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

package/dist/es5/bundle.js

@@ -1,6 +1,6 @@
 "use strict";
 
-var moduleExports = require('./index');
+const moduleExports = require('./index');
 
 globalThis.loaders = globalThis.loaders || {};
 module.exports = Object.assign(globalThis.loaders, moduleExports);

package/dist/es5/bundle.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/bundle.ts"],"names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"mappings":";;AACA,IAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACAC,UAAU,CAACC,OAAX,GAAqBD,UAAU,CAACC,OAAX,IAAsB,EAA3C;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcL,UAAU,CAACC,OAAzB,EAAkCH,aAAlC,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"file":"bundle.js"}
+{"version":3,"sources":["../../src/bundle.ts"],"names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"mappings":";;AACA,MAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACAC,UAAU,CAACC,OAAX,GAAqBD,UAAU,CAACC,OAAX,IAAsB,EAA3C;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcL,UAAU,CAACC,OAAzB,EAAkCH,aAAlC,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"file":"bundle.js"}

package/dist/es5/index.js

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

package/dist/es5/index.js.map

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

package/dist/es5/lib/get-pcd-schema.js

@@ -8,8 +8,8 @@ exports.getPCDSchema = getPCDSchema;
 var _schema = require("@loaders.gl/schema");
 
 function getPCDSchema(PCDheader, metadata) {
-  var offset = PCDheader.offset;
-  var fields = [];
+  const offset = PCDheader.offset;
+  const fields = [];
 
   if (offset.x !== undefined) {
     fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));

package/dist/es5/lib/get-pcd-schema.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../../src/lib/get-pcd-schema.ts"],"names":["getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","Schema"],"mappings":";;;;;;;AAAA;;AAWO,SAASA,YAAT,CAAsBC,SAAtB,EAA4CC,QAA5C,EAA8E;AACnF,MAAMC,MAAM,GAAGF,SAAS,CAACE,MAAzB;AAEA,MAAMC,MAAe,GAAG,EAAxB;;AAEA,MAAID,MAAM,CAACE,CAAP,KAAaC,SAAjB,EAA4B;AAC1BF,IAAAA,MAAM,CAACG,IAAP,CACE,IAAIC,aAAJ,CAAU,UAAV,EAAsB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIP,MAAM,CAACQ,QAAP,KAAoBL,SAAxB,EAAmC;AACjCF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIC,aAAJ,CAAU,QAAV,EAAoB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIP,MAAM,CAACS,GAAP,KAAeN,SAAnB,EAA8B;AAC5BF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIC,aAAJ,CAAU,SAAV,EAAqB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIK,aAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIC,cAAJ,CAAWV,MAAX,EAAmBF,QAAnB,CAAP;AACD","sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(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":"get-pcd-schema.js"}
+{"version":3,"sources":["../../../src/lib/get-pcd-schema.ts"],"names":["getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","Schema"],"mappings":";;;;;;;AAAA;;AAWO,SAASA,YAAT,CAAsBC,SAAtB,EAA4CC,QAA5C,EAA8E;AACnF,QAAMC,MAAM,GAAGF,SAAS,CAACE,MAAzB;AAEA,QAAMC,MAAe,GAAG,EAAxB;;AAEA,MAAID,MAAM,CAACE,CAAP,KAAaC,SAAjB,EAA4B;AAC1BF,IAAAA,MAAM,CAACG,IAAP,CACE,IAAIC,aAAJ,CAAU,UAAV,EAAsB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIP,MAAM,CAACQ,QAAP,KAAoBL,SAAxB,EAAmC;AACjCF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIC,aAAJ,CAAU,QAAV,EAAoB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIP,MAAM,CAACS,GAAP,KAAeN,SAAnB,EAA8B;AAC5BF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIC,aAAJ,CAAU,SAAV,EAAqB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIK,aAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIC,cAAJ,CAAWV,MAAX,EAAmBF,QAAnB,CAAP;AACD","sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(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":"get-pcd-schema.js"}

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

@@ -9,12 +9,12 @@ var _schema = require("@loaders.gl/schema");
 
 var _getPcdSchema = require("./get-pcd-schema");
 
