@loaders.gl/pcd 3.1.0 → 3.1.1

package/dist/bundle.js

@@ -502,6 +502,55 @@
     }
   });
 
+  // src/lib/decompress-lzf.ts
+  function decompressLZF(inData, outLength) {
+    const inLength = inData.length;
+    const outData = new Uint8Array(outLength);
+    let inPtr = 0;
+    let outPtr = 0;
+    let ctrl;
+    let len;
+    let ref;
+    do {
+      ctrl = inData[inPtr++];
+      if (ctrl < 1 << 5) {
+        ctrl++;
+        if (outPtr + ctrl > outLength)
+          throw new Error("Output buffer is not large enough");
+        if (inPtr + ctrl > inLength)
+          throw new Error("Invalid compressed data");
+        do {
+          outData[outPtr++] = inData[inPtr++];
+        } while (--ctrl);
+      } else {
+        len = ctrl >> 5;
+        ref = outPtr - ((ctrl & 31) << 8) - 1;
+        if (inPtr >= inLength)
+          throw new Error("Invalid compressed data");
+        if (len === 7) {
+          len += inData[inPtr++];
+          if (inPtr >= inLength)
+            throw new Error("Invalid compressed data");
+        }
+        ref -= inData[inPtr++];
+        if (outPtr + len + 2 > outLength)
+          throw new Error("Output buffer is not large enough");
+        if (ref < 0)
+          throw new Error("Invalid compressed data");
+        if (ref >= outPtr)
+          throw new Error("Invalid compressed data");
+        do {
+          outData[outPtr++] = outData[ref++];
+        } while (--len + 2);
+      }
+    } while (inPtr < inLength);
+    return outData;
+  }
+  var init_decompress_lzf = __esm({
+    "src/lib/decompress-lzf.ts"() {
+    }
+  });
+
   // src/lib/get-pcd-schema.ts
   function getPCDSchema(PCDheader, metadata) {
     const offset = PCDheader.offset;
@@ -536,6 +585,8 @@
         attributes = parsePCDBinary(pcdHeader, data);
         break;
       case "binary_compressed":
+        attributes = parsePCDBinaryCompressed(pcdHeader, data);
+        break;
       default:
         throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
     }
@@ -716,10 +767,44 @@
     }
     return { position, normal, color };
   }
+  function parsePCDBinaryCompressed(PCDheader, data) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+    const compressedSize = sizes[0];
+    const decompressedSize = sizes[1];
+    const decompressed = decompressLZF(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+    const dataview = new DataView(decompressed.buffer);
+    const offset = PCDheader.offset;
+    for (let i = 0; i < PCDheader.points; i++) {
+      if (offset.x !== void 0) {
+        position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, LITTLE_ENDIAN));
+      }
+      if (offset.rgb !== void 0) {
+        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255);
+        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255);
+        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255);
+      }
+      if (offset.normal_x !== void 0) {
+        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, LITTLE_ENDIAN));
+        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, LITTLE_ENDIAN));
+        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, LITTLE_ENDIAN));
+      }
+    }
+    return {
+      position,
+      normal,
+      color
+    };
+  }
   var LITTLE_ENDIAN;
   var init_parse_pcd = __esm({
     "src/lib/parse-pcd.ts"() {
       init_src();
+      init_decompress_lzf();
       init_get_pcd_schema();
       LITTLE_ENDIAN = true;
     }
@@ -776,3 +861,10 @@
   });
   require_bundle();
 })();
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */

package/dist/es5/lib/decompress-lzf.js

@@ -0,0 +1,51 @@
+"use strict";
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.decompressLZF = decompressLZF;
+
+function decompressLZF(inData, outLength) {
+  var inLength = inData.length;
+  var outData = new Uint8Array(outLength);
+  var inPtr = 0;
+  var outPtr = 0;
+  var ctrl;
+  var len;
+  var ref;
+
+  do {
+    ctrl = inData[inPtr++];
+
+    if (ctrl < 1 << 5) {
+      ctrl++;
+      if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough');
+      if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data');
+
+      do {
+        outData[outPtr++] = inData[inPtr++];
+      } while (--ctrl);
+    } else {
+      len = ctrl >> 5;
+      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
+      if (inPtr >= inLength) throw new Error('Invalid compressed data');
+
+      if (len === 7) {
+        len += inData[inPtr++];
+        if (inPtr >= inLength) throw new Error('Invalid compressed data');
+      }
+
+      ref -= inData[inPtr++];
+      if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough');
+      if (ref < 0) throw new Error('Invalid compressed data');
+      if (ref >= outPtr) throw new Error('Invalid compressed data');
+
+      do {
+        outData[outPtr++] = outData[ref++];
+      } while (--len + 2);
+    }
+  } while (inPtr < inLength);
+
+  return outData;
+}
+//# sourceMappingURL=decompress-lzf.js.map

