@loaders.gl/pcd 3.3.0-alpha.4 → 3.3.0-alpha.6

package/dist/es5/bundle.js

@@ -1,7 +1,6 @@
 "use strict";
 
 var moduleExports = require('./index');
-
 globalThis.loaders = globalThis.loaders || {};
 module.exports = Object.assign(globalThis.loaders, moduleExports);
 //# sourceMappingURL=bundle.js.map

package/dist/es5/bundle.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/bundle.ts"],"names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"mappings":";;AACA,IAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACAC,UAAU,CAACC,OAAX,GAAqBD,UAAU,CAACC,OAAX,IAAsB,EAA3C;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcL,UAAU,CAACC,OAAzB,EAAkCH,aAAlC,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"file":"bundle.js"}
+{"version":3,"file":"bundle.js","names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"sources":["../../src/bundle.ts"],"sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"mappings":";;AACA,IAAMA,aAAa,GAAGC,OAAO,CAAC,SAAS,CAAC;AACxCC,UAAU,CAACC,OAAO,GAAGD,UAAU,CAACC,OAAO,IAAI,CAAC,CAAC;AAC7CC,MAAM,CAACC,OAAO,GAAGC,MAAM,CAACC,MAAM,CAACL,UAAU,CAACC,OAAO,EAAEH,aAAa,CAAC"}

package/dist/es5/index.js

@@ -1,32 +1,24 @@
 "use strict";
 
 var _interopRequireDefault = require("@babel/runtime/helpers/interopRequireDefault");
-
 Object.defineProperty(exports, "__esModule", {
   value: true
 });
+exports.PCDLoader = void 0;
 Object.defineProperty(exports, "PCDWorkerLoader", {
   enumerable: true,
   get: function get() {
     return _pcdLoader.PCDLoader;
   }
 });
-exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-
+exports._typecheckPCDLoader = void 0;
 var _regenerator = _interopRequireDefault(require("@babel/runtime/regenerator"));
-
 var _asyncToGenerator2 = _interopRequireDefault(require("@babel/runtime/helpers/asyncToGenerator"));
-
 var _defineProperty2 = _interopRequireDefault(require("@babel/runtime/helpers/defineProperty"));
-
 var _parsePcd = _interopRequireDefault(require("./lib/parse-pcd"));
-
 var _pcdLoader = require("./pcd-loader");
-
-function ownKeys(object, enumerableOnly) { var keys = Object.keys(object); if (Object.getOwnPropertySymbols) { var symbols = Object.getOwnPropertySymbols(object); if (enumerableOnly) { symbols = symbols.filter(function (sym) { return Object.getOwnPropertyDescriptor(object, sym).enumerable; }); } keys.push.apply(keys, symbols); } return keys; }
-
-function _objectSpread(target) { for (var i = 1; i < arguments.length; i++) { var source = arguments[i] != null ? arguments[i] : {}; if (i % 2) { ownKeys(Object(source), true).forEach(function (key) { (0, _defineProperty2.default)(target, key, source[key]); }); } else if (Object.getOwnPropertyDescriptors) { Object.defineProperties(target, Object.getOwnPropertyDescriptors(source)); } else { ownKeys(Object(source)).forEach(function (key) { Object.defineProperty(target, key, Object.getOwnPropertyDescriptor(source, key)); }); } } return target; }
-
+function ownKeys(object, enumerableOnly) { var keys = Object.keys(object); if (Object.getOwnPropertySymbols) { var symbols = Object.getOwnPropertySymbols(object); enumerableOnly && (symbols = symbols.filter(function (sym) { return Object.getOwnPropertyDescriptor(object, sym).enumerable; })), keys.push.apply(keys, symbols); } return keys; }
+function _objectSpread(target) { for (var i = 1; i < arguments.length; i++) { var source = null != arguments[i] ? arguments[i] : {}; i % 2 ? ownKeys(Object(source), !0).forEach(function (key) { (0, _defineProperty2.default)(target, key, source[key]); }) : Object.getOwnPropertyDescriptors ? Object.defineProperties(target, Object.getOwnPropertyDescriptors(source)) : ownKeys(Object(source)).forEach(function (key) { Object.defineProperty(target, key, Object.getOwnPropertyDescriptor(source, key)); }); } return target; }
 var PCDLoader = _objectSpread(_objectSpread({}, _pcdLoader.PCDLoader), {}, {
   parse: function () {
     var _parse = (0, _asyncToGenerator2.default)(_regenerator.default.mark(function _callee(arrayBuffer) {
@@ -35,7 +27,6 @@ var PCDLoader = _objectSpread(_objectSpread({}, _pcdLoader.PCDLoader), {}, {
           switch (_context.prev = _context.next) {
             case 0:
               return _context.abrupt("return", (0, _parsePcd.default)(arrayBuffer));
-
             case 1:
             case "end":
               return _context.stop();
@@ -43,16 +34,13 @@ var PCDLoader = _objectSpread(_objectSpread({}, _pcdLoader.PCDLoader), {}, {
         }
       }, _callee);
     }));
-
     function parse(_x) {
       return _parse.apply(this, arguments);
     }
-
     return parse;
   }(),
   parseSync: _parsePcd.default
 });
-
 exports.PCDLoader = PCDLoader;
 var _typecheckPCDLoader = PCDLoader;
 exports._typecheckPCDLoader = _typecheckPCDLoader;

