@loaders.gl/pcd 3.4.0-alpha.1 → 3.4.0-alpha.3

package/dist/dist.min.js

@@ -210,7 +210,7 @@
   });
 
   // ../schema/src/lib/schema/impl/type.ts
-  var DataType, Null, Bool, Int, Uint8, Precision, Float, Float32, Binary, Utf8, DateUnit, Date, TimeUnit, Time, Timestamp, IntervalUnit, Interval, FixedSizeList, Struct;
+  var DataType, Null, Bool, Int, Int32, Uint8, Precision, Float, Float32, Binary, Utf8, DateUnit, Date, TimeUnit, Time, Timestamp, IntervalUnit, Interval, FixedSizeList, Struct;
   var init_type = __esm({
     "../schema/src/lib/schema/impl/type.ts"() {
       init_enum();
@@ -314,6 +314,11 @@
           return `${this.isSigned ? "I" : "Ui"}nt${this.bitWidth}`;
         }
       };
+      Int32 = class extends Int {
+        constructor() {
+          super(true, 32);
+        }
+      };
       Uint8 = class extends Int {
         constructor() {
           super(false, 8);
@@ -515,30 +520,37 @@
       ctrl = inData[inPtr++];
       if (ctrl < 1 << 5) {
         ctrl++;
-        if (outPtr + ctrl > outLength)
+        if (outPtr + ctrl > outLength) {
           throw new Error("Output buffer is not large enough");
-        if (inPtr + ctrl > inLength)
+        }
+        if (inPtr + ctrl > inLength) {
           throw new Error("Invalid compressed data");
+        }
         do {
           outData[outPtr++] = inData[inPtr++];
         } while (--ctrl);
       } else {
         len = ctrl >> 5;
         ref = outPtr - ((ctrl & 31) << 8) - 1;
-        if (inPtr >= inLength)
+        if (inPtr >= inLength) {
           throw new Error("Invalid compressed data");
+        }
         if (len === 7) {
           len += inData[inPtr++];
-          if (inPtr >= inLength)
+          if (inPtr >= inLength) {
             throw new Error("Invalid compressed data");
+          }
         }
         ref -= inData[inPtr++];
-        if (outPtr + len + 2 > outLength)
+        if (outPtr + len + 2 > outLength) {
           throw new Error("Output buffer is not large enough");
-        if (ref < 0)
+        }
+        if (ref < 0) {
           throw new Error("Invalid compressed data");
-        if (ref >= outPtr)
+        }
+        if (ref >= outPtr) {
           throw new Error("Invalid compressed data");
+        }
         do {
           outData[outPtr++] = outData[ref++];
         } while (--len + 2);
@@ -564,6 +576,12 @@
     if (offset.rgb !== void 0) {
       fields.push(new Field("COLOR_0", new FixedSizeList(3, new Field("rgb", new Uint8())), false));
     }
+    if (offset.intensity !== void 0) {
+      fields.push(new Field("intensity", new Field("intensity", new Float32()), false));
+    }
+    if (offset.label !== void 0) {
+      fields.push(new Field("label", new Field("label", new Int32()), false));
+    }
     return new Schema(fields, metadata);
   }
   var init_get_pcd_schema = __esm({
@@ -637,6 +655,18 @@
         size: 3
       };
     }
+    if (attributes.intensity && attributes.intensity.length > 0) {
+      normalizedAttributes.COLOR_0 = {
+        value: new Uint8Array(attributes.color),
+        size: 3
+      };
+    }
+    if (attributes.label && attributes.label.length > 0) {
+      normalizedAttributes.COLOR_0 = {
+        value: new Uint8Array(attributes.label),
+        size: 3
+      };
+    }
     return normalizedAttributes;
   }
   function parsePCDHeader(data) {
@@ -714,6 +744,8 @@
     const position = [];
     const normal = [];
     const color = [];
+    const intensity = [];
+    const label = [];
     const offset = pcdHeader.offset;
     const pcdData = textData.substr(pcdHeader.headerLen);
     const lines = pcdData.split("\n");
@@ -738,6 +770,12 @@
