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

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

@@ -1 +1 @@
-{"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  };\n}\n"],"mappings":";;;;;;AASA;AACA;AACA;;AAsBA,IAAMA,aAAsB,GAAG,IAAI;;AAOpB,SAASC,QAAQ,CAACC,IAAqB,EAAE;EAEtD,IAAMC,QAAQ,GAAG,IAAIC,WAAW,EAAE,CAACC,MAAM,CAACH,IAAI,CAAC;EAC/C,IAAMI,SAAS,GAAGC,cAAc,CAACJ,QAAQ,CAAC;EAE1C,IAAIK,UAAe,GAAG,CAAC,CAAC;;EAGxB,QAAQF,SAAS,CAACJ,IAAI;IACpB,KAAK,OAAO;MACVM,UAAU,GAAGC,aAAa,CAACH,SAAS,EAAEH,QAAQ,CAAC;MAC/C;IAEF,KAAK,QAAQ;MACXK,UAAU,GAAGE,cAAc,CAACJ,SAAS,EAAEJ,IAAI,CAAC;MAC5C;IAEF,KAAK,mBAAmB;MACtBM,UAAU,GAAGG,wBAAwB,CAACL,SAAS,EAAEJ,IAAI,CAAC;MACtD;IAEF;MACE,MAAM,IAAIU,KAAK,gBAASN,SAAS,CAACJ,IAAI,8BAA2B;EAAC;EAGtEM,UAAU,GAAGK,iBAAiB,CAACL,UAAU,CAAC;EAE1C,IAAMM,MAAM,GAAGC,aAAa,CAACT,SAAS,EAAEE,UAAU,CAAC;EAEnD,IAAMQ,QAAQ,GAAG,IAAIC,GAAG,CAAC,CACvB,CAAC,MAAM,EAAE,GAAG,CAAC,EACb,CAAC,aAAa,EAAEC,IAAI,CAACC,SAAS,CAACL,MAAM,CAACM,WAAW,CAAC,CAAC,CACpD,CAAC;EAEF,IAAMC,MAAM,GAAG,IAAAC,0BAAY,EAAChB,SAAS,EAAEU,QAAQ,CAAC;EAEhD,OAAO;IACLO,UAAU,EAAE;MACVT,MAAM,EAAER;IACV,CAAC;IACDQ,MAAM,EAANA,MAAM;IACNO,MAAM,EAANA,MAAM;IACNG,IAAI,EAAE,CAAC;IACPC,OAAO,EAAE,IAAI;IACbjB,UAAU,EAAVA;EACF,CAAC;AACH;;AAGA,SAASO,aAAa,CAACT,SAAoB,EAAEE,UAAgC,EAAsB;EACjG,IAAI,OAAOF,SAAS,CAACoB,KAAK,KAAK,QAAQ,IAAI,OAAOpB,SAAS,CAACqB,MAAM,KAAK,QAAQ,EAAE;IAC/E,IAAMC,UAAU,GAAGtB,SAAS,CAACoB,KAAK,GAAGpB,SAAS,CAACqB,MAAM;IACrD,OAAO;MACLE,WAAW,EAAED,UAAU;MACvBR,WAAW,EAAE,IAAAU,0BAAkB,EAACtB,UAAU;IAC5C,CAAC;EACH;EACA,OAAOF,SAAS;AAClB;;AAMA,SAASO,iBAAiB,CAACL,UAA4B,EAA4C;EACjG,IAAMuB,oBAAoC,GAAG;IAC3CC,QAAQ,EAAE;MAERC,KAAK,EAAE,IAAIC,YAAY,CAAC1B,UAAU,CAAC2B,QAAQ,CAAC;MAC5CC,IAAI,EAAE;IACR;EACF,CAAC;EAED,IAAI5B,UAAU,CAAC6B,MAAM,IAAI7B,UAAU,CAAC6B,MAAM,CAACC,MAAM,GAAG,CAAC,EAAE;IACrDP,oBAAoB,CAACQ,MAAM,GAAG;MAC5BN,KAAK,EAAE,IAAIC,YAAY,CAAC1B,UAAU,CAAC6B,MAAM,CAAC;MAC1CD,IAAI,EAAE;IACR,CAAC;EACH;EAEA,IAAI5B,UAAU,CAACgC,KAAK,IAAIhC,UAAU,CAACgC,KAAK,CAACF,MAAM,GAAG,CAAC,EAAE;IAEnDP,oBAAoB,CAACU,OAAO,GAAG;MAC7BR,KAAK,EAAE,IAAIS,UAAU,CAAClC,UAAU,CAACgC,KAAK,CAAC;MACvCJ,IAAI,EAAE;IACR,CAAC;EACH;EAEA,OAAOL,oBAAoB;AAC7B;;AAQA,SAASxB,cAAc,CAACL,IAAY,EAAa;EAC/C,IAAMyC,OAAO,GAAGzC,IAAI,CAAC0C,MAAM,CAAC,sBAAsB,CAAC;EACnD,IAAMC,OAAO,GAAG,sBAAsB,CAACC,IAAI,CAAC5C,IAAI,CAAC6C,MAAM,CAACJ,OAAO,GAAG,CAAC,CAAC,CAAC;EAErE,IAAMrC,SAAc,GAAG,CAAC,CAAC;EACzBA,SAAS,CAACJ,IAAI,GAAG2C,OAAO,IAAIA,OAAO,CAAC,CAAC,CAAC;EACtC,IAAIA,OAAO,KAAK,IAAI,EAAE;IACpBvC,SAAS,CAAC0C,SAAS,GAAG,