package/dist/es5/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/index.ts"],"names":["PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","parsePCDSync","_typecheckPCDLoader"],"mappings":";;;;;;;;;;;;;;;;;;;;;AACA;;AACA;;;;;;AAOO,IAAMA,SAAS,mCACjBC,oBADiB;AAEpBC,EAAAA,KAAK;AAAA,2EAAE,iBAAOC,WAAP;AAAA;AAAA;AAAA;AAAA;AAAA,+CAAuB,uBAAaA,WAAb,CAAvB;;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,KAAF;;AAAA;AAAA;AAAA;;AAAA;AAAA,KAFe;AAGpBC,EAAAA,SAAS,EAAEC;AAHS,EAAf;;;AAMA,IAAMC,mBAAqC,GAAGN,SAA9C","sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"file":"index.js"}
+{"version":3,"file":"index.js","names":["PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parsePCDSync","parseSync","_typecheckPCDLoader"],"sources":["../../src/index.ts"],"sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"mappings":";;;;;;;;;;;;;;;;;AACA;AACA;AAA0D;AAAA;AAOnD,IAAMA,SAAS,mCACjBC,oBAAe;EAClBC,KAAK;IAAA,uEAAE,iBAAOC,WAAW;MAAA;QAAA;UAAA;YAAA;cAAA,iCAAK,IAAAC,iBAAY,EAACD,WAAW,CAAC;YAAA;YAAA;cAAA;UAAA;QAAA;MAAA;IAAA;IAAA;MAAA;IAAA;IAAA;EAAA;EACvDE,SAAS,EAAED;AAAY,EACxB;AAAC;AAEK,IAAME,mBAAqC,GAAGN,SAAS;AAAC"}

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

@@ -4,7 +4,6 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.decompressLZF = decompressLZF;
-
 function decompressLZF(inData, outLength) {
   var inLength = inData.length;
   var outData = new Uint8Array(outLength);
@@ -13,15 +12,12 @@ function decompressLZF(inData, outLength) {
   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);
@@ -29,23 +25,19 @@ function decompressLZF(inData, outLength) {
       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

@@ -1 +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"}
+{"version":3,"file":"decompress-lzf.js","names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"sources":["../../../src/lib/decompress-lzf.ts"],"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"],"mappings":";;;;;;AAOO,SAASA,aAAa,CAACC,MAAkB,EAAEC,SAAiB,EAAc;EAC/E,IAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAM;EAC9B,IAAMC,OAAO,GAAG,IAAIC,UAAU,CAACJ,SAAS,CAAC;EACzC,IAAIK,KAAK,GAAG,CAAC;EACb,IAAIC,MAAM,GAAG,CAAC;EACd,IAAIC,IAAI;EACR,IAAIC,GAAG;EACP,IAAIC,GAAG;EAEP,GAAG;IACDF,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAE,CAAC;IAEtB,IAAIE,IAAI,GAAG,CAAC,IAAI,CAAC,EAAE;MACjBA,IAAI,EAAE;MACN,IAAID,MAAM,GAAGC,IAAI,GAAGP,SAAS,EAAE,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACnF,IAAIL,KAAK,GAAGE,IAAI,GAAGN,QAAQ,EAAE,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAEvE,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGP,MAAM,CAACM,KAAK,EAAE,CAAC;MACrC,CAAC,QAAQ,EAAEE,IAAI;IACjB,CAAC,MAAM;MACLC,GAAG,GAAGD,IAAI,IAAI,CAAC;MACfE,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAI,KAAK,CAAC,CAAC,GAAG,CAAC;MACvC,IAAIF,KAAK,IAAIJ,QAAQ,EAAE,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAEjE,IAAIF,GAAG,KAAK,CAAC,EAAE;QACbA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAE,CAAC;QACtB,IAAIA,KAAK,IAAIJ,QAAQ,EAAE,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MACnE;MAEAD,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAE,CAAC;MACtB,IAAIC,MAAM,GAAGE,GAAG,GAAG,CAAC,GAAGR,SAAS,EAAE,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtF,IAAID,GAAG,GAAG,CAAC,EAAE,MAAM,IAAIC,KAAK,CAAC,yBAAyB,CAAC;MACvD,IAAID,GAAG,IAAIH,MAAM,EAAE,MAAM,IAAII,KAAK,CAAC,yBAAyB,CAAC;MAE7D,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGH,OAAO,CAACM,GAAG,EAAE,CAAC;MACpC,CAAC,QAAQ,EAAED,GAAG,GAAG,CAAC;IACpB;EACF,CAAC,QAAQH,KAAK,GAAGJ,QAAQ;EAEzB,OAAOE,OAAO;AAChB"}

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

@@ -4,25 +4,19 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.getPCDSchema = getPCDSchema;
-
 var _schema = require("@loaders.gl/schema");
-
 function getPCDSchema(PCDheader, metadata) {
   var offset = PCDheader.offset;
   var fields = [];
-
   if (offset.x !== undefined) {
     fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));
   }
-
   if (offset.normal_x !== undefined) {
     fields.push(new _schema.Field('NORMAL', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));
   }
-
   if (offset.rgb !== undefined) {
     fields.push(new _schema.Field('COLOR_0', new _schema.FixedSizeList(3, new _schema.Field('rgb', new _schema.Uint8())), false));
   }
-
   return new _schema.Schema(fields, metadata);
 }
 //# sourceMappingURL=get-pcd-schema.js.map

