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

package/dist/lib/get-pcd-schema.d.ts

@@ -0,0 +1,12 @@
+import { Schema } from '@loaders.gl/schema';
+import type { PCDHeader } from './pcd-types';
+declare type SchemaMetadata = Map<string, any>;
+/**
+ * Gets schema from PCD header
+ * @param PCDheader
+ * @param metadata
+ * @returns Schema
+ */
+export declare function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema;
+export {};
+//# sourceMappingURL=get-pcd-schema.d.ts.map

package/dist/lib/get-pcd-schema.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/get-pcd-schema.js

@@ -0,0 +1,25 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.getPCDSchema = void 0;
+const schema_1 = require("@loaders.gl/schema");
+/**
+ * Gets schema from PCD header
+ * @param PCDheader
+ * @param metadata
+ * @returns Schema
+ */
+function getPCDSchema(PCDheader, metadata) {
+    const offset = PCDheader.offset;
+    const fields = [];
+    if (offset.x !== undefined) {
+        fields.push(new schema_1.Field('POSITION', new schema_1.FixedSizeList(3, new schema_1.Field('xyz', new schema_1.Float32())), false));
+    }
+    if (offset.normal_x !== undefined) {
+        fields.push(new schema_1.Field('NORMAL', new schema_1.FixedSizeList(3, new schema_1.Field('xyz', new schema_1.Float32())), false));
+    }
+    if (offset.rgb !== undefined) {
+        fields.push(new schema_1.Field('COLOR_0', new schema_1.FixedSizeList(3, new schema_1.Field('rgb', new schema_1.Uint8())), false));
+    }
+    return new schema_1.Schema(fields, metadata);
+}
+exports.getPCDSchema = getPCDSchema;

package/dist/lib/parse-pcd.d.ts

@@ -0,0 +1,17 @@
+import type { PCDHeader } from './pcd-types';
+/**
+ *
+ * @param data
+ * @returns
+ */
+export default function parsePCD(data: ArrayBufferLike): {
+    loaderData: {
+        header: PCDHeader;
+    };
+    header: Partial<PCDHeader>;
+    schema: import("@loaders.gl/schema").Schema;
+    mode: number;
+    indices: null;
+    attributes: any;
+};
+//# sourceMappingURL=parse-pcd.d.ts.map

package/dist/lib/parse-pcd.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/parse-pcd.js

@@ -0,0 +1,245 @@
+"use strict";
+// PCD Loader, adapted from THREE.js (MIT license)
+// Description: A loader for PCD ascii and binary files.
+// Limitations: Compressed binary files are not supported.
+//
+// Attributions per original THREE.js source file:
+// @author Filipe Caixeta / http://filipecaixeta.com.br
+// @author Mugen87 / https://github.com/Mugen87
+Object.defineProperty(exports, "__esModule", { value: true });
+const schema_1 = require("@loaders.gl/schema");
+const get_pcd_schema_1 = require("./get-pcd-schema");
+const LITTLE_ENDIAN = true;
+/**
+ *
+ * @param data
+ * @returns
+ */
+function parsePCD(data) {
+    // parse header (always ascii format)
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    let attributes = {};
+    // parse data
+    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 = (0, get_pcd_schema_1.getPCDSchema)(pcdHeader, metadata);
+    return {
+        loaderData: {
+            header: pcdHeader
+        },
+        header,
+        schema,
+        mode: 0,
+        indices: null,
+        attributes
+    };
+}
+exports.default = parsePCD;
+// Create a header that contains common data for PointCloud category loaders
+function getMeshHeader(pcdHeader, attributes) {
+    if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+        const pointCount = pcdHeader.width * pcdHeader.height; // Supports "organized" point sets
+        return {
+            vertexCount: pointCount,
+            boundingBox: (0, schema_1.getMeshBoundingBox)(attributes)
+        };
+    }
+    return pcdHeader;
+}
+/**
+ * @param attributes
+ * @returns Normalized attributes
+ */
+function getMeshAttributes(attributes) {
+    const normalizedAttributes = {
+        POSITION: {
+            // Binary PCD is only 32 bit
+            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) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = {
+            value: new Uint8Array(attributes.color),
+            size: 3
+        };
+    }
+    return normalizedAttributes;
+}
+/**
+ * Incoming data parsing
+ * @param data
+ * @returns Header
+ */
+/* eslint-disable complexity, max-statements */
+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);
+    // remove comments
+    pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
+    // parse
+    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);
+    // evaluate
+    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];
+            }
+        }
+    }
+    // for binary only
+    pcdHeader.rowSize = sizeSum;
+    return pcdHeader;
+}
+/**
+ * @param pcdHeader
+ * @param textData
+ * @returns [attributes]
+ */
+/* eslint-enable complexity, max-statements */
+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 !== undefined) {
+                position.push(parseFloat(line[offset.x]));
+                position.push(parseFloat(line[offset.y]));
+                position.push(parseFloat(line[offset.z]));
+            }
+            if (offset.rgb !== undefined) {
+                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));
+                // TODO - handle alpha channel / RGBA?
+            }
+            if (offset.normal_x !== undefined) {
+                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 };
+}
+/**
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+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 !== undefined) {
+            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 !== undefined) {
+            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 !== undefined) {
+            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 };
+}