package/dist/es5/lib/decompress-lzf.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../../../src/lib/decompress-lzf.ts"],"names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"mappings":";;;;;;;AAOO,SAASA,aAAT,CAAuBC,MAAvB,EAA2CC,SAA3C,EAA0E;AAC/E,MAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAxB;AACA,MAAMC,OAAO,GAAG,IAAIC,UAAJ,CAAeJ,SAAf,CAAhB;AACA,MAAIK,KAAK,GAAG,CAAZ;AACA,MAAIC,MAAM,GAAG,CAAb;AACA,MAAIC,IAAJ;AACA,MAAIC,GAAJ;AACA,MAAIC,GAAJ;;AAEA,KAAG;AACDF,IAAAA,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAN,CAAb;;AAEA,QAAIE,IAAI,GAAG,KAAK,CAAhB,EAAmB;AACjBA,MAAAA,IAAI;AACJ,UAAID,MAAM,GAAGC,IAAT,GAAgBP,SAApB,EAA+B,MAAM,IAAIU,KAAJ,CAAU,mCAAV,CAAN;AAC/B,UAAIL,KAAK,GAAGE,IAAR,GAAeN,QAAnB,EAA6B,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;;AAE7B,SAAG;AACDP,QAAAA,OAAO,CAACG,MAAM,EAAP,CAAP,GAAoBP,MAAM,CAACM,KAAK,EAAN,CAA1B;AACD,OAFD,QAES,EAAEE,IAFX;AAGD,KARD,MAQO;AACLC,MAAAA,GAAG,GAAGD,IAAI,IAAI,CAAd;AACAE,MAAAA,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAR,KAAiB,CAArB,CAAN,GAAgC,CAAtC;AACA,UAAIF,KAAK,IAAIJ,QAAb,EAAuB,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;;AAEvB,UAAIF,GAAG,KAAK,CAAZ,EAAe;AACbA,QAAAA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAN,CAAb;AACA,YAAIA,KAAK,IAAIJ,QAAb,EAAuB,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;AACxB;;AAEDD,MAAAA,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAN,CAAb;AACA,UAAIC,MAAM,GAAGE,GAAT,GAAe,CAAf,GAAmBR,SAAvB,EAAkC,MAAM,IAAIU,KAAJ,CAAU,mCAAV,CAAN;AAClC,UAAID,GAAG,GAAG,CAAV,EAAa,MAAM,IAAIC,KAAJ,CAAU,yBAAV,CAAN;AACb,UAAID,GAAG,IAAIH,MAAX,EAAmB,MAAM,IAAII,KAAJ,CAAU,yBAAV,CAAN;;AAEnB,SAAG;AACDP,QAAAA,OAAO,CAACG,MAAM,EAAP,CAAP,GAAoBH,OAAO,CAACM,GAAG,EAAJ,CAA3B;AACD,OAFD,QAES,EAAED,GAAF,GAAQ,CAFjB;AAGD;AACF,GA9BD,QA8BSH,KAAK,GAAGJ,QA9BjB;;AAgCA,SAAOE,OAAP;AACD","sourcesContent":["/* eslint-disable */\n/**\n * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n * @param inData\n * @param outLength\n * @returns\n */\nexport function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array {\n  const inLength = inData.length;\n  const outData = new Uint8Array(outLength);\n  let inPtr = 0;\n  let outPtr = 0;\n  let ctrl;\n  let len;\n  let ref;\n\n  do {\n    ctrl = inData[inPtr++];\n\n    if (ctrl < 1 << 5) {\n      ctrl++;\n      if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough');\n      if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data');\n\n      do {\n        outData[outPtr++] = inData[inPtr++];\n      } while (--ctrl);\n    } else {\n      len = ctrl >> 5;\n      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;\n      if (inPtr >= inLength) throw new Error('Invalid compressed data');\n\n      if (len === 7) {\n        len += inData[inPtr++];\n        if (inPtr >= inLength) throw new Error('Invalid compressed data');\n      }\n\n      ref -= inData[inPtr++];\n      if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough');\n      if (ref < 0) throw new Error('Invalid compressed data');\n      if (ref >= outPtr) throw new Error('Invalid compressed data');\n\n      do {\n        outData[outPtr++] = outData[ref++];\n      } while (--len + 2);\n    }\n  } while (inPtr < inLength);\n\n  return outData;\n}\n"],"file":"decompress-lzf.js"}