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

@@ -1 +1 @@
-{"version":3,"sources":["../../../src/lib/get-pcd-schema.ts"],"names":["getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","Schema"],"mappings":";;;;;;;AAAA;;AAWO,SAASA,YAAT,CAAsBC,SAAtB,EAA4CC,QAA5C,EAA8E;AACnF,MAAMC,MAAM,GAAGF,SAAS,CAACE,MAAzB;AAEA,MAAMC,MAAe,GAAG,EAAxB;;AAEA,MAAID,MAAM,CAACE,CAAP,KAAaC,SAAjB,EAA4B;AAC1BF,IAAAA,MAAM,CAACG,IAAP,CACE,IAAIC,aAAJ,CAAU,UAAV,EAAsB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIP,MAAM,CAACQ,QAAP,KAAoBL,SAAxB,EAAmC;AACjCF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIC,aAAJ,CAAU,QAAV,EAAoB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIE,eAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIP,MAAM,CAACS,GAAP,KAAeN,SAAnB,EAA8B;AAC5BF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIC,aAAJ,CAAU,SAAV,EAAqB,IAAIC,qBAAJ,CAAkB,CAAlB,EAAqB,IAAID,aAAJ,CAAU,KAAV,EAAiB,IAAIK,aAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIC,cAAJ,CAAWV,MAAX,EAAmBF,QAAnB,CAAP;AACD","sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n  const offset = PCDheader.offset;\n\n  const fields: Field[] = [];\n\n  if (offset.x !== undefined) {\n    fields.push(\n      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n    );\n  }\n\n  if (offset.normal_x !== undefined) {\n    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n  }\n\n  if (offset.rgb !== undefined) {\n    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n  }\n\n  return new Schema(fields, metadata);\n}\n"],"file":"get-pcd-schema.js"}
+{"version":3,"file":"get-pcd-schema.js","names":["getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","Schema"],"sources":["../../../src/lib/get-pcd-schema.ts"],"sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n  const offset = PCDheader.offset;\n\n  const fields: Field[] = [];\n\n  if (offset.x !== undefined) {\n    fields.push(\n      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n    );\n  }\n\n  if (offset.normal_x !== undefined) {\n    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n  }\n\n  if (offset.rgb !== undefined) {\n    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n  }\n\n  return new Schema(fields, metadata);\n}\n"],"mappings":";;;;;;AAAA;AAWO,SAASA,YAAY,CAACC,SAAoB,EAAEC,QAAwB,EAAU;EACnF,IAAMC,MAAM,GAAGF,SAAS,CAACE,MAAM;EAE/B,IAAMC,MAAe,GAAG,EAAE;EAE1B,IAAID,MAAM,CAACE,CAAC,KAAKC,SAAS,EAAE;IAC1BF,MAAM,CAACG,IAAI,CACT,IAAIC,aAAK,CAAC,UAAU,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIE,eAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CACpF;EACH;EAEA,IAAIP,MAAM,CAACQ,QAAQ,KAAKL,SAAS,EAAE;IACjCF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,QAAQ,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIE,eAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAChG;EAEA,IAAIP,MAAM,CAACS,GAAG,KAAKN,SAAS,EAAE;IAC5BF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,SAAS,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIK,aAAK,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAC/F;EAEA,OAAO,IAAIC,cAAM,CAACV,MAAM,EAAEF,QAAQ,CAAC;AACrC"}

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

@@ -4,11 +4,8 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.default = parsePCD;
-
 var _schema = require("@loaders.gl/schema");
-
 var _decompressLzf = require("./decompress-lzf");
-
 var _getPcdSchema = require("./get-pcd-schema");
 
 var LITTLE_ENDIAN = true;
@@ -22,19 +19,15 @@ function parsePCD(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);
   var header = getMeshHeader(pcdHeader, attributes);
   var metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
@@ -59,7 +52,6 @@ function getMeshHeader(pcdHeader, attributes) {
       boundingBox: (0, _schema.getMeshBoundingBox)(attributes)
     };
   }
-
   return pcdHeader;
 }
 
@@ -70,21 +62,18 @@ function getMeshAttributes(attributes) {
       size: 3
     }
   };
-
   if (attributes.normal && attributes.normal.length > 0) {
     normalizedAttributes.NORMAL = {
       value: new Float32Array(attributes.normal),
       size: 3
     };
   }
-
   if (attributes.color && attributes.color.length > 0) {
     normalizedAttributes.COLOR_0 = {
       value: new Uint8Array(attributes.color),
       size: 3
     };
   }
-
   return normalizedAttributes;
 }
 
@@ -93,13 +82,13 @@ function parsePCDHeader(data) {
   var result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
   var 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);
@@ -113,58 +102,46 @@ function parsePCDHeader(data) {
   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(function (x) {
       return parseInt(x, 10);
     });
   }
-
   if (pcdHeader.count !== null) {
     pcdHeader.count = pcdHeader.count[1].split(' ').map(function (x) {
       return parseInt(x, 10);
     });
   } else {
     pcdHeader.count = [];
-
     if (pcdHeader.fields !== null) {
       for (var i = 0; i < pcdHeader.fields.length; i++) {
         pcdHeader.count.push(1);
       }
     }
   }
-
   pcdHeader.offset = {};
   var sizeSum = 0;
-
   if (pcdHeader.fields !== null && pcdHeader.size !== null) {
     for (var _i = 0; _i < pcdHeader.fields.length; _i++) {
       if (pcdHeader.data === 'ascii') {
@@ -187,17 +164,14 @@ function parsePCDASCII(pcdHeader, textData) {
   var offset = pcdHeader.offset;
   var pcdData = textData.substr(pcdHeader.headerLen);
   var lines = pcdData.split('\n');
-
   for (var i = 0; i < lines.length; i++) {
     if (lines[i] !== '') {
       var 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) {
         var floatValue = parseFloat(line[offset.rgb]);
         var binaryColor = new Float32Array([floatValue]);
@@ -214,7 +188,6 @@ function parsePCDASCII(pcdHeader, textData) {
       }
     }
   }
-
   return {
     position: position,
     normal: normal,
@@ -228,33 +201,30 @@ function parsePCDBinary(pcdHeader, data) {
   var color = [];
   var dataview = new DataView(data, pcdHeader.headerLen);
   var offset = pcdHeader.offset;
-
   for (var 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: position,
     normal: normal,
     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)
@@ -262,8 +232,6 @@ function parsePCDBinary(pcdHeader, data) {
  * @param data
  * @returns [attributes]
  */
-
-
 function parsePCDBinaryCompressed(PCDheader, data) {
   var position = [];
   var normal = [];
@@ -274,27 +242,23 @@ function parsePCDBinaryCompressed(PCDheader, data) {
   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,

