@loaders.gl/pcd 3.1.3 → 4.0.0-alpha.5

package/dist/lib/parse-pcd.js

@@ -1,250 +1,244 @@
-"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 decompress_lzf_1 = require("./decompress-lzf");
-const get_pcd_schema_1 = require("./get-pcd-schema");
+import { getMeshBoundingBox } from '@loaders.gl/schema';
+import { decompressLZF } from './decompress-lzf';
+import { getPCDSchema } from './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':
-            attributes = parsePCDBinaryCompressed(pcdHeader, data);
-            break;
-        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
-    };
+export default function parsePCD(data) {
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = parsePCDHeader(textData);
+  let attributes = {};
+
+  switch (pcdHeader.data) {
+    case 'ascii':
+      attributes = parsePCDASCII(pcdHeader, textData);
+      break;
+
+    case 'binary':
+      attributes = parsePCDBinary(pcdHeader, data);
+      break;
+
+    case 'binary_compressed':
+      attributes = parsePCDBinaryCompressed(pcdHeader, data);
+      break;
+
+    default:
+      throw new Error("PCD: ".concat(pcdHeader.data, " files are not supported"));
+  }
+
+  attributes = getMeshAttributes(attributes);
+  const header = getMeshHeader(pcdHeader, attributes);
+  const metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
+  const schema = getPCDSchema(pcdHeader, metadata);
+  return {
+    loaderData: {
+      header: pcdHeader
+    },
+    header,
+    schema,
+    mode: 0,
+    indices: null,
+    attributes
+  };
 }
-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;
+  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+    const pointCount = pcdHeader.width * pcdHeader.height;
+    return {
+      vertexCount: pointCount,
+      boundingBox: 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
-        };
+  const normalizedAttributes = {
+    POSITION: {
+      value: new Float32Array(attributes.position),
+      size: 3
     }
-    if (attributes.color && attributes.color.length > 0) {
-        // TODO - RGBA
-        normalizedAttributes.COLOR_0 = {
-            value: new Uint8Array(attributes.color),
-            size: 3
-        };
-    }
-    return normalizedAttributes;
+  };
+
+  if (attributes.normal && attributes.normal.length > 0) {
+    normalizedAttributes.NORMAL = {
+      value: new Float32Array(attributes.normal),
+      size: 3
+    };
+  }
+
+  if (attributes.color && attributes.color.length > 0) {
+    normalizedAttributes.COLOR_0 = {
+      value: new Uint8Array(attributes.color),
+      size: 3
+    };
+  }
+
+  return normalizedAttributes;
 }
-/**
- * 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]);
-    }
+  const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
+  const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
