) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const dataview = new DataView(data, pcdHeader.headerLen);
+    const offset = pcdHeader.offset;
+    for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
+      if (offset.x !== void 0) {
+        position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));
+      }
+      if (offset.rgb !== void 0) {
+        color.push(dataview.getUint8(row + offset.rgb + 0));
+        color.push(dataview.getUint8(row + offset.rgb + 1));
+        color.push(dataview.getUint8(row + offset.rgb + 2));
+      }
+      if (offset.normal_x !== void 0) {
+        normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));
+        normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));
+        normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));
+      }
+    }
+    return { position, normal, color };
+  }
+
+  // src/pcd-loader.ts
+  var VERSION = typeof __VERSION__ !== "undefined" ? __VERSION__ : "latest";
+  var PCDLoader = {
+    name: "PCD (Point Cloud Data)",
+    id: "pcd",
+    module: "pcd",
+    version: VERSION,
+    worker: true,
+    extensions: ["pcd"],
+    mimeTypes: ["text/plain"],
+    options: {
+      pcd: {}
+    }
+  };
+
+  // src/index.ts
+  var PCDLoader2 = {
+    ...PCDLoader,
+    parse: async (arrayBuffer) => parsePCD(arrayBuffer),
+    parseSync: parsePCD
+  };
+
+  // src/workers/pcd-worker.ts
+  createLoaderWorker(PCDLoader2);
+})();