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

@@ -1 +1 @@
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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"}
+{"version":3,"file":"parse-pcd.js","names":["LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","parsePCDBinaryCompressed","Error","getMeshAttributes","header","getMeshHeader","metadata","Map","JSON","stringify","boundingBox","schema","getPCDSchema","loaderData","mode","indices","width","height","pointCount","vertexCount","getMeshBoundingBox","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","decompressLZF"],"sources":["../../../src/lib/parse-pcd.ts"],"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  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package/dist/es5/lib/pcd-types.js.map

@@ -1 +1 @@
-{"version":3,"sources":[],"names":[],"mappings":"","sourcesContent":[],"file":"pcd-types.js"}
+{"version":3,"file":"pcd-types.js","names":[],"sources":["../../../src/lib/pcd-types.ts"],"sourcesContent":["import type {Mesh} from '@loaders.gl/schema';\n\ntype BoundingBox = [[number, number, number], [number, number, number]];\n\nexport type PCDHeader = {\n  data: any;\n  headerLen: number;\n  str: string;\n  version: RegExpExecArray | null | number;\n  fields: RegExpExecArray | null | string[];\n  size: RegExpExecArray | null | number[];\n  type: RegExpExecArray | null | string[];\n  count: RegExpExecArray | null | number[];\n  width: RegExpExecArray | number;\n  height: RegExpExecArray | number;\n  viewpoint: RegExpExecArray | null | string;\n  points: RegExpExecArray | number;\n  offset: {[index: string]: number};\n  rowSize: number;\n  vertexCount: number;\n  boundingBox: BoundingBox;\n};\n\n/**  */\nexport type PCDMesh = Mesh & {\n  loader: 'pcd';\n  loaderData: PCDHeader;\n  topology: 'point-list';\n  mode: 0;\n};\n"],"mappings":""}

package/dist/es5/pcd-loader.js

@@ -4,7 +4,8 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-var VERSION = typeof "3.3.0-alpha.4" !== 'undefined' ? "3.3.0-alpha.4" : 'latest';
+var VERSION = typeof "3.3.0-alpha.6" !== 'undefined' ? "3.3.0-alpha.6" : 'latest';
+
 var PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

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

@@ -1 +1 @@
-{"version":3,"sources":["../../src/pcd-loader.ts"],"names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"mappings":";;;;;;AAIA,IAAMA,OAAO,GAAG,2BAAuB,WAAvB,qBAAmD,QAAnE;AAKO,IAAMC,SAAS,GAAG;AACvBC,EAAAA,IAAI,EAAE,wBADiB;AAEvBC,EAAAA,EAAE,EAAE,KAFmB;AAGvBC,EAAAA,MAAM,EAAE,KAHe;AAIvBC,EAAAA,OAAO,EAAEL,OAJc;AAKvBM,EAAAA,MAAM,EAAE,IALe;AAMvBC,EAAAA,UAAU,EAAE,CAAC,KAAD,CANW;AAOvBC,EAAAA,SAAS,EAAE,CAAC,YAAD,CAPY;AAQvBC,EAAAA,OAAO,EAAE;AACPC,IAAAA,GAAG,EAAE;AADE;AARc,CAAlB;;AAaA,IAAMC,mBAA2B,GAAGV,SAApC","sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pcd',\n  version: VERSION,\n  worker: true,\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  options: {\n    pcd: {}\n  }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"file":"pcd-loader.js"}
+{"version":3,"file":"pcd-loader.js","names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"sources":["../../src/pcd-loader.ts"],"sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pcd',\n  version: VERSION,\n  worker: true,\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  options: {\n    pcd: {}\n  }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"mappings":";;;;;;AAIA,IAAMA,OAAO,GAAG,sBAAkB,KAAK,WAAW,qBAAiB,QAAQ;;AAKpE,IAAMC,SAAS,GAAG;EACvBC,IAAI,EAAE,wBAAwB;EAC9BC,EAAE,EAAE,KAAK;EACTC,MAAM,EAAE,KAAK;EACbC,OAAO,EAAEL,OAAO;EAChBM,MAAM,EAAE,IAAI;EACZC,UAAU,EAAE,CAAC,KAAK,CAAC;EACnBC,SAAS,EAAE,CAAC,YAAY,CAAC;EACzBC,OAAO,EAAE;IACPC,GAAG,EAAE,CAAC;EACR;AACF,CAAC;AAAC;AAEK,IAAMC,mBAA2B,GAAGV,SAAS;AAAC"}

package/dist/es5/workers/pcd-worker.js

@@ -1,8 +1,6 @@
 "use strict";
 
 var _loaderUtils = require("@loaders.gl/loader-utils");
-
 var _index = require("../index");
-
 (0, _loaderUtils.createLoaderWorker)(_index.PCDLoader);
 //# sourceMappingURL=pcd-worker.js.map