+  const pcdHeader = {};
+  pcdHeader.data = result2 && result2[1];
+
+  if (result2 !== null) {
+    pcdHeader.headerLen = (result2 && result2[0].length) + result1;
+  }
+
+  pcdHeader.str = data.substr(0, pcdHeader.headerLen);
+  pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
+  pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
+  pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
+  pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
+  pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);
+  pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);
+  pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);
+  pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
+  pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
+  pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
+
+  if (pcdHeader.version !== null) {
+    pcdHeader.version = parseFloat(pcdHeader.version[1]);
+  }
+
+  if (pcdHeader.fields !== null) {
+    pcdHeader.fields = pcdHeader.fields[1].split(' ');
+  }
+
+  if (pcdHeader.type !== null) {
+    pcdHeader.type = pcdHeader.type[1].split(' ');
+  }
+
+  if (pcdHeader.width !== null) {
+    pcdHeader.width = parseInt(pcdHeader.width[1], 10);
+  }
+
+  if (pcdHeader.height !== null) {
+    pcdHeader.height = parseInt(pcdHeader.height[1], 10);
+  }
+
+  if (pcdHeader.viewpoint !== null) {
+    pcdHeader.viewpoint = pcdHeader.viewpoint[1];
+  }
+
+  if (pcdHeader.points !== null) {
+    pcdHeader.points = parseInt(pcdHeader.points[1], 10);
+  }
+
+  if (pcdHeader.points === null && typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+    pcdHeader.points = pcdHeader.width * pcdHeader.height;
+  }
+
+  if (pcdHeader.size !== null) {
+    pcdHeader.size = pcdHeader.size[1].split(' ').map(x => parseInt(x, 10));
+  }
+
+  if (pcdHeader.count !== null) {
+    pcdHeader.count = pcdHeader.count[1].split(' ').map(x => parseInt(x, 10));
+  } else {
+    pcdHeader.count = [];
+
     if (pcdHeader.fields !== null) {
-        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);
+      for (let i = 0; i < pcdHeader.fields.length; i++) {
+        pcdHeader.count.push(1);
+      }
     }
-    if (pcdHeader.viewpoint !== null) {
-        pcdHeader.viewpoint = pcdHeader.viewpoint[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];
+      }
     }
-    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;
+  }
+
+  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]));
-            }
-        }
+  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));
+      }
+
+      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 };
+  }
+
+  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));
-        }
+  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 };
+  }
+
+  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