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

@@ -7,6 +7,8 @@ exports.default = parsePCD;
 
 var _schema = require("@loaders.gl/schema");
 
+var _decompressLzf = require("./decompress-lzf");
+
 var _getPcdSchema = require("./get-pcd-schema");
 
 var LITTLE_ENDIAN = true;
@@ -26,6 +28,9 @@ function parsePCD(data) {
       break;
 
     case 'binary_compressed':
+      attributes = parsePCDBinaryCompressed(pcdHeader, data);
+      break;
+
     default:
       throw new Error("PCD: ".concat(pcdHeader.data, " files are not supported"));
   }
@@ -250,4 +255,50 @@ function parsePCDBinary(pcdHeader, data) {
     color: color
   };
 }
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+
+
+function parsePCDBinaryCompressed(PCDheader, data) {
+  var position = [];
+  var normal = [];
+  var color = [];
+  var sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+  var compressedSize = sizes[0];
+  var decompressedSize = sizes[1];
+  var decompressed = (0, _decompressLzf.decompressLZF)(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+  var dataview = new DataView(decompressed.buffer);
+  var offset = PCDheader.offset;
+
+  for (var i = 0; i < PCDheader.points; i++) {
+    if (offset.x !== undefined) {
+      position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, LITTLE_ENDIAN));
+      position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, LITTLE_ENDIAN));
+      position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, LITTLE_ENDIAN));
+    }
+
+    if (offset.rgb !== undefined) {
+      color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255.0);
+      color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255.0);
+      color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255.0);
+    }
+
+    if (offset.normal_x !== undefined) {
+      normal.push(dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, LITTLE_ENDIAN));
+      normal.push(dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, LITTLE_ENDIAN));
+      normal.push(dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, LITTLE_ENDIAN));
+    }
+  }
+
+  return {
+    position: position,
+    normal: normal,
+    color: 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 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, 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 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 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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\n/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)\n * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js\n * @license MIT (http://opensource.org/licenses/MIT)\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n\n  const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));\n  const compressedSize = sizes[0];\n  const decompressedSize = sizes[1];\n  const decompressed = decompressLZF(\n    new Uint8Array(data, PCDheader.headerLen + 8, compressedSize),\n    decompressedSize\n  );\n  const dataview = new DataView(decompressed.buffer);\n\n  const offset = PCDheader.offset;\n\n  for (let i = 0; i < PCDheader.points; i++) {\n    if (offset.x !== undefined) {\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.x + (PCDheader.size as number[])[0] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.y + (PCDheader.size as number[])[1] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.z + (PCDheader.size as number[])[2] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.rgb !== undefined) {\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 0\n        ) / 255.0\n      );\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 1\n        ) / 255.0\n      );\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 2\n        ) / 255.0\n      );\n    }\n\n    if (offset.normal_x !== undefined) {\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_x + (PCDheader.size as number[])[4] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_y + (PCDheader.size as number[])[5] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_z + (PCDheader.size as number[])[6] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n  }\n\n  return {\n    position,\n    normal,\n    color\n  };\n}\n"],"file":"parse-pcd.js"}

package/dist/es5/pcd-loader.js

@@ -4,7 +4,7 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-var VERSION = typeof "3.1.0" !== 'undefined' ? "3.1.0" : 'latest';
+var VERSION = typeof "3.1.1" !== 'undefined' ? "3.1.1" : 'latest';
 var PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

package/dist/esm/lib/decompress-lzf.js

@@ -0,0 +1,44 @@
+export function decompressLZF(inData, outLength) {
+  const inLength = inData.length;
+  const outData = new Uint8Array(outLength);
+  let inPtr = 0;
+  let outPtr = 0;
+  let ctrl;
+  let len;
+  let ref;
+
+  do {
+    ctrl = inData[inPtr++];
+
+    if (ctrl < 1 << 5) {
+      ctrl++;
+      if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough');
+      if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data');
+
+      do {
+        outData[outPtr++] = inData[inPtr++];
+      } while (--ctrl);
+    } else {
+      len = ctrl >> 5;
+      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
+      if (inPtr >= inLength) throw new Error('Invalid compressed data');
+
+      if (len === 7) {
+        len += inData[inPtr++];
+        if (inPtr >= inLength) throw new Error('Invalid compressed data');
+      }
+
+      ref -= inData[inPtr++];
+      if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough');
+      if (ref < 0) throw new Error('Invalid compressed data');
+      if (ref >= outPtr) throw new Error('Invalid compressed data');
+
+      do {
+        outData[outPtr++] = outData[ref++];
+      } while (--len + 2);
+    }
+  } while (inPtr < inLength);
+
+  return outData;
+}
+//# sourceMappingURL=decompress-lzf.js.map