package/dist/es5/workers/pcd-worker.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../../src/workers/pcd-worker.ts"],"names":["PCDLoader"],"mappings":";;AAAA;;AACA;;AAEA,qCAAmBA,gBAAnB","sourcesContent":["import {createLoaderWorker} from '@loaders.gl/loader-utils';\nimport {PCDLoader} from '../index';\n\ncreateLoaderWorker(PCDLoader);\n"],"file":"pcd-worker.js"}
+{"version":3,"file":"pcd-worker.js","names":["createLoaderWorker","PCDLoader"],"sources":["../../../src/workers/pcd-worker.ts"],"sourcesContent":["import {createLoaderWorker} from '@loaders.gl/loader-utils';\nimport {PCDLoader} from '../index';\n\ncreateLoaderWorker(PCDLoader);\n"],"mappings":";;AAAA;AACA;AAEA,IAAAA,+BAAkB,EAACC,gBAAS,CAAC"}

package/dist/esm/bundle.js

@@ -1,5 +1,5 @@
-const moduleExports = require('./index');
 
+const moduleExports = require('./index');
 globalThis.loaders = globalThis.loaders || {};
 module.exports = Object.assign(globalThis.loaders, moduleExports);
 //# sourceMappingURL=bundle.js.map

package/dist/esm/bundle.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/bundle.ts"],"names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"mappings":"AACA,MAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACAC,UAAU,CAACC,OAAX,GAAqBD,UAAU,CAACC,OAAX,IAAsB,EAA3C;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcL,UAAU,CAACC,OAAzB,EAAkCH,aAAlC,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"file":"bundle.js"}
+{"version":3,"file":"bundle.js","names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"sources":["../../src/bundle.ts"],"sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"mappings":";AACA,MAAMA,aAAa,GAAGC,OAAO,CAAC,SAAS,CAAC;AACxCC,UAAU,CAACC,OAAO,GAAGD,UAAU,CAACC,OAAO,IAAI,CAAC,CAAC;AAC7CC,MAAM,CAACC,OAAO,GAAGC,MAAM,CAACC,MAAM,CAACL,UAAU,CAACC,OAAO,EAAEH,aAAa,CAAC"}

package/dist/esm/index.js

@@ -1,7 +1,9 @@
 import parsePCDSync from './lib/parse-pcd';
 import { PCDLoader as PCDWorkerLoader } from './pcd-loader';
 export { PCDWorkerLoader };
-export const PCDLoader = { ...PCDWorkerLoader,
+
+export const PCDLoader = {
+  ...PCDWorkerLoader,
   parse: async arrayBuffer => parsePCDSync(arrayBuffer),
   parseSync: parsePCDSync
 };

package/dist/esm/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../src/index.ts"],"names":["parsePCDSync","PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","_typecheckPCDLoader"],"mappings":"AACA,OAAOA,YAAP,MAAyB,iBAAzB;AACA,SAAQC,SAAS,IAAIC,eAArB,QAA2C,cAA3C;AAEA,SAAQA,eAAR;AAKA,OAAO,MAAMD,SAAS,GAAG,EACvB,GAAGC,eADoB;AAEvBC,EAAAA,KAAK,EAAE,MAAOC,WAAP,IAAuBJ,YAAY,CAACI,WAAD,CAFnB;AAGvBC,EAAAA,SAAS,EAAEL;AAHY,CAAlB;AAMP,OAAO,MAAMM,mBAAqC,GAAGL,SAA9C","sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"file":"index.js"}
+{"version":3,"file":"index.js","names":["parsePCDSync","PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","_typecheckPCDLoader"],"sources":["../../src/index.ts"],"sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"mappings":"AACA,OAAOA,YAAY,MAAM,iBAAiB;AAC1C,SAAQC,SAAS,IAAIC,eAAe,QAAO,cAAc;AAEzD,SAAQA,eAAe;;AAKvB,OAAO,MAAMD,SAAS,GAAG;EACvB,GAAGC,eAAe;EAClBC,KAAK,EAAE,MAAOC,WAAW,IAAKJ,YAAY,CAACI,WAAW,CAAC;EACvDC,SAAS,EAAEL;AACb,CAAC;AAED,OAAO,MAAMM,mBAAqC,GAAGL,SAAS"}

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

@@ -1,3 +1,4 @@
+
 export function decompressLZF(inData, outLength) {
   const inLength = inData.length;
   const outData = new Uint8Array(outLength);
@@ -6,15 +7,12 @@ export function decompressLZF(inData, outLength) {
   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);
@@ -22,23 +20,19 @@ export function decompressLZF(inData, outLength) {
       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