@@ -253,36 +247,43 @@ function parsePCDBinary(pcdHeader, data) {
  * @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));
-        }
+  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));
     }
-    return {
-        position,
-        normal,
-        color
-    };
+
+    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/lib/parse-pcd.js.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../../src/lib/parse-pcd.ts"],"names":["getMeshBoundingBox","decompressLZF","getPCDSchema","LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","parsePCDBinaryCompressed","Error","getMeshAttributes","header","getMeshHeader","metadata","Map","JSON","stringify","boundingBox","schema","loaderData","mode","indices","width","height","pointCount","vertexCount","normalizedAttributes","POSITION","value","Float32Array","position","size","normal","length","NORMAL","color","COLOR_0","Uint8Array","result1","search","result2","exec","substr","headerLen","str","replace","version","fields","type","count","viewpoint","points","parseFloat","split","parseInt","map","x","i","push","offset","sizeSum","rowSize","pcdData","lines","line","undefined","y","z","rgb","floatValue","binaryColor","dataview","DataView","buffer","getUint8","normal_x","normal_y","normal_z","row","getFloat32","PCDheader","sizes","Uint32Array","slice","compressedSize","decompressedSize","decompressed"],"mappings":"AASA,SAAQA,kBAAR,QAAiC,oBAAjC;AACA,SAAQC,aAAR,QAA4B,kBAA5B;AACA,SAAQC,YAAR,QAA2B,kBAA3B;AAsBA,MAAMC,aAAsB,GAAG,IAA/B;AAOA,eAAe,SAASC,QAAT,CAAkBC,IAAlB,EAAyC;AAEtD,QAAMC,QAAQ,GAAG,IAAIC,WAAJ,GAAkBC,MAAlB,CAAyBH,IAAzB,CAAjB;AACA,QAAMI,SAAS,GAAGC,cAAc,CAACJ,QAAD,CAAhC;AAEA,MAAIK,UAAe,GAAG,EAAtB;;AAGA,UAAQF,SAAS,CAACJ,IAAlB;AACE,SAAK,OAAL;AACEM,MAAAA,UAAU,GAAGC,aAAa,CAACH,SAAD,EAAYH,QAAZ,CAA1B;AACA;;AAEF,SAAK,QAAL;AACEK,MAAAA,UAAU,GAAGE,cAAc,CAACJ,SAAD,EAAYJ,IAAZ,CAA3B;AACA;;AAEF,SAAK,mBAAL;AACEM,MAAAA,UAAU,GAAGG,wBAAwB,CAACL,SAAD,EAAYJ,IAAZ,CAArC;AACA;;AAEF;AACE,YAAM,IAAIU,KAAJ,gBAAkBN,SAAS,CAACJ,IAA5B,8BAAN;AAdJ;;AAiBAM,EAAAA,UAAU,GAAGK,iBAAiB,CAACL,UAAD,CAA9B;AAEA,QAAMM,MAAM,GAAGC,aAAa,CAACT,SAAD,EAAYE,UAAZ,CAA5B;AAEA,QAAMQ,QAAQ,GAAG,IAAIC,GAAJ,CAAQ,CACvB,CAAC,MAAD,EAAS,GAAT,CADuB,EAEvB,CAAC,aAAD,EAAgBC,IAAI,CAACC,SAAL,CAAeL,MAAM,CAACM,WAAtB,CAAhB,CAFuB,CAAR,CAAjB;AAKA,QAAMC,MAAM,GAAGtB,YAAY,CAACO,SAAD,EAAYU,QAAZ,CAA3B;AAEA,SAAO;AACLM,IAAAA,UAAU,EAAE;AACVR,MAAAA,MAAM,EAAER;AADE,KADP;AAILQ,IAAAA,MAJK;AAKLO,IAAAA,MALK;AAMLE,IAAAA,IAAI,EAAE,CAND;AAOLC,IAAAA,OAAO,EAAE,IAPJ;AAQLhB,IAAAA;AARK,GAAP;AAUD;;AAGD,SAASO,aAAT,CAAuBT,SAAvB,EAA6CE,UAA7C,EAAmG;AACjG,MAAI,OAAOF,SAAS,CAACmB,KAAjB,KAA2B,QAA3B,IAAuC,OAAOnB,SAAS,CAACoB,MAAjB,KAA4B,QAAvE,EAAiF;AAC/E,UAAMC,UAAU,GAAGrB,SAAS,CAACmB,KAAV,GAAkBnB,SAAS,CAACoB,MAA/C;AACA,WAAO;AACLE,MAAAA,WAAW,EAAED,UADR;AAELP,MAAAA,WAAW,EAAEvB,kBAAkB,CAACW,UAAD;AAF1B,KAAP;AAID;;AACD,SAAOF,SAAP;AACD;;AAMD,SAASO,iBAAT,CAA2BL,UAA3B