           normal.push(parseFloat(line[offset.normal_y]));
           normal.push(parseFloat(line[offset.normal_z]));
         }
+        if (offset.intensity !== void 0) {
+          intensity.push(parseFloat(line[offset.intensity]));
+        }
+        if (offset.label !== void 0) {
+          label.push(parseInt(line[offset.label]));
+        }
       }
     }
     return { position, normal, color };
@@ -746,6 +784,8 @@
     const position = [];
     const normal = [];
     const color = [];
+    const intensity = [];
+    const label = [];
     const dataview = new DataView(data, pcdHeader.headerLen);
     const offset = pcdHeader.offset;
     for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
@@ -764,40 +804,58 @@
         normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));
         normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));
       }
+      if (offset.intensity !== void 0) {
+        intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+      }
+      if (offset.label !== void 0) {
+        label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
+      }
     }
-    return { position, normal, color };
+    return { position, normal, color, intensity, label };
   }
-  function parsePCDBinaryCompressed(PCDheader, data) {
+  function parsePCDBinaryCompressed(pcdHeader, data) {
     const position = [];
     const normal = [];
     const color = [];
-    const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+    const intensity = [];
+    const label = [];
+    const sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));
     const compressedSize = sizes[0];
     const decompressedSize = sizes[1];
-    const decompressed = decompressLZF(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+    const 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++) {
+    const offset = pcdHeader.offset;
+    for (let i = 0; i < pcdHeader.points; i++) {
       if (offset.x !== void 0) {
-        position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, LITTLE_ENDIAN));
-        position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, LITTLE_ENDIAN));
-        position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN));
+        position.push(dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN));
       }
       if (offset.rgb !== void 0) {
-        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255);
-        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255);
-        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255);
+        color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255);
+        color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255);
+        color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255);
       }
       if (offset.normal_x !== void 0) {
-        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, LITTLE_ENDIAN));
-        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, LITTLE_ENDIAN));
-        normal.push(dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, LITTLE_ENDIAN));
+        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));
+      }
+      if (offset.intensity !== void 0) {
+        const intensityIndex = pcdHeader.fields.indexOf("intensity");
+        intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
+      }
+      if (offset.label !== void 0) {
+        const labelIndex = pcdHeader.fields.indexOf("label");
+        label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
       }
     }
     return {
       position,
       normal,
-      color
+      color,
+      intensity,
+      label
     };
   }
   var LITTLE_ENDIAN;