@@ -1 +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"}
+{"version":3,"file":"decompress-lzf.js","names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"sources":["../../../src/lib/decompress-lzf.ts"],"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"],"mappings":";AAOA,OAAO,SAASA,aAAa,CAACC,MAAkB,EAAEC,SAAiB,EAAc;EAC/E,MAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAM;EAC9B,MAAMC,OAAO,GAAG,IAAIC,UAAU,CAACJ,SAAS,CAAC;EACzC,IAAIK,KAAK,GAAG,CAAC;EACb,IAAIC,MAAM,GAAG,CAAC;EACd,IAAIC,IAAI;EACR,IAAIC,GAAG;EACP,IAAIC,GAAG;EAEP,GAAG;IACDF,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAE,CAAC;IAEtB,IAAIE,IAAI,GAAG,CAAC,IAAI,CAAC,EAAE;MACjBA,IAAI,EAAE;MACN,IAAID,MAAM,GAAGC,IAAI,GAAGP,SAAS,EAAE,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACnF,IAAIL,KAAK,GAAGE,IAAI,GAAGN,QAAQ,EAAE,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAEvE,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGP,MAAM,CAACM,KAAK,EAAE,CAAC;MACrC,CAAC,QAAQ,EAAEE,IAAI;IACjB,CAAC,MAAM;MACLC,GAAG,GAAGD,IAAI,IAAI,CAAC;MACfE,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAI,KAAK,CAAC,CAAC,GAAG,CAAC;MACvC,IAAIF,KAAK,IAAIJ,QAAQ,EAAE,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAEjE,IAAIF,GAAG,KAAK,CAAC,EAAE;QACbA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAE,CAAC;QACtB,IAAIA,KAAK,IAAIJ,QAAQ,EAAE,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MACnE;MAEAD,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAE,CAAC;MACtB,IAAIC,MAAM,GAAGE,GAAG,GAAG,CAAC,GAAGR,SAAS,EAAE,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtF,IAAID,GAAG,GAAG,CAAC,EAAE,MAAM,IAAIC,KAAK,CAAC,yBAAyB,CAAC;MACvD,IAAID,GAAG,IAAIH,MAAM,EAAE,MAAM,IAAII,KAAK,CAAC,yBAAyB,CAAC;MAE7D,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGH,OAAO,CAACM,GAAG,EAAE,CAAC;MACpC,CAAC,QAAQ,EAAED,GAAG,GAAG,CAAC;IACpB;EACF,CAAC,QAAQH,KAAK,GAAGJ,QAAQ;EAEzB,OAAOE,OAAO;AAChB"}

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

@@ -2,19 +2,15 @@ import { Schema, Field, Float32, Uint8, FixedSizeList } from '@loaders.gl/schema
 export function getPCDSchema(PCDheader, metadata) {
   const offset = PCDheader.offset;
   const fields = [];
-
   if (offset.x !== undefined) {
     fields.push(new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false));
   }
-
   if (offset.normal_x !== undefined) {
     fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));
   }
-
   if (offset.rgb !== undefined) {
     fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));
   }
-
   return new Schema(fields, metadata);
 }
 //# sourceMappingURL=get-pcd-schema.js.map

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

@@ -1 +1 @@
-{"version":3,"sources":["../../../src/lib/get-pcd-schema.ts"],"names":["Schema","Field","Float32","Uint8","FixedSizeList","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","normal_x","rgb"],"mappings":"AAAA,SAAQA,MAAR,EAAgBC,KAAhB,EAAuBC,OAAvB,EAAgCC,KAAhC,EAAuCC,aAAvC,QAA2D,oBAA3D;AAWA,OAAO,SAASC,YAAT,CAAsBC,SAAtB,EAA4CC,QAA5C,EAA8E;AACnF,QAAMC,MAAM,GAAGF,SAAS,CAACE,MAAzB;AAEA,QAAMC,MAAe,GAAG,EAAxB;;AAEA,MAAID,MAAM,CAACE,CAAP,KAAaC,SAAjB,EAA4B;AAC1BF,IAAAA,MAAM,CAACG,IAAP,CACE,IAAIX,KAAJ,CAAU,UAAV,EAAsB,IAAIG,aAAJ,CAAkB,CAAlB,EAAqB,IAAIH,KAAJ,CAAU,KAAV,EAAiB,IAAIC,OAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIM,MAAM,CAACK,QAAP,KAAoBF,SAAxB,EAAmC;AACjCF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIX,KAAJ,CAAU,QAAV,EAAoB,IAAIG,aAAJ,CAAkB,CAAlB,EAAqB,IAAIH,KAAJ,CAAU,KAAV,EAAiB,IAAIC,OAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIM,MAAM,CAACM,GAAP,KAAeH,SAAnB,EAA8B;AAC5BF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIX,KAAJ,CAAU,SAAV,EAAqB,IAAIG,aAAJ,CAAkB,CAAlB,EAAqB,IAAIH,KAAJ,CAAU,KAAV,EAAiB,IAAIE,KAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIH,MAAJ,CAAWS,MAAX,EAAmBF,QAAnB,CAAP;AACD","sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n  const offset = PCDheader.offset;\n\n  const fields: Field[] = [];\n\n  if (offset.x !== undefined) {\n    fields.push(\n      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n    );\n  }\n\n  if (offset.normal_x !== undefined) {\n    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n  }\n\n  if (offset.rgb !== undefined) {\n    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n  }\n\n  return new Schema(fields, metadata);\n}\n"],"file":"get-pcd-schema.js"}
+{"version":3,"file":"get-pcd-schema.js","names":["Schema","Field","Float32","Uint8","FixedSizeList","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","normal_x","rgb"],"sources":["../../../src/lib/get-pcd-schema.ts"],"sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n  const offset = PCDheader.offset;\n\n  const fields: Field[] = [];\n\n  if (offset.x !== undefined) {\n    fields.push(\n      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n    );\n  }\n\n  if (offset.normal_x !== undefined) {\n    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n  }\n\n  if (offset.rgb !== undefined) {\n    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n  }\n\n  return new Schema(fields, metadata);\n}\n"],"mappings":"AAAA,SAAQA,MAAM,EAAEC,KAAK,EAAEC,OAAO,EAAEC,KAAK,EAAEC,aAAa,QAAO,oBAAoB;AAW/E,OAAO,SAASC,YAAY,CAACC,SAAoB,EAAEC,QAAwB,EAAU;EACnF,MAAMC,MAAM,GAAGF,SAAS,CAACE,MAAM;EAE/B,MAAMC,MAAe,GAAG,EAAE;EAE1B,IAAID,MAAM,CAACE,CAAC,KAAKC,SAAS,EAAE;IAC1BF,MAAM,CAACG,IAAI,CACT,IAAIX,KAAK,CAAC,UAAU,EAAE,IAAIG,aAAa,CAAC,CAAC,EAAE,IAAIH,KAAK,CAAC,KAAK,EAAE,IAAIC,OAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CACpF;EACH;EAEA,IAAIM,MAAM,CAACK,QAAQ,KAAKF,SAAS,EAAE;IACjCF,MAAM,CAACG,IAAI,CAAC,IAAIX,KAAK,CAAC,QAAQ,EAAE,IAAIG,aAAa,CAAC,CAAC,EAAE,IAAIH,KAAK,CAAC,KAAK,EAAE,IAAIC,OAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAChG;EAEA,IAAIM,MAAM,CAACM,GAAG,KAAKH,SAAS,EAAE;IAC5BF,MAAM,CAACG,IAAI,CAAC,IAAIX,KAAK,CAAC,SAAS,EAAE,IAAIG,aAAa,CAAC,CAAC,EAAE,IAAIH,KAAK,CAAC,KAAK,EAAE,IAAIE,KAAK,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAC/F;EAEA,OAAO,IAAIH,MAAM,CAACS,MAAM,EAAEF,QAAQ,CAAC;AACrC"}