,EAAmG;AACjG,QAAMqB,oBAAoC,GAAG;AAC3CC,IAAAA,QAAQ,EAAE;AAERC,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBxB,UAAU,CAACyB,QAA5B,CAFC;AAGRC,MAAAA,IAAI,EAAE;AAHE;AADiC,GAA7C;;AAQA,MAAI1B,UAAU,CAAC2B,MAAX,IAAqB3B,UAAU,CAAC2B,MAAX,CAAkBC,MAAlB,GAA2B,CAApD,EAAuD;AACrDP,IAAAA,oBAAoB,CAACQ,MAArB,GAA8B;AAC5BN,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBxB,UAAU,CAAC2B,MAA5B,CADqB;AAE5BD,MAAAA,IAAI,EAAE;AAFsB,KAA9B;AAID;;AAED,MAAI1B,UAAU,CAAC8B,KAAX,IAAoB9B,UAAU,CAAC8B,KAAX,CAAiBF,MAAjB,GAA0B,CAAlD,EAAqD;AAEnDP,IAAAA,oBAAoB,CAACU,OAArB,GAA+B;AAC7BR,MAAAA,KAAK,EAAE,IAAIS,UAAJ,CAAehC,UAAU,CAAC8B,KAA1B,CADsB;AAE7BJ,MAAAA,IAAI,EAAE;AAFuB,KAA/B;AAID;;AAED,SAAOL,oBAAP;AACD;;AAQD,SAAStB,cAAT,CAAwBL,IAAxB,EAAiD;AAC/C,QAAMuC,OAAO,GAAGvC,IAAI,CAACwC,MAAL,CAAY,sBAAZ,CAAhB;AACA,QAAMC,OAAO,GAAG,uBAAuBC,IAAvB,CAA4B1C,IAAI,CAAC2C,MAAL,CAAYJ,OAAO,GAAG,CAAtB,CAA5B,CAAhB;AAEA,QAAMnC,SAAc,GAAG,EAAvB;AACAA,EAAAA,SAAS,CAACJ,IAAV,GAAiByC,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAnC;;AACA,MAAIA,OAAO,KAAK,IAAhB,EAAsB;AACpBrC,IAAAA,SAAS,CAACwC,SAAV,GAAsB,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAP,CAAWP,MAAvB,IAAiCK,OAAvD;AACD;;AACDnC,EAAAA,SAAS,CAACyC,GAAV,GAAgB7C,IAAI,CAAC2C,MAAL,CAAY,CAAZ,EAAevC,SAAS,CAACwC,SAAzB,CAAhB;AAIAxC,EAAAA,SAAS,CAACyC,GAAV,GAAgBzC,SAAS,CAACyC,GAAV,CAAcC,OAAd,CAAsB,QAAtB,EAAgC,EAAhC,CAAhB;AAIA1C,EAAAA,SAAS,CAAC2C,OAAV,GAAoB,gBAAgBL,IAAhB,CAAqBtC,SAAS,CAACyC,GAA/B,CAApB;AACAzC,EAAAA,SAAS,CAAC4C,MAAV,GAAmB,eAAeN,IAAf,CAAoBtC,SAAS,CAACyC,GAA9B,CAAnB;AACAzC,EAAAA,SAAS,CAAC4B,IAAV,GAAiB,aAAaU,IAAb,CAAkBtC,SAAS,CAACyC,GAA5B,CAAjB;AACAzC,EAAAA,SAAS,CAAC6C,IAAV,GAAiB,aAAaP,IAAb,CAAkBtC,SAAS,CAACyC,GAA5B,CAAjB;AACAzC,EAAAA,SAAS,CAAC8C,KAAV,GAAkB,cAAcR,IAAd,CAAmBtC,SAAS,CAACyC,GAA7B,CAAlB;AACAzC,EAAAA,SAAS,CAACmB,KAAV,GAAkB,cAAcmB,IAAd,CAAmBtC,SAAS,CAACyC,GAA7B,CAAlB;AACAzC,EAAAA,SAAS,CAACoB,MAAV,GAAmB,eAAekB,IAAf,CAAoBtC,SAAS,CAACyC,GAA9B,CAAnB;AACAzC,EAAAA,SAAS,CAAC+C,SAAV,GAAsB,kBAAkBT,IAAlB,CAAuBtC,SAAS,CAACyC,GAAjC,CAAtB;AACAzC,EAAAA,SAAS,CAACgD,MAAV,GAAmB,eAAeV,IAAf,CAAoBtC,SAAS,CAACyC,GAA9B,CAAnB;;AAIA,MAAIzC,SAAS,CAAC2C,OAAV,KAAsB,IAA1B,EAAgC;AAC9B3C,IAAAA,SAAS,CAAC2C,OAAV,GAAoBM,UAAU,CAACjD,SAAS,CAAC2C,OAAV,CAAkB,CAAlB,CAAD,CAA9B;AACD;;AAED,MAAI3C,SAAS,CAAC4C,MAAV,KAAqB,IAAzB,EAA+B;AAC7B5C,IAAAA,SAAS,CAAC4C,MAAV,GAAmB5C,SAAS,CAAC4C,MAAV,CAAiB,CAAjB,EAAoBM,KAApB,CAA0B,GAA1B,CAAnB;AACD;;AAED,MAAIlD,SAAS,CAAC6C,IAAV,KAAmB,IAAvB,EAA6B;AAC3B7C,IAAAA,SAAS,CAAC6C,IAAV,GAAiB7C,SAAS,CAAC6C,IAAV,CAAe,CAAf,EAAkBK,KAAlB,CAAwB,GAAxB,CAAjB;AACD;;AAED,MAAIlD,SAAS,CAACmB,KAAV,KAAoB,IAAxB,EAA8B;AAC5BnB,IAAAA,SAAS,CAACmB,KAAV,GAAkBgC,QAAQ,CAACnD,SAAS,CAACmB,KAAV,CAAgB,CAAhB,CAAD,EAAqB,EAArB,CAA1B;AACD;;AAED,MAAInB,SAAS,CAACoB,MAAV,KAAqB,IAAzB,EAA+B;AAC7BpB,IAAAA,SAAS,CAACoB,MAAV,GAAmB+B,QAAQ,CAACnD,SAAS,CAACoB,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MAAIpB,SAAS,CAAC+C,SAAV,KAAwB,IAA5B,EAAkC;AAChC/C,IAAAA,SAAS,CAAC+C,SAAV,GAAsB/C,SAAS,CAAC+C,SAAV,CAAoB,CAApB,CAAtB;AACD;;AAED,MAAI/C,SAAS,CAACgD,MAAV,KAAqB,IAAzB,EAA+B;AAC7BhD,IAAAA,SAAS,CAACgD,MAAV,GAAmBG,QAAQ,CAACnD,SAAS,CAACgD,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MACEhD,SAAS,CAACgD,MAAV,KAAqB,IAArB,IACA,OAAOhD,SAAS,CAACmB,KAAjB,KAA2B,QAD3B,IAEA,OAAOnB,SAAS,CAACoB,MAAjB,KAA4B,QAH9B,EAIE;AACApB,IAAAA,SAAS,CAACgD,MAAV,GAAmBhD,SAAS,CAACmB,KAAV,GAAkBnB,SAAS,CAACoB,MAA/C;AACD;;AAED,MAAIpB,SAAS,CAAC4B,IAAV,KAAmB,IAAvB,EAA6B;AAC3B5B,IAAAA,SAAS,CAAC4B,IAAV,GAAiB5B,SAAS,CAAC4B,IAAV,CAAe,CAAf,EAAkBsB,KAAlB,CAAwB,GAAxB,EAA6BE,GAA7B,CAAkCC,CAAD,IAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAhD,CAAjB;AACD;;AAED,MAAIrD,SAAS,CAAC8C,KAAV,KAAoB,IAAxB,EAA8B;AAC5B9C,IAAAA,SAAS,CAAC8C,KAAV,GAAkB9C,SAAS,CAAC8C,KAAV,CAAgB,CAAhB,EAAmBI,KAAnB,CAAyB,GAAzB,EAA8BE,GAA9B,CAAmCC,CAAD,IAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAjD,CAAlB;AACD,GAFD,MAEO;AACLrD,IAAAA,SAAS,CAAC8C,KAAV,GAAkB,EAAlB;;AACA,QAAI9C,SAAS,CAAC4C,MAAV,KAAqB,IAAzB,EAA+B;AAC7B,WAAK,IAAIU,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGtD,SAAS,CAAC4C,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChDtD,QAAAA,SAAS,CAAC8C,KAAV,CAAgBS,IAAhB,CAAqB,CAArB;AACD;AACF;AACF;;AAEDvD,EAAAA,SAAS,CAACwD,MAAV,GAAmB,EAAnB;AAEA,MAAIC,OAAO,GAAG,CAAd;;AACA,MAAIzD,SAAS,CAAC4C,MAAV,KAAqB,IAArB,IAA6B5C,SAAS,CAAC4B,IAAV,KAAmB,IAApD,EAA0D;AACxD,SAAK,IAAI0B,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGtD,SAAS,CAAC4C,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChD,UAAItD,SAAS,CAACJ,IAAV,KAAmB,OAAvB,EAAgC;AAC9BI,QAAAA,SAAS,CAACwD,MAAV,CAAiBxD,SAAS,CAAC4C,MAAV,CAAiBU,CAAjB,CAAjB,IAAwCA,CAAxC;AACD,OAFD,MAEO;AACLtD,QAAAA,SAAS,CAACwD,MAAV,CAAiBxD,SAAS,CAAC4C,MAAV,CAAiBU,CAAjB,CAAjB,IAAwCG,OAAxC;AACAA,QAAAA,OAAO,IAAIzD,SAAS,CAAC4B,IAAV,CAAe0B,CAAf,CAAX;AACD;AACF;AACF;;AAGDtD,EAAAA,SAAS,CAAC0D,OAAV,GAAoBD,OAApB;AAEA,SAAOzD,SAAP;AACD;;AAQD,SAASG,aAAT,CAAuBH,SAAvB,EAA6CH,QAA7C,EAAiF;AAC/E,QAAM8B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAMwB,MAAM,GAAGxD,SAAS,CAACwD,MAAzB;AACA,QAAMG,OAAO,GAAG9D,QAAQ,CAAC0C,MAAT,CAAgBvC,SAAS,CAACwC,SAA1B,CAAhB;AACA,QAAMoB,KAAK,GAAGD,OAAO,CAACT,KAAR,CAAc,IAAd,CAAd;;AAEA,OAAK,IAAII,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGM,KAAK,CAAC9B,MAA1B,EAAkCwB,CAAC,EAAnC,EAAuC;AACrC,QAAIM,KAAK,CAACN,CAAD,CAAL,KAAa,EAAjB,EAAqB;AACnB,YAAMO,IAAI,GAAGD,KAAK,CAACN,CAAD,CAAL,CAASJ,KAAT,CAAe,GAAf,CAAb;;AAEA,UAAIM,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACH,CAAR,CAAL,CAAxB;AACA1B,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACO,CAAR,CAAL,CAAxB;AACApC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACQ,CAAR,CAAL,CAAxB;AACD;;AAED,UAAIR,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B,cAAMI,UAAU,GAAGjB,UAAU,CAACY,IAAI,CAACL,MAAM,CAACS,GAAR,CAAL,CAA7B;AACA