-var LITTLE_ENDIAN = true;
+const LITTLE_ENDIAN = true;
 
 function parsePCD(data) {
-  var textData = new TextDecoder().decode(data);
-  var pcdHeader = parsePCDHeader(textData);
-  var attributes = {};
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = parsePCDHeader(textData);
+  let attributes = {};
 
   switch (pcdHeader.data) {
     case 'ascii':
@@ -31,24 +31,24 @@ function parsePCD(data) {
   }
 
   attributes = getMeshAttributes(attributes);
-  var header = getMeshHeader(pcdHeader, attributes);
-  var metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
-  var schema = (0, _getPcdSchema.getPCDSchema)(pcdHeader, metadata);
+  const header = getMeshHeader(pcdHeader, attributes);
+  const metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
+  const schema = (0, _getPcdSchema.getPCDSchema)(pcdHeader, metadata);
   return {
     loaderData: {
       header: pcdHeader
     },
-    header: header,
-    schema: schema,
+    header,
+    schema,
     mode: 0,
     indices: null,
-    attributes: attributes
+    attributes
   };
 }
 
 function getMeshHeader(pcdHeader, attributes) {
   if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
-    var pointCount = pcdHeader.width * pcdHeader.height;
+    const pointCount = pcdHeader.width * pcdHeader.height;
     return {
       vertexCount: pointCount,
       boundingBox: (0, _schema.getMeshBoundingBox)(attributes)
@@ -59,7 +59,7 @@ function getMeshHeader(pcdHeader, attributes) {
 }
 
 function getMeshAttributes(attributes) {
-  var normalizedAttributes = {
+  const normalizedAttributes = {
     POSITION: {
       value: new Float32Array(attributes.position),
       size: 3
@@ -84,9 +84,9 @@ function getMeshAttributes(attributes) {
 }
 
 function parsePCDHeader(data) {
-  var result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
-  var result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
-  var pcdHeader = {};
+  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) {
@@ -138,35 +138,31 @@ function parsePCDHeader(data) {
   }
 
   if (pcdHeader.size !== null) {
-    pcdHeader.size = pcdHeader.size[1].split(' ').map(function (x) {
-      return parseInt(x, 10);
-    });
+    pcdHeader.size = pcdHeader.size[1].split(' ').map(x => parseInt(x, 10));
   }
 
   if (pcdHeader.count !== null) {
-    pcdHeader.count = pcdHeader.count[1].split(' ').map(function (x) {
-      return parseInt(x, 10);
-    });
+    pcdHeader.count = pcdHeader.count[1].split(' ').map(x => parseInt(x, 10));
   } else {
     pcdHeader.count = [];
 
     if (pcdHeader.fields !== null) {
-      for (var i = 0; i < pcdHeader.fields.length; i++) {
+      for (let i = 0; i < pcdHeader.fields.length; i++) {
         pcdHeader.count.push(1);
       }
     }
   }
 
   pcdHeader.offset = {};
-  var sizeSum = 0;
+  let sizeSum = 0;
 
   if (pcdHeader.fields !== null && pcdHeader.size !== null) {
-    for (var _i = 0; _i < pcdHeader.fields.length; _i++) {
+    for (let i = 0; i < pcdHeader.fields.length; i++) {
       if (pcdHeader.data === 'ascii') {
-        pcdHeader.offset[pcdHeader.fields[_i]] = _i;
+        pcdHeader.offset[pcdHeader.fields[i]] = i;
       } else {
-        pcdHeader.offset[pcdHeader.fields[_i]] = sizeSum;
-        sizeSum += pcdHeader.size[_i];
+        pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
+        sizeSum += pcdHeader.size[i];
       }
     }
   }
@@ -176,16 +172,16 @@ function parsePCDHeader(data) {
 }
 
 function parsePCDASCII(pcdHeader, textData) {
-  var position = [];
-  var normal = [];
-  var color = [];
-  var offset = pcdHeader.offset;
-  var pcdData = textData.substr(pcdHeader.headerLen);
-  var lines = pcdData.split('\n');
-
-  for (var i = 0; i < lines.length; i++) {
+  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] !== '') {
-      var line = lines[i].split(' ');
+      const line = lines[i].split(' ');
 
       if (offset.x !== undefined) {
         position.push(parseFloat(line[offset.x]));
@@ -194,9 +190,9 @@ function parsePCDASCII(pcdHeader, textData) {
       }
 
       if (offset.rgb !== undefined) {
-        var floatValue = parseFloat(line[offset.rgb]);
-        var binaryColor = new Float32Array([floatValue]);
-        var dataview = new DataView(binaryColor.buffer, 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));
@@ -211,20 +207,20 @@ function parsePCDASCII(pcdHeader, textData) {
   }
 
   return {
-    position: position,
-    normal: normal,
-    color: color
+    position,
+    normal,
+    color
   };
 }
 
 function parsePCDBinary(pcdHeader, data) {
-  var position = [];
-  var normal = [];
-  var color = [];
-  var dataview = new DataView(data, pcdHeader.headerLen);
-  var offset = pcdHeader.offset;
+  const position = [];
+  const normal = [];
+  const color = [];
+  const dataview = new DataView(data, pcdHeader.headerLen);
+  const offset = pcdHeader.offset;
 