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

@@ -1,7 +1,10 @@
+
+
 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) {
   const textData = new TextDecoder().decode(data);
   const pcdHeader = parsePCDHeader(textData);
@@ -11,19 +14,15 @@ export default function parsePCD(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)]]);
@@ -48,7 +47,6 @@ function getMeshHeader(pcdHeader, attributes) {
       boundingBox: getMeshBoundingBox(attributes)
     };
   }
-
   return pcdHeader;
 }
 
@@ -59,21 +57,18 @@ function getMeshAttributes(attributes) {
       size: 3
     }
   };
-
   if (attributes.normal && attributes.normal.length > 0) {
     normalizedAttributes.NORMAL = {
       value: new Float32Array(attributes.normal),
       size: 3
     };
   }
-
   if (attributes.color && attributes.color.length > 0) {
     normalizedAttributes.COLOR_0 = {
       value: new Uint8Array(attributes.color),
       size: 3
     };
   }
-
   return normalizedAttributes;
 }
 
@@ -82,13 +77,13 @@ function parsePCDHeader(data) {
   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);
@@ -102,54 +97,42 @@ function parsePCDHeader(data) {
   if (pcdHeader.version !== null) {
     pcdHeader.version = parseFloat(pcdHeader.version[1]);
   }
-
   if (pcdHeader.fields !== null) {
     pcdHeader.fields = pcdHeader.fields[1].split(' ');
   }
-
   if (pcdHeader.type !== null) {
     pcdHeader.type = pcdHeader.type[1].split(' ');
   }
-
   if (pcdHeader.width !== null) {
     pcdHeader.width = parseInt(pcdHeader.width[1], 10);
   }
-
   if (pcdHeader.height !== null) {
     pcdHeader.height = parseInt(pcdHeader.height[1], 10);
   }
-
   if (pcdHeader.viewpoint !== null) {
     pcdHeader.viewpoint = pcdHeader.viewpoint[1];
   }
-
   if (pcdHeader.points !== null) {
     pcdHeader.points = parseInt(pcdHeader.points[1], 10);
   }
-
   if (pcdHeader.points === null && typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
     pcdHeader.points = pcdHeader.width * pcdHeader.height;
   }
-
   if (pcdHeader.size !== null) {
     pcdHeader.size = pcdHeader.size[1].split(' ').map(x => parseInt(x, 10));
   }
-
   if (pcdHeader.count !== null) {
     pcdHeader.count = pcdHeader.count[1].split(' ').map(x => parseInt(x, 10));
   } else {
     pcdHeader.count = [];
-
     if (pcdHeader.fields !== null) {
       for (let i = 0; i < pcdHeader.fields.length; i++) {
         pcdHeader.count.push(1);
       }
     }
   }
-
   pcdHeader.offset = {};
   let sizeSum = 0;
-
   if (pcdHeader.fields !== null && pcdHeader.size !== null) {
     for (let i = 0; i < pcdHeader.fields.length; i++) {
       if (pcdHeader.data === 'ascii') {
@@ -172,17 +155,14 @@ function parsePCDASCII(pcdHeader, textData) {
   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]);
@@ -199,7 +179,6 @@ function parsePCDASCII(pcdHeader, textData) {
       }
     }
   }
-
   return {
     position,
     normal,
@@ -213,33 +192,30 @@ function parsePCDBinary(pcdHeader, data) {
   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
   };
 }
+
 /** 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)
@@ -247,8 +223,6 @@ function parsePCDBinary(pcdHeader, data) {
  * @param data
  * @returns [attributes]
  */
-
-
 function parsePCDBinaryCompressed(PCDheader, data) {
   const position = [];
   const normal = [];
@@ -259,27 +233,23 @@ function parsePCDBinaryCompressed(PCDheader, data) {
   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,

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

@@ -1 +1 @@
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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"}
+{"version":3,"file":"parse-pcd.js","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"],"sources":["../../../src/lib/parse-pcd.ts"],"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  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package/dist/esm/lib/pcd-types.js.map