,cAAME,WAAW,GAAG,IAAIzC,YAAJ,CAAiB,CAACwC,UAAD,CAAjB,CAApB;AACA,cAAME,QAAQ,GAAG,IAAIC,QAAJ,CAAaF,WAAW,CAACG,MAAzB,EAAiC,CAAjC,CAAjB;AACAtC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AAED;;AAED,UAAIf,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACgB,QAAR,CAAL,CAAtB;AACA3C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACiB,QAAR,CAAL,CAAtB;AACA5C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACkB,QAAR,CAAL,CAAtB;AACD;AACF;AACF;;AAED,SAAO;AAAC/C,IAAAA,QAAD;AAAWE,IAAAA,MAAX;AAAmBG,IAAAA;AAAnB,GAAP;AACD;;AAOD,SAAS5B,cAAT,CAAwBJ,SAAxB,EAA8CJ,IAA9C,EAAuF;AACrF,QAAM+B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAMoC,QAAQ,GAAG,IAAIC,QAAJ,CAAazE,IAAb,EAAmBI,SAAS,CAACwC,SAA7B,CAAjB;AACA,QAAMgB,MAAM,GAAGxD,SAAS,CAACwD,MAAzB;;AAEA,OAAK,IAAIF,CAAC,GAAG,CAAR,EAAWqB,GAAG,GAAG,CAAtB,EAAyBrB,CAAC,GAAGtD,SAAS,CAACgD,MAAvC,EAA+CM,CAAC,IAAIqB,GAAG,IAAI3E,SAAS,CAAC0D,OAArE,EAA8E;AAC5E,QAAIF,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACH,CAAjC,EAAoC3D,aAApC,CAAd;AACAiC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACO,CAAjC,EAAoCrE,aAApC,CAAd;AACAiC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACQ,CAAjC,EAAoCtE,aAApC,CAAd;AACD;;AAED,QAAI8D,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B9B,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACD;;AAED,QAAIT,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACgB,QAAjC,EAA2C9E,aAA3C,CAAZ;AACAmC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACiB,QAAjC,EAA2C/E,aAA3C,CAAZ;AACAmC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACkB,QAAjC,EAA2ChF,aAA3C,CAAZ;AACD;AACF;;AAED,SAAO;AAACiC,IAAAA,QAAD;AAAWE,IAAAA,MAAX;AAAmBG,IAAAA;AAAnB,GAAP;AACD;AAED;AACA;AACA;AACA;AACA;AACA;AACA;;;AACA,SAAS3B,wBAAT,CAAkCwE,SAAlC,EAAwDjF,IAAxD,EAAiG;AAC/F,QAAM+B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAM8C,KAAK,GAAG,IAAIC,WAAJ,CAAgBnF,IAAI,CAACoF,KAAL,CAAWH,SAAS,CAACrC,SAArB,EAAgCqC,SAAS,CAACrC,SAAV,GAAsB,CAAtD,CAAhB,CAAd;AACA,QAAMyC,cAAc,GAAGH,KAAK,CAAC,CAAD,CAA5B;AACA,QAAMI,gBAAgB,GAAGJ,KAAK,CAAC,CAAD,CAA9B;AACA,QAAMK,YAAY,GAAG3F,aAAa,CAChC,IAAI0C,UAAJ,CAAetC,IAAf,EAAqBiF,SAAS,CAACrC,SAAV,GAAsB,CAA3C,EAA8CyC,cAA9C,CADgC,EAEhCC,gBAFgC,CAAlC;AAIA,QAAMd,QAAQ,GAAG,IAAIC,QAAJ,CAAac,YAAY,CAACb,MAA1B,CAAjB;AAEA,QAAMd,MAAM,GAAGqB,SAAS,CAACrB,MAAzB;;AAEA,OAAK,IAAIF,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGuB,SAAS,CAAC7B,MAA9B,EAAsCM,CAAC,EAAvC,EAA2C;AACzC,QAAIE,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,MAAAA,QAAQ,CAAC4B,IAAT,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACH,CAAtC,GAA2CwB,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAD9E,EAEE5D,aAFF,CADF;AAMAiC,MAAAA,QAAQ,CAAC4B,IAAT,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACO,CAAtC,GAA2Cc,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAD9E,EAEE5D,aAFF,CADF;AAMAiC,MAAAA,QAAQ,CAAC4B,IAAT,