package/dist/esm/lib/decompress-lzf.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../../../src/lib/decompress-lzf.ts"],"names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"mappings":"AAOA,OAAO,SAASA,aAAT,CAAuBC,MAAvB,EAA2CC,SAA3C,EAA0E;AAC/E,QAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAxB;AACA,QAAMC,OAAO,GAAG,IAAIC,UAAJ,CAAeJ,SAAf,CAAhB;AACA,MAAIK,KAAK,GAAG,CAAZ;AACA,MAAIC,MAAM,GAAG,CAAb;AACA,MAAIC,IAAJ;AACA,MAAIC,GAAJ;AACA,MAAIC,GAAJ;;AAEA,KAAG;AACDF,IAAAA,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAN,CAAb;;AAEA,QAAIE,IAAI,GAAG,KAAK,CAAhB,EAAmB;AACjBA,MAAAA,IAAI;AACJ,UAAID,MAAM,GAAGC,IAAT,GAAgBP,SAApB,EAA+B,MAAM,IAAIU,KAAJ,CAAU,mCAAV,CAAN;AAC/B,UAAIL,KAAK,GAAGE,IAAR,GAAeN,QAAnB,EAA6B,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;;AAE7B,SAAG;AACDP,QAAAA,OAAO,CAACG,MAAM,EAAP,CAAP,GAAoBP,MAAM,CAACM,KAAK,EAAN,CAA1B;AACD,OAFD,QAES,EAAEE,IAFX;AAGD,KARD,MAQO;AACLC,MAAAA,GAAG,GAAGD,IAAI,IAAI,CAAd;AACAE,MAAAA,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAR,KAAiB,CAArB,CAAN,GAAgC,CAAtC;AACA,UAAIF,KAAK,IAAIJ,QAAb,EAAuB,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;;AAEvB,UAAIF,GAAG,KAAK,CAAZ,EAAe;AACbA,QAAAA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAN,CAAb;AACA,YAAIA,KAAK,IAAIJ,QAAb,EAAuB,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;AACxB;;AAEDD,MAAAA,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAN,CAAb;AACA,UAAIC,MAAM,GAAGE,GAAT,GAAe,CAAf,GAAmBR,SAAvB,EAAkC,MAAM,IAAIU,KAAJ,CAAU,mCAAV,CAAN;AAClC,UAAID,GAAG,GAAG,CAAV,EAAa,MAAM,IAAIC,KAAJ,CAAU,yBAAV,CAAN;AACb,UAAID,GAAG,IAAIH,MAAX,EAAmB,MAAM,IAAII,KAAJ,CAAU,yBAAV,CAAN;;AAEnB,SAAG;AACDP,QAAAA,OAAO,CAACG,MAAM,EAAP,CAAP,GAAoBH,OAAO,CAACM,GAAG,EAAJ,CAA3B;AACD,OAFD,QAES,EAAED,GAAF,GAAQ,CAFjB;AAGD;AACF,GA9BD,QA8BSH,KAAK,GAAGJ,QA9BjB;;AAgCA,SAAOE,OAAP;AACD","sourcesContent":["/* eslint-disable */\n/**\n * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n * @param inData\n * @param outLength\n * @returns\n */\nexport function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array {\n  const inLength = inData.length;\n  const outData = new Uint8Array(outLength);\n  let inPtr = 0;\n  let outPtr = 0;\n  let ctrl;\n  let len;\n  let ref;\n\n  do {\n    ctrl = inData[inPtr++];\n\n    if (ctrl < 1 << 5) {\n      ctrl++;\n      if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough');\n      if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data');\n\n      do {\n        outData[outPtr++] = inData[inPtr++];\n      } while (--ctrl);\n    } else {\n      len = ctrl >> 5;\n      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;\n      if (inPtr >= inLength) throw new Error('Invalid compressed data');\n\n      if (len === 7) {\n        len += inData[inPtr++];\n        if (inPtr >= inLength) throw new Error('Invalid compressed data');\n      }\n\n      ref -= inData[inPtr++];\n      if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough');\n      if (ref < 0) throw new Error('Invalid compressed data');\n      if (ref >= outPtr) throw new Error('Invalid compressed data');\n\n      do {\n        outData[outPtr++] = outData[ref++];\n      } while (--len + 2);\n    }\n  } while (inPtr < inLength);\n\n  return outData;\n}\n"],"file":"decompress-lzf.js"}