@@ -1 +1 @@
-{"version":3,"sources":[],"names":[],"mappings":"","sourcesContent":[],"file":"pcd-types.js"}
+{"version":3,"file":"pcd-types.js","names":[],"sources":["../../../src/lib/pcd-types.ts"],"sourcesContent":["import type {Mesh} from '@loaders.gl/schema';\n\ntype BoundingBox = [[number, number, number], [number, number, number]];\n\nexport type PCDHeader = {\n  data: any;\n  headerLen: number;\n  str: string;\n  version: RegExpExecArray | null | number;\n  fields: RegExpExecArray | null | string[];\n  size: RegExpExecArray | null | number[];\n  type: RegExpExecArray | null | string[];\n  count: RegExpExecArray | null | number[];\n  width: RegExpExecArray | number;\n  height: RegExpExecArray | number;\n  viewpoint: RegExpExecArray | null | string;\n  points: RegExpExecArray | number;\n  offset: {[index: string]: number};\n  rowSize: number;\n  vertexCount: number;\n  boundingBox: BoundingBox;\n};\n\n/**  */\nexport type PCDMesh = Mesh & {\n  loader: 'pcd';\n  loaderData: PCDHeader;\n  topology: 'point-list';\n  mode: 0;\n};\n"],"mappings":""}

package/dist/esm/pcd-loader.js

@@ -1,4 +1,6 @@
-const VERSION = typeof "3.3.0-alpha.4" !== 'undefined' ? "3.3.0-alpha.4" : 'latest';
+
+const VERSION = typeof "3.3.0-alpha.6" !== 'undefined' ? "3.3.0-alpha.6" : 'latest';
+
 export const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

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

@@ -1 +1 @@
-{"version":3,"sources":["../../src/pcd-loader.ts"],"names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"mappings":"AAIA,MAAMA,OAAO,GAAG,2BAAuB,WAAvB,qBAAmD,QAAnE;AAKA,OAAO,MAAMC,SAAS,GAAG;AACvBC,EAAAA,IAAI,EAAE,wBADiB;AAEvBC,EAAAA,EAAE,EAAE,KAFmB;AAGvBC,EAAAA,MAAM,EAAE,KAHe;AAIvBC,EAAAA,OAAO,EAAEL,OAJc;AAKvBM,EAAAA,MAAM,EAAE,IALe;AAMvBC,EAAAA,UAAU,EAAE,CAAC,KAAD,CANW;AAOvBC,EAAAA,SAAS,EAAE,CAAC,YAAD,CAPY;AAQvBC,EAAAA,OAAO,EAAE;AACPC,IAAAA,GAAG,EAAE;AADE;AARc,CAAlB;AAaP,OAAO,MAAMC,mBAA2B,GAAGV,SAApC","sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pcd',\n  version: VERSION,\n  worker: true,\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  options: {\n    pcd: {}\n  }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"file":"pcd-loader.js"}
+{"version":3,"file":"pcd-loader.js","names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"sources":["../../src/pcd-loader.ts"],"sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pcd',\n  version: VERSION,\n  worker: true,\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  options: {\n    pcd: {}\n  }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"mappings":";AAIA,MAAMA,OAAO,GAAG,sBAAkB,KAAK,WAAW,qBAAiB,QAAQ;;AAK3E,OAAO,MAAMC,SAAS,GAAG;EACvBC,IAAI,EAAE,wBAAwB;EAC9BC,EAAE,EAAE,KAAK;EACTC,MAAM,EAAE,KAAK;EACbC,OAAO,EAAEL,OAAO;EAChBM,MAAM,EAAE,IAAI;EACZC,UAAU,EAAE,CAAC,KAAK,CAAC;EACnBC,SAAS,EAAE,CAAC,YAAY,CAAC;EACzBC,OAAO,EAAE;IACPC,GAAG,EAAE,CAAC;EACR;AACF,CAAC;AAED,OAAO,MAAMC,mBAA2B,GAAGV,SAAS"}

package/dist/esm/workers/pcd-worker.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../../src/workers/pcd-worker.ts"],"names":["createLoaderWorker","PCDLoader"],"mappings":"AAAA,SAAQA,kBAAR,QAAiC,0BAAjC;AACA,SAAQC,SAAR,QAAwB,UAAxB;AAEAD,kBAAkB,CAACC,SAAD,CAAlB","sourcesContent":["import {createLoaderWorker} from '@loaders.gl/loader-utils';\nimport {PCDLoader} from '../index';\n\ncreateLoaderWorker(PCDLoader);\n"],"file":"pcd-worker.js"}
+{"version":3,"file":"pcd-worker.js","names":["createLoaderWorker","PCDLoader"],"sources":["../../../src/workers/pcd-worker.ts"],"sourcesContent":["import {createLoaderWorker} from '@loaders.gl/loader-utils';\nimport {PCDLoader} from '../index';\n\ncreateLoaderWorker(PCDLoader);\n"],"mappings":"AAAA,SAAQA,kBAAkB,QAAO,0BAA0B;AAC3D,SAAQC,SAAS,QAAO,UAAU;AAElCD,kBAAkB,CAACC,SAAS,CAAC"}

package/dist/pcd-worker.js

@@ -918,7 +918,7 @@
   }
 
   // src/pcd-loader.ts
-  var VERSION = true ? "3.3.0-alpha.4" : "latest";
+  var VERSION = true ? "3.3.0-alpha.6" : "latest";
   var PCDLoader = {
     name: "PCD (Point Cloud Data)",
     id: "pcd",

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "3.3.0-alpha.4",
+  "version": "3.3.0-alpha.6",
   "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 --define:__VERSION__=\\\"$npm_package_version\\\""
   },
   "dependencies": {
-    "@loaders.gl/loader-utils": "3.3.0-alpha.4",
-    "@loaders.gl/schema": "3.3.0-alpha.4"
+    "@loaders.gl/loader-utils": "3.3.0-alpha.6",
+    "@loaders.gl/schema": "3.3.0-alpha.6"
   },
-  "gitHead": "d1c524fd3cb9296ecd1bf7d185765c4f6aaef6a1"
+  "gitHead": "718a2998a26883247461ff05f01dcbef8d8c2417"
 }