package/dist/es5/index.js

@@ -23,14 +23,12 @@ var PCDLoader = _objectSpread(_objectSpread({}, _pcdLoader.PCDLoader), {}, {
   parse: function () {
     var _parse = (0, _asyncToGenerator2.default)(_regenerator.default.mark(function _callee(arrayBuffer) {
       return _regenerator.default.wrap(function _callee$(_context) {
-        while (1) {
-          switch (_context.prev = _context.next) {
-            case 0:
-              return _context.abrupt("return", (0, _parsePcd.default)(arrayBuffer));
-            case 1:
-            case "end":
-              return _context.stop();
-          }
+        while (1) switch (_context.prev = _context.next) {
+          case 0:
+            return _context.abrupt("return", (0, _parsePcd.default)(arrayBuffer));
+          case 1:
+          case "end":
+            return _context.stop();
         }
       }, _callee);
     }));

package/dist/es5/index.js.map

@@ -1 +1 @@
-{"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"}
+{"version":3,"file":"index.js","names":["_parsePcd","_interopRequireDefault","require","_pcdLoader","ownKeys","object","enumerableOnly","keys","Object","getOwnPropertySymbols","symbols","filter","sym","getOwnPropertyDescriptor","enumerable","push","apply","_objectSpread","target","i","arguments","length","source","forEach","key","_defineProperty2","default","getOwnPropertyDescriptors","defineProperties","defineProperty","PCDLoader","PCDWorkerLoader","parse","_parse","_asyncToGenerator2","_regenerator","mark","_callee","arrayBuffer","wrap","_callee$","_context","prev","next","abrupt","parsePCDSync","stop","_x","parseSync","exports","_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,IAAAA,SAAA,GAAAC,sBAAA,CAAAC,OAAA;AACA,IAAAC,UAAA,GAAAD,OAAA;AAA0D,SAAAE,QAAAC,MAAA,EAAAC,cAAA,QAAAC,IAAA,GAAAC,MAAA,CAAAD,IAAA,CAAAF,MAAA,OAAAG,MAAA,CAAAC,qBAAA,QAAAC,OAAA,GAAAF,MAAA,CAAAC,qBAAA,CAAAJ,MAAA,GAAAC,cAAA,KAAAI,OAAA,GAAAA,OAAA,CAAAC,MAAA,WAAAC,GAAA,WAAAJ,MAAA,CAAAK,wBAAA,CAAAR,MAAA,EAAAO,GAAA,EAAAE,UAAA,OAAAP,IAAA,CAAAQ,IAAA,CAAAC,KAAA,CAAAT,IAAA,EAAAG,OAAA,YAAAH,IAAA;AAAA,SAAAU,cAAAC,MAAA,aAAAC,CAAA,MAAAA,CAAA,GAAAC,SAAA,CAAAC,MAAA,EAAAF,CAAA,UAAAG,MAAA,WAAAF,SAAA,CAAAD,CAAA,IAAAC,SAAA,CAAAD,CAAA,QAAAA,CAAA,OAAAf,OAAA,CAAAI,MAAA,CAAAc,MAAA,OAAAC,OAAA,WAAAC,GAAA,QAAAC,gBAAA,CAAAC,OAAA,EAAAR,MAAA,EAAAM,GAAA,EAAAF,MAAA,CAAAE,GAAA,SAAAhB,MAAA,CAAAmB,yBAAA,GAAAnB,MAAA,CAAAoB,gBAAA,CAAAV,MAAA,EAAAV,MAAA,CAAAmB,yBAAA,CAAAL,MAAA,KAAAlB,OAAA,CAAAI,MAAA,CAAAc,MAAA,GAAAC,OAAA,WAAAC,GAAA,IAAAhB,MAAA,CAAAqB,cAAA,CAAAX,MAAA,EAAAM,GAAA,EAAAhB,MAAA,CAAAK,wBAAA,CAAAS,MAAA,EAAAE,GAAA,iBAAAN,MAAA;AAOnD,IAAMY,SAAS,GAAAb,aAAA,CAAAA,aAAA,KACjBc,oBAAe;EAClBC,KAAK;IAAA,IAAAC,MAAA,OAAAC,kBAAA,CAAAR,OAAA,EAAAS,YAAA,CAAAT,OAAA,CAAAU,IAAA,CAAE,SAAAC,QAAOC,WAAW;MAAA,OAAAH,YAAA,CAAAT,OAAA,CAAAa,IAAA,UAAAC,SAAAC,QAAA;QAAA,kBAAAA,QAAA,CAAAC,IAAA,GAAAD,QAAA,CAAAE,IAAA;UAAA;YAAA,OAAAF,QAAA,CAAAG,MAAA,WAAK,IAAAC,iBAAY,EAACP,WAAW,CAAC;UAAA;UAAA;YAAA,OAAAG,QAAA,CAAAK,IAAA;QAAA;MAAA,GAAAT,OAAA;IAAA;IAAA,SAAAL,MAAAe,EAAA;MAAA,OAAAd,MAAA,CAAAjB,KAAA,OAAAI,SAAA;IAAA;IAAA,OAAAY,KAAA;EAAA;EACvDgB,SAAS,EAAEH;AAAY,EACxB;AAACI,OAAA,CAAAnB,SAAA,GAAAA,SAAA;AAEK,IAAMoB,mBAAqC,GAAGpB,SAAS;AAACmB,OAAA,CAAAC,mBAAA,GAAAA,mBAAA"}

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

@@ -16,23 +16,37 @@ function decompressLZF(inData, outLength) {
     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');
+      if (outPtr + ctrl > outLength) {
+        throw new Error('Output buffer is not large enough');
+      }
+      if (inPtr + ctrl > inLength) {
+        throw new Error('Invalid compressed data');
+      }
       do {
         outData[outPtr++] = inData[inPtr++];
       } while (--ctrl);
     } else {
       len = ctrl >> 5;
       ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
-      if (inPtr >= inLength) throw new Error('Invalid compressed data');
+      if (inPtr >= inLength) {
+        throw new Error('Invalid compressed data');
+      }
       if (len === 7) {
         len += inData[inPtr++];
-        if (inPtr >= inLength) throw new Error('Invalid compressed data');
+        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');
+      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);