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

@@ -1,4 +1,5 @@
 import { getMeshBoundingBox } from '@loaders.gl/schema';
+import { decompressLZF } from './decompress-lzf';
 import { getPCDSchema } from './get-pcd-schema';
 const LITTLE_ENDIAN = true;
 export default function parsePCD(data) {
@@ -16,6 +17,9 @@ export default function parsePCD(data) {
       break;
 
     case 'binary_compressed':
+      attributes = parsePCDBinaryCompressed(pcdHeader, data);
+      break;
+
     default:
       throw new Error("PCD: ".concat(pcdHeader.data, " files are not supported"));
   }
@@ -236,4 +240,50 @@ function parsePCDBinary(pcdHeader, data) {
     color
   };
 }
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+
+
+function parsePCDBinaryCompressed(PCDheader, data) {
+  const position = [];
+  const normal = [];
+  const color = [];
+  const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+  const compressedSize = sizes[0];
+  const decompressedSize = sizes[1];
+  const decompressed = decompressLZF(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+  const dataview = new DataView(decompressed.buffer);
+  const offset = PCDheader.offset;
+
+  for (let i = 0; i < PCDheader.points; i++) {
+    if (offset.x !== undefined) {
+      position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, LITTLE_ENDIAN));
+      position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, LITTLE_ENDIAN));
+      position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, LITTLE_ENDIAN));
+    }
+
+    if (offset.rgb !== undefined) {
+      color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255.0);
+      color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255.0);
+      color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255.0);
+    }
+
+    if (offset.normal_x !== undefined) {
+      normal.push(dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, LITTLE_ENDIAN));
+      normal.push(dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, LITTLE_ENDIAN));
+      normal.push(dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, LITTLE_ENDIAN));
+    }
+  }
+
+  return {
+    position,
+    normal,
+    color
+  };
+}
 //# sourceMappingURL=parse-pcd.js.map

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  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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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 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 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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\n/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)\n * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js\n * @license MIT (http://opensource.org/licenses/MIT)\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n\n  const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));\n  const compressedSize = sizes[0];\n  const decompressedSize = sizes[1];\n  const decompressed = decompressLZF(\n    new Uint8Array(data, PCDheader.headerLen + 8, compressedSize),\n    decompressedSize\n  );\n  const dataview = new DataView(decompressed.buffer);\n\n  const offset = PCDheader.offset;\n\n  for (let i = 0; i < PCDheader.points; i++) {\n    if (offset.x !== undefined) {\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.x + (PCDheader.size as number[])[0] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.y + (PCDheader.size as number[])[1] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.z + (PCDheader.size as number[])[2] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.rgb !== undefined) {\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 0\n        ) / 255.0\n      );\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 1\n        ) / 255.0\n      );\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 2\n        ) / 255.0\n      );\n    }\n\n    if (offset.normal_x !== undefined) {\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_x + (PCDheader.size as number[])[4] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_y + (PCDheader.size as number[])[5] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_z + (PCDheader.size as number[])[6] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n  }\n\n  return {\n    position,\n    normal,\n    color\n  };\n}\n"],"file":"parse-pcd.js"}

package/dist/esm/pcd-loader.js

@@ -1,4 +1,4 @@
-const VERSION = typeof "3.1.0" !== 'undefined' ? "3.1.0" : 'latest';
+const VERSION = typeof "3.1.1" !== 'undefined' ? "3.1.1" : 'latest';
 export const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

package/dist/lib/decompress-lzf.d.ts

@@ -0,0 +1,8 @@
+/**
+ * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
+ * @param inData
+ * @param outLength
+ * @returns
+ */
+export declare function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array;
+//# sourceMappingURL=decompress-lzf.d.ts.map