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACQ,CAAtC,GAA2Ca,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAD9E,EAEE5D,aAFF,CADF;AAMD;;AAED,QAAI8D,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B9B,MAAAA,KAAK,CAACuB,IAAN,CACEa,QAAQ,CAACG,QAAT,CACGM,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACS,GAAtC,GAA6CY,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAA9E,GAAkF,CADpF,IAEI,KAHN;AAKAtB,MAAAA,KAAK,CAACuB,IAAN,CACEa,QAAQ,CAACG,QAAT,CACGM,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACS,GAAtC,GAA6CY,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAA9E,GAAkF,CADpF,IAEI,KAHN;AAKAtB,MAAAA,KAAK,CAACuB,IAAN,CACEa,QAAQ,CAACG,QAAT,CACGM,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACS,GAAtC,GAA6CY,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAA9E,GAAkF,CADpF,IAEI,KAHN;AAKD;;AAED,QAAIE,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,MAAAA,MAAM,CAAC0B,IAAP,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACgB,QAAtC,GAAkDK,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CADrF,EAEE5D,aAFF,CADF;AAMAmC,MAAAA,MAAM,CAAC0B,IAAP,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACiB,QAAtC,GAAkDI,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CADrF,EAEE5D,aAFF,CADF;AAMAmC,MAAAA,MAAM,CAAC0B,IAAP,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACkB,QAAtC,GAAkDG,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CADrF,EAEE5D,aAFF,CADF;AAMD;AACF;;AAED,SAAO;AACLiC,IAAAA,QADK;AAELE,IAAAA,MAFK;AAGLG,IAAAA;AAHK,GAAP;AAKD","sourcesContent":["// PCD Loader, adapted from THREE.js (MIT license)\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n//\n// Attributions per original THREE.js source file:\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\n\nimport type {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';\nimport {getMeshBoundingBox} from '@loaders.gl/schema';\nimport {decompressLZF} from './decompress-lzf';\nimport {getPCDSchema} from './get-pcd-schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype NormalizedAttributes = {\n  POSITION: {\n    value: Float32Array;\n    size: number;\n  };\n  NORMAL?: {\n    value: Float32Array;\n    size: number;\n  };\n  COLOR_0?: {\n    value: Uint8Array;\n    size: number;\n  };\n};\n\ntype HeaderAttributes = {\n  [attributeName: string]: number[];\n};\n\nconst LITTLE_ENDIAN: boolean = true;\n\n/**\n *\n * @param data\n * @returns\n */\nexport default function parsePCD(data: ArrayBufferLike) {\n  // 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      attributes = parsePCDBinaryCompressed(pcdHeader, data);\n      break;\n\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\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/lib/pcd-types.js

@@ -1,2 +1,2 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
+export {};
+//# sourceMappingURL=pcd-types.js.map