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

@@ -1 +1 @@
-{"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"}
+{"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) {\n        throw new Error('Output buffer is not large enough');\n      }\n      if (inPtr + ctrl > inLength) {\n        throw new Error('Invalid compressed data');\n      }\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) {\n        throw new Error('Invalid compressed data');\n      }\n\n      if (len === 7) {\n        len += inData[inPtr++];\n        if (inPtr >= inLength) {\n          throw new Error('Invalid compressed data');\n        }\n      }\n\n      ref -= inData[inPtr++];\n      if (outPtr + len + 2 > outLength) {\n        throw new Error('Output buffer is not large enough');\n      }\n      if (ref < 0) {\n        throw new Error('Invalid compressed data');\n      }\n      if (ref >= outPtr) {\n        throw new Error('Invalid compressed data');\n      }\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,aAAaA,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;QAC7B,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtD;MACA,IAAIL,KAAK,GAAGE,IAAI,GAAGN,QAAQ,EAAE;QAC3B,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,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;QACrB,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,IAAIF,GAAG,KAAK,CAAC,EAAE;QACbA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAE,CAAC;QACtB,IAAIA,KAAK,IAAIJ,QAAQ,EAAE;UACrB,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;QAC5C;MACF;MAEAD,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAE,CAAC;MACtB,IAAIC,MAAM,GAAGE,GAAG,GAAG,CAAC,GAAGR,SAAS,EAAE;QAChC,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtD;MACA,IAAID,GAAG,GAAG,CAAC,EAAE;QACX,MAAM,IAAIC,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MACA,IAAID,GAAG,IAAIH,MAAM,EAAE;QACjB,MAAM,IAAII,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,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

@@ -17,6 +17,12 @@ function getPCDSchema(PCDheader, metadata) {
   if (offset.rgb !== undefined) {
     fields.push(new _schema.Field('COLOR_0', new _schema.FixedSizeList(3, new _schema.Field('rgb', new _schema.Uint8())), false));
   }
+  if (offset.intensity !== undefined) {
+    fields.push(new _schema.Field('intensity', new _schema.Field('intensity', new _schema.Float32()), false));
+  }
+  if (offset.label !== undefined) {
+    fields.push(new _schema.Field('label', new _schema.Field('label', new _schema.Int32()), false));
+  }
   return new _schema.Schema(fields, metadata);
 }
 //# sourceMappingURL=get-pcd-schema.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"get-pcd-schema.js","names":["_schema","require","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","intensity","label","Int32","Schema"],"sources":["../../../src/lib/get-pcd-schema.ts"],"sourcesContent":["import {Schema, Field, Float32, Int32, 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  if (offset.intensity !== undefined) {\n    fields.push(new Field('intensity', new Field('intensity', new Float32()), false));\n  }\n\n  if (offset.label !== undefined) {\n    fields.push(new Field('label', new Field('label', new Int32()), false));\n  }\n\n  return new Schema(fields, metadata);\n}\n"],"mappings":";;;;;;AAAA,IAAAA,OAAA,GAAAC,OAAA;AAWO,SAASC,YAAYA,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,IAAIV,MAAM,CAACW,SAAS,KAAKR,SAAS,EAAE;IAClCF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,WAAW,EAAE,IAAIA,aAAK,CAAC,WAAW,EAAE,IAAIE,eAAO,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;EACnF;EAEA,IAAIP,MAAM,CAACY,KAAK,KAAKT,SAAS,EAAE;IAC9BF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,OAAO,EAAE,IAAIA,aAAK,CAAC,OAAO,EAAE,IAAIQ,aAAK,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;EACzE;EAEA,OAAO,IAAIC,cAAM,CAACb,MAAM,EAAEF,QAAQ,CAAC;AACrC"}