package/dist/lib/pcd-types.d.ts

@@ -0,0 +1,31 @@
+import type { Mesh } from '@loaders.gl/schema';
+declare type BoundingBox = [[number, number, number], [number, number, number]];
+export declare type PCDHeader = {
+    data: any;
+    headerLen: number;
+    str: string;
+    version: RegExpExecArray | null | number;
+    fields: RegExpExecArray | null | string[];
+    size: RegExpExecArray | null | number[];
+    type: RegExpExecArray | null | string[];
+    count: RegExpExecArray | null | number[];
+    width: RegExpExecArray | number;
+    height: RegExpExecArray | number;
+    viewpoint: RegExpExecArray | null | string;
+    points: RegExpExecArray | number;
+    offset: {
+        [index: string]: number;
+    };
+    rowSize: number;
+    vertexCount: number;
+    boundingBox: BoundingBox;
+};
+/**  */
+export declare type PCDMesh = Mesh & {
+    loader: 'pcd';
+    loaderData: PCDHeader;
+    topology: 'point-list';
+    mode: 0;
+};
+export {};
+//# sourceMappingURL=pcd-types.d.ts.map

package/dist/lib/pcd-types.d.ts.map

@@ -0,0 +1 @@
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package/dist/lib/pcd-types.js

@@ -0,0 +1,2 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });

package/dist/pcd-loader.d.ts

@@ -0,0 +1,18 @@
+import type { Loader } from '@loaders.gl/loader-utils';
+/**
+ * Worker loader for PCD - Point Cloud Data
+ */
+export declare const PCDLoader: {
+    name: string;
+    id: string;
+    module: string;
+    version: any;
+    worker: boolean;
+    extensions: string[];
+    mimeTypes: string[];
+    options: {
+        pcd: {};
+    };
+};
+export declare const _typecheckPCDLoader: Loader;
+//# sourceMappingURL=pcd-loader.d.ts.map

package/dist/pcd-loader.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-loader.d.ts","sourceRoot":"","sources":["../src/pcd-loader.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,MAAM,EAAC,MAAM,0BAA0B,CAAC;AAMrD;;GAEG;AACH,eAAO,MAAM,SAAS;;;;;;;;;;;CAWrB,CAAC;AAEF,eAAO,MAAM,mBAAmB,EAAE,MAAkB,CAAC"}

package/dist/pcd-loader.js

@@ -0,0 +1,22 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports._typecheckPCDLoader = exports.PCDLoader = void 0;
+// __VERSION__ is injected by babel-plugin-version-inline
+// @ts-ignore TS2304: Cannot find name '__VERSION__'.
+const VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';
+/**
+ * Worker loader for PCD - Point Cloud Data
+ */
+exports.PCDLoader = {
+    name: 'PCD (Point Cloud Data)',
+    id: 'pcd',
+    module: 'pcd',
+    version: VERSION,
+    worker: true,
+    extensions: ['pcd'],
+    mimeTypes: ['text/plain'],
+    options: {
+        pcd: {}
+    }
+};
+exports._typecheckPCDLoader = exports.PCDLoader;