-  for (var i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
+  for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
     if (offset.x !== undefined) {
       position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
       position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
@@ -245,9 +241,9 @@ function parsePCDBinary(pcdHeader, data) {
   }
 
   return {
-    position: position,
-    normal: normal,
-    color: color
+    position,
+    normal,
+    color
   };
 }
 //# sourceMappingURL=parse-pcd.js.map

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

@@ -1 +1 @@
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// 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 = 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 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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 = 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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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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/es5/pcd-loader.js

@@ -4,8 +4,8 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-var VERSION = typeof "3.1.0-alpha.4" !== 'undefined' ? "3.1.0-alpha.4" : 'latest';
-var PCDLoader = {
+const VERSION = typeof "3.1.0-beta.3" !== 'undefined' ? "3.1.0-beta.3" : 'latest';
+const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',
   module: 'pcd',
@@ -18,6 +18,6 @@ var PCDLoader = {
   }
 };
 exports.PCDLoader = PCDLoader;
-var _typecheckPCDLoader = PCDLoader;
+const _typecheckPCDLoader = PCDLoader;
 exports._typecheckPCDLoader = _typecheckPCDLoader;
 //# sourceMappingURL=pcd-loader.js.map

package/dist/es5/pcd-loader.js.map

@@ -1 +1 @@
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+{"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,0BAAuB,WAAvB,oBAAmD,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"}

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

@@ -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/esm/lib/parse-pcd.js.map

@@ -1 +1 @@
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// 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 = 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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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/esm/pcd-loader.js

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

package/dist/esm/pcd-loader.js.map

@@ -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,2BAAuB,WAAvB,qBAAmD,QAAnE;AAKA,OAAO,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;AAaP,OAAO,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"}
+{"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,0BAAuB,WAAvB,oBAAmD,QAAnE;AAKA,OAAO,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;AAaP,OAAO,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"}

package/dist/index.d.ts

@@ -0,0 +1,32 @@
+import type { LoaderWithParser } from '@loaders.gl/loader-utils';
+import parsePCDSync from './lib/parse-pcd';
+import { PCDLoader as PCDWorkerLoader } from './pcd-loader';
+export { PCDWorkerLoader };
+/**
+ * Loader for PCD - Point Cloud Data
+ */
+export declare const PCDLoader: {
+    parse: (arrayBuffer: any) => Promise<{
+        loaderData: {
+            header: import("./lib/pcd-types").PCDHeader;
+        };
+        header: Partial<import("./lib/pcd-types").PCDHeader>;
+        schema: import("@loaders.gl/schema").Schema;
+        mode: number;
+        indices: null;
+        attributes: any;
+    }>;
+    parseSync: typeof parsePCDSync;
+    name: string;
+    id: string;
+    module: string;
+    version: any;
+    worker: boolean;
+    extensions: string[];
+    mimeTypes: string[];
+    options: {
+        pcd: {};
+    };
+};
+export declare const _typecheckPCDLoader: LoaderWithParser;
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,gBAAgB,EAAC,MAAM,0BAA0B,CAAC;AAC/D,OAAO,YAAY,MAAM,iBAAiB,CAAC;AAC3C,OAAO,EAAC,SAAS,IAAI,eAAe,EAAC,MAAM,cAAc,CAAC;AAE1D,OAAO,EAAC,eAAe,EAAC,CAAC;AAEzB;;GAEG;AACH,eAAO,MAAM,SAAS;;;;;;;;;;;;;;;;;;;;;;CAIrB,CAAC;AAEF,eAAO,MAAM,mBAAmB,EAAE,gBAA4B,CAAC"}

package/dist/index.js

@@ -0,0 +1,18 @@
+"use strict";
+var __importDefault = (this && this.__importDefault) || function (mod) {
+    return (mod && mod.__esModule) ? mod : { "default": mod };
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+exports._typecheckPCDLoader = exports.PCDLoader = exports.PCDWorkerLoader = void 0;
+const parse_pcd_1 = __importDefault(require("./lib/parse-pcd"));
+const pcd_loader_1 = require("./pcd-loader");
+Object.defineProperty(exports, "PCDWorkerLoader", { enumerable: true, get: function () { return pcd_loader_1.PCDLoader; } });
+/**
+ * Loader for PCD - Point Cloud Data
+ */
+exports.PCDLoader = {
+    ...pcd_loader_1.PCDLoader,
+    parse: async (arrayBuffer) => (0, parse_pcd_1.default)(arrayBuffer),
+    parseSync: parse_pcd_1.default
+};
+exports._typecheckPCDLoader = exports.PCDLoader;