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

@@ -7,14 +7,11 @@ exports.default = parsePCD;
 var _schema = require("@loaders.gl/schema");
 var _decompressLzf = require("./decompress-lzf");
 var _getPcdSchema = require("./get-pcd-schema");
-
 var LITTLE_ENDIAN = true;
-
 function parsePCD(data) {
   var textData = new TextDecoder().decode(data);
   var pcdHeader = parsePCDHeader(textData);
   var attributes = {};
-
   switch (pcdHeader.data) {
     case 'ascii':
       attributes = parsePCDASCII(pcdHeader, textData);
@@ -43,7 +40,6 @@ function parsePCD(data) {
     attributes: attributes
   };
 }
-
 function getMeshHeader(pcdHeader, attributes) {
   if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
     var pointCount = pcdHeader.width * pcdHeader.height;
@@ -54,7 +50,6 @@ function getMeshHeader(pcdHeader, attributes) {
   }
   return pcdHeader;
 }
-
 function getMeshAttributes(attributes) {
   var normalizedAttributes = {
     POSITION: {
@@ -74,9 +69,20 @@ function getMeshAttributes(attributes) {
       size: 3
     };
   }
+  if (attributes.intensity && attributes.intensity.length > 0) {
+    normalizedAttributes.COLOR_0 = {
+      value: new Uint8Array(attributes.color),
+      size: 3
+    };
+  }
+  if (attributes.label && attributes.label.length > 0) {
+    normalizedAttributes.COLOR_0 = {
+      value: new Uint8Array(attributes.label),
+      size: 3
+    };
+  }
   return normalizedAttributes;
 }
-
 function parsePCDHeader(data) {
   var result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
   var result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
@@ -86,9 +92,7 @@ function parsePCDHeader(data) {
     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);
@@ -98,7 +102,6 @@ function parsePCDHeader(data) {
   pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
   pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
   pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
-
   if (pcdHeader.version !== null) {
     pcdHeader.version = parseFloat(pcdHeader.version[1]);
   }
@@ -152,15 +155,15 @@ function parsePCDHeader(data) {
       }
     }
   }
-
   pcdHeader.rowSize = sizeSum;
   return pcdHeader;
 }
-
 function parsePCDASCII(pcdHeader, textData) {
   var position = [];
   var normal = [];
   var color = [];
+  var intensity = [];
+  var label = [];
   var offset = pcdHeader.offset;
   var pcdData = textData.substr(pcdHeader.headerLen);
   var lines = pcdData.split('\n');
@@ -180,12 +183,17 @@ function parsePCDASCII(pcdHeader, textData) {
         color.push(dataview.getUint8(1));
         color.push(dataview.getUint8(2));
       }
-
       if (offset.normal_x !== undefined) {
         normal.push(parseFloat(line[offset.normal_x]));
         normal.push(parseFloat(line[offset.normal_y]));
         normal.push(parseFloat(line[offset.normal_z]));
       }
+      if (offset.intensity !== undefined) {
+        intensity.push(parseFloat(line[offset.intensity]));
+      }
+      if (offset.label !== undefined) {
+        label.push(parseInt(line[offset.label]));
+      }
     }
   }
   return {
@@ -194,11 +202,12 @@ function parsePCDASCII(pcdHeader, textData) {
     color: color
   };
 }
-
 function parsePCDBinary(pcdHeader, data) {
   var position = [];
   var normal = [];
   var color = [];
+  var intensity = [];
+  var label = [];
   var dataview = new DataView(data, pcdHeader.headerLen);
   var offset = pcdHeader.offset;
   for (var i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
@@ -217,11 +226,19 @@ function parsePCDBinary(pcdHeader, data) {
       normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));
       normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));
     }
+    if (offset.intensity !== undefined) {
+      intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+    }
+    if (offset.label !== undefined) {
+      label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
+    }
   }
   return {
     position: position,
     normal: normal,
-    color: color
+    color: color,
+    intensity: intensity,
+    label: label
   };
 }
 
@@ -232,37 +249,49 @@ function parsePCDBinary(pcdHeader, data) {
  * @param data
  * @returns [attributes]
  */
-function parsePCDBinaryCompressed(PCDheader, data) {
+function parsePCDBinaryCompressed(pcdHeader, data) {
   var position = [];
   var normal = [];
   var color = [];
-  var sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+  var intensity = [];
+  var label = [];
+  var sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));
   var compressedSize = sizes[0];
   var decompressedSize = sizes[1];
-  var decompressed = (0, _decompressLzf.decompressLZF)(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+  var 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++) {
+  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));
+      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);
+      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));
+      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));
+    }
+    if (offset.intensity !== undefined) {
+      var intensityIndex = pcdHeader.fields.indexOf('intensity');
+      intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
+    }
+    if (offset.label !== undefined) {
+      var labelIndex = pcdHeader.fields.indexOf('label');
+      label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
     }
   }
   return {
     position: position,
     normal: normal,
-    color: color
+    color: color,
+    intensity: intensity,
+    label: label
   };
 }
 //# sourceMappingURL=parse-pcd.js.map