package/dist/lib/decompress-lzf.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"decompress-lzf.d.ts","sourceRoot":"","sources":["../../src/lib/decompress-lzf.ts"],"names":[],"mappings":"AACA;;;;;GAKG;AACH,wBAAgB,aAAa,CAAC,MAAM,EAAE,UAAU,EAAE,SAAS,EAAE,MAAM,GAAG,UAAU,CA0C/E"}

package/dist/lib/decompress-lzf.js

@@ -0,0 +1,55 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.decompressLZF = void 0;
+/* eslint-disable */
+/**
+ * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
+ * @param inData
+ * @param outLength
+ * @returns
+ */
+function decompressLZF(inData, outLength) {
+    const inLength = inData.length;
+    const outData = new Uint8Array(outLength);
+    let inPtr = 0;
+    let outPtr = 0;
+    let ctrl;
+    let len;
+    let ref;
+    do {
+        ctrl = inData[inPtr++];
+        if (ctrl < 1 << 5) {
+            ctrl++;
+            if (outPtr + ctrl > outLength)
+                throw new Error('Output buffer is not large enough');
+            if (inPtr + ctrl > inLength)
+                throw new Error('Invalid compressed data');
+            do {
+                outData[outPtr++] = inData[inPtr++];
+            } while (--ctrl);
+        }
+        else {
+            len = ctrl >> 5;
+            ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
+            if (inPtr >= inLength)
+                throw new Error('Invalid compressed data');
+            if (len === 7) {
+                len += inData[inPtr++];
+                if (inPtr >= inLength)
+                    throw new Error('Invalid compressed data');
+            }
+            ref -= inData[inPtr++];
+            if (outPtr + len + 2 > outLength)
+                throw new Error('Output buffer is not large enough');
+            if (ref < 0)
+                throw new Error('Invalid compressed data');
+            if (ref >= outPtr)
+                throw new Error('Invalid compressed data');
+            do {
+                outData[outPtr++] = outData[ref++];
+            } while (--len + 2);
+        }
+    } while (inPtr < inLength);
+    return outData;
+}
+exports.decompressLZF = decompressLZF;

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

@@ -1 +1 @@
-{"version":3,"file":"parse-pcd.d.ts","sourceRoot":"","sources":["../../src/lib/parse-pcd.ts"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAAC,SAAS,EAAC,MAAM,aAAa,CAAC;AAwB3C;;;;GAIG;AACH,MAAM,CAAC,OAAO,UAAU,QAAQ,CAAC,IAAI,EAAE,eAAe;;;;;;;;;EA2CrD"}
+{"version":3,"file":"parse-pcd.d.ts","sourceRoot":"","sources":["../../src/lib/parse-pcd.ts"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAC,SAAS,EAAC,MAAM,aAAa,CAAC;AAuB3C;;;;GAIG;AACH,MAAM,CAAC,OAAO,UAAU,QAAQ,CAAC,IAAI,EAAE,eAAe;;;;;;;;;EA8CrD"}

package/dist/lib/parse-pcd.js

@@ -8,6 +8,7 @@
 // @author Mugen87 / https://github.com/Mugen87
 Object.defineProperty(exports, "__esModule", { value: true });
 const schema_1 = require("@loaders.gl/schema");
+const decompress_lzf_1 = require("./decompress-lzf");
 const get_pcd_schema_1 = require("./get-pcd-schema");
 const LITTLE_ENDIAN = true;
 /**
@@ -29,6 +30,8 @@ function parsePCD(data) {
             attributes = parsePCDBinary(pcdHeader, data);
             break;
         case 'binary_compressed':
+            attributes = parsePCDBinaryCompressed(pcdHeader, data);
+            break;
         default:
             throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
     }
@@ -243,3 +246,43 @@ function parsePCDBinary(pcdHeader, data) {
     }
     return { position, normal, color };
 }
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+function parsePCDBinaryCompressed(PCDheader, data) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+    const compressedSize = sizes[0];
+    const decompressedSize = sizes[1];
+    const decompressed = (0, decompress_lzf_1.decompressLZF)(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+    const dataview = new DataView(decompressed.buffer);
+    const offset = PCDheader.offset;
+    for (let i = 0; i < PCDheader.points; i++) {
+        if (offset.x !== undefined) {
+            position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, LITTLE_ENDIAN));
+            position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, LITTLE_ENDIAN));
+            position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, LITTLE_ENDIAN));
+        }
+        if (offset.rgb !== undefined) {
+            color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255.0);
+            color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255.0);
+            color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255.0);
+        }
+        if (offset.normal_x !== undefined) {
+            normal.push(dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, LITTLE_ENDIAN));
+            normal.push(dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, LITTLE_ENDIAN));
+            normal.push(dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, LITTLE_ENDIAN));
+        }
+    }
+    return {
+        position,
+        normal,
+        color
+    };
+}

package/dist/pcd-worker.js

@@ -594,6 +594,51 @@
     }
   };
 
+  // src/lib/decompress-lzf.ts
+  function decompressLZF(inData, outLength) {
+    const inLength = inData.length;
+    const outData = new Uint8Array(outLength);
+    let inPtr = 0;
+    let outPtr = 0;
+    let ctrl;
+    let len;
+    let ref;
+    do {
+      ctrl = inData[inPtr++];
+      if (ctrl < 1 << 5) {
+        ctrl++;
+        if (outPtr + ctrl > outLength)
+          throw new Error("Output buffer is not large enough");
+        if (inPtr + ctrl > inLength)
+          throw new Error("Invalid compressed data");
+        do {
+          outData[outPtr++] = inData[inPtr++];
+        } while (--ctrl);
+      } else {
+        len = ctrl >> 5;
+        ref = outPtr - ((ctrl & 31) << 8) - 1;
+        if (inPtr >= inLength)
+          throw new Error("Invalid compressed data");
+        if (len === 7) {
+          len += inData[inPtr++];
+          if (inPtr >= inLength)
+            throw new Error("Invalid compressed data");
+        }
+        ref -= inData[inPtr++];
+        if (outPtr + len + 2 > outLength)
+          throw new Error("Output buffer is not large enough");
+        if (ref < 0)
+          throw new Error("Invalid compressed data");
+        if (ref >= outPtr)
+          throw new Error("Invalid compressed data");
+        do {
+          outData[outPtr++] = outData[ref++];
+        } while (--len + 2);
+      }
+    } while (inPtr < inLength);
+    return outData;
+  }
+
   // src/lib/get-pcd-schema.ts
   function getPCDSchema(PCDheader, metadata) {
     const offset = PCDheader.offset;
@@ -624,6 +669,8 @@
         attributes = parsePCDBinary(pcdHeader, data);
         break;
       case "binary_compressed":
+        attributes = parsePCDBinaryCompressed(pcdHeader, data);
+        break;
       default:
         throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
     }
@@ -804,6 +851,39 @@
     }
     return { position, normal, color };
   }
+  function parsePCDBinaryCompressed(PCDheader, data) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+    const compressedSize = sizes[0];
+    const decompressedSize = sizes[1];
+    const decompressed = decompressLZF(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+    const dataview = new DataView(decompressed.buffer);
+    const offset = PCDheader.offset;
+    for (let i = 0; i < PCDheader.points; i++) {
+      if (offset.x !== void 0) {
+        position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, LITTLE_ENDIAN));
+      }
+      if (offset.rgb !== void 0) {
+        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255);
+        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255);
+        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255);
+      }
+      if (offset.normal_x !== void 0) {
+        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, LITTLE_ENDIAN));
+        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, LITTLE_ENDIAN));
+        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, LITTLE_ENDIAN));
+      }
+    }
+    return {
+      position,
+      normal,
+      color
+    };
+  }
 
   // src/pcd-loader.ts
   var VERSION = typeof __VERSION__ !== "undefined" ? __VERSION__ : "latest";
@@ -830,3 +910,10 @@
   // src/workers/pcd-worker.ts
   createLoaderWorker(PCDLoader2);
 })();
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "3.1.0",
+  "version": "3.1.1",
   "description": "Framework-independent loader for the PCD format",
   "license": "MIT",
   "publishConfig": {
@@ -33,8 +33,8 @@
     "build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js"
   },
   "dependencies": {
-    "@loaders.gl/loader-utils": "3.1.0",
-    "@loaders.gl/schema": "3.1.0"
+    "@loaders.gl/loader-utils": "3.1.1",
+    "@loaders.gl/schema": "3.1.1"
   },
-  "gitHead": "b02a011b5a6d6aa6c5870819045c70db168cb930"
+  "gitHead": "ed3c238bcb68ab5a2d4ddc64319f6f4c02a20df7"
 }

package/src/lib/decompress-lzf.ts

@@ -0,0 +1,50 @@
+/* eslint-disable */
+/**
+ * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
+ * @param inData
+ * @param outLength
+ * @returns
+ */
+export function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array {
+  const inLength = inData.length;
+  const outData = new Uint8Array(outLength);
+  let inPtr = 0;
+  let outPtr = 0;
+  let ctrl;
+  let len;
+  let ref;
+
+  do {
+    ctrl = inData[inPtr++];
+
+    if (ctrl < 1 << 5) {
+      ctrl++;
+      if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough');
+      if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data');
+
+      do {
+        outData[outPtr++] = inData[inPtr++];
+      } while (--ctrl);
+    } else {
+      len = ctrl >> 5;
+      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
+      if (inPtr >= inLength) throw new Error('Invalid compressed data');
+
+      if (len === 7) {
+        len += inData[inPtr++];
+        if (inPtr >= inLength) throw new Error('Invalid compressed data');
+      }
+
+      ref -= inData[inPtr++];
+      if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough');
+      if (ref < 0) throw new Error('Invalid compressed data');
+      if (ref >= outPtr) throw new Error('Invalid compressed data');
+
+      do {
+        outData[outPtr++] = outData[ref++];
+      } while (--len + 2);
+    }
+  } while (inPtr < inLength);
+
+  return outData;
+}

package/src/lib/parse-pcd.ts

@@ -6,10 +6,11 @@
 // @author Filipe Caixeta / http://filipecaixeta.com.br
 // @author Mugen87 / https://github.com/Mugen87
 
-import {getMeshBoundingBox} from '@loaders.gl/schema';
 import type {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';
-import type {PCDHeader} from './pcd-types';
+import {getMeshBoundingBox} from '@loaders.gl/schema';
+import {decompressLZF} from './decompress-lzf';
 import {getPCDSchema} from './get-pcd-schema';
+import type {PCDHeader} from './pcd-types';
 
 type NormalizedAttributes = {
   POSITION: {
@@ -55,6 +56,9 @@ export default function parsePCD(data: ArrayBufferLike) {
       break;
 
     case 'binary_compressed':
+      attributes = parsePCDBinaryCompressed(pcdHeader, data);
+      break;
+
     default:
       throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
   }
@@ -312,3 +316,95 @@ function parsePCDBinary(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttr
 
   return {position, normal, color};
 }
+
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+function parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {
+  const position: number[] = [];
+  const normal: number[] = [];
+  const color: number[] = [];
+
+  const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+  const compressedSize = sizes[0];
+  const decompressedSize = sizes[1];
+  const decompressed = decompressLZF(
+    new Uint8Array(data, PCDheader.headerLen + 8, compressedSize),
+    decompressedSize
+  );
+  const dataview = new DataView(decompressed.buffer);
+
+  const offset = PCDheader.offset;
+
+  for (let i = 0; i < PCDheader.points; i++) {
+    if (offset.x !== undefined) {
+      position.push(
+        dataview.getFloat32(
+          (PCDheader.points as number) * offset.x + (PCDheader.size as number[])[0] * i,
+          LITTLE_ENDIAN
+        )
+      );
+      position.push(
+        dataview.getFloat32(
+          (PCDheader.points as number) * offset.y + (PCDheader.size as number[])[1] * i,
+          LITTLE_ENDIAN
+        )
+      );
+      position.push(
+        dataview.getFloat32(
+          (PCDheader.points as number) * offset.z + (PCDheader.size as number[])[2] * i,
+          LITTLE_ENDIAN
+        )
+      );
+    }
+
+    if (offset.rgb !== undefined) {
+      color.push(
+        dataview.getUint8(
+          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 0
+        ) / 255.0
+      );
+      color.push(
+        dataview.getUint8(
+          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 1
+        ) / 255.0
+      );
+      color.push(
+        dataview.getUint8(
+          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 2
+        ) / 255.0
+      );
+    }
+
+    if (offset.normal_x !== undefined) {
+      normal.push(
+        dataview.getFloat32(
+          (PCDheader.points as number) * offset.normal_x + (PCDheader.size as number[])[4] * i,
+          LITTLE_ENDIAN
+        )
+      );
+      normal.push(
+        dataview.getFloat32(
+          (PCDheader.points as number) * offset.normal_y + (PCDheader.size as number[])[5] * i,
+          LITTLE_ENDIAN
+        )
+      );
+      normal.push(
+        dataview.getFloat32(
+          (PCDheader.points as number) * offset.normal_z + (PCDheader.size as number[])[6] * i,
+          LITTLE_ENDIAN
+        )
+      );
+    }
+  }
+
+  return {
+    position,
+    normal,
+    color
+  };
+}