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAC,CAAC,CAACP,MAAM,IAAIK,OAAO;EAChE;EACArC,SAAS,CAAC2C,GAAG,GAAG/C,IAAI,CAAC6C,MAAM,CAAC,CAAC,EAAEzC,SAAS,CAAC0C,SAAS,CAAC;;EAInD1C,SAAS,CAAC2C,GAAG,GAAG3C,SAAS,CAAC2C,GAAG,CAACC,OAAO,CAAC,QAAQ,EAAE,EAAE,CAAC;;EAInD5C,SAAS,CAAC6C,OAAO,GAAG,eAAe,CAACL,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACvD3C,SAAS,CAAC8C,MAAM,GAAG,cAAc,CAACN,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACrD3C,SAAS,CAAC8B,IAAI,GAAG,YAAY,CAACU,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACjD3C,SAAS,CAAC+C,IAAI,GAAG,YAAY,CAACP,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACjD3C,SAAS,CAACgD,KAAK,GAAG,aAAa,CAACR,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACnD3C,SAAS,CAACoB,KAAK,GAAG,aAAa,CAACoB,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACnD3C,SAAS,CAACqB,MAAM,GAAG,cAAc,CAACmB,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EACrD3C,SAAS,CAACiD,SAAS,GAAG,iBAAiB,CAACT,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;EAC3D3C,SAAS,CAACkD,MAAM,GAAG,cAAc,CAACV,IAAI,CAACxC,SAAS,CAAC2C,GAAG,CAAC;;EAIrD,IAAI3C,SAAS,CAAC6C,OAAO,KAAK,IAAI,EAAE;IAC9B7C,SAAS,CAAC6C,OAAO,GAAGM,UAAU,CAACnD,SAAS,CAAC6C,OAAO,CAAC,CAAC,CAAC,CAAC;EACtD;EAEA,IAAI7C,SAAS,CAAC8C,MAAM,KAAK,IAAI,EAAE;IAC7B9C,SAAS,CAAC8C,MAAM,GAAG9C,SAAS,CAAC8C,MAAM,CAAC,CAAC,CAAC,CAACM,KAAK,CAAC,GAAG,CAAC;EACnD;EAEA,IAAIpD,SAAS,CAAC+C,IAAI,KAAK,IAAI,EAAE;IAC3B/C,SAAS,CAAC+C,IAAI,GAAG/C,SAAS,CAAC+C,IAAI,CAAC,CAAC,CAAC,CAACK,KAAK,CAAC,GAAG,CAAC;EAC/C;EAEA,IAAIpD,SAAS,CAACoB,KAAK,KAAK,IAAI,EAAE;IAC5BpB,SAAS,CAACoB,KAAK,GAAGiC,QAAQ,CAACrD,SAAS,CAACoB,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;EACpD;EAEA,IAAIpB,SAAS,CAACqB,MAAM,KAAK,IAAI,EAAE;IAC7BrB,SAAS,CAACqB,MAAM,GAAGgC,QAAQ,CAACrD,SAAS,CAACqB,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;EACtD;EAEA,IAAIrB,SAAS,CAACiD,SAAS,KAAK,IAAI,EAAE;IAChCjD,SAAS,CAACiD,SAAS,GAAGjD,SAAS,CAACiD,SAAS,CAAC,CAAC,CAAC;EAC9C;EAEA,IAAIjD,SAAS,CAACkD,MAAM,KAAK,IAAI,EAAE;IAC7BlD,SAAS,CAACkD,MAAM,GAAGG,QAAQ,CAACrD,SAAS,CAACkD,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;EACtD;EAEA,IACElD,SAAS,CAACkD,MAAM,KAAK,IAAI,IACzB,OAAOlD,SAAS,CAACoB,KAAK,KAAK,QAAQ,IACnC,OAAOpB,SAAS,CAACqB,MAAM,KAAK,QAAQ,EACpC;IACArB,SAAS,CAACkD,MAAM,GAAGlD,SAAS,CAACoB,KAAK,GAAGpB,SAAS,CAACqB,MAAM;EACvD;EAEA,IAAIrB,SAAS,CAAC8B,IAAI,KAAK,IAAI,EAAE;IAC3B9B,SAAS,CAAC8B,IAAI,GAAG9B,SAAS,CAAC8B,IAAI,CAAC,CAAC,CAAC,CAACsB,KAAK,CAAC,GAAG,CAAC,CAACE,GAAG,CAAC,UAACC,CAAC;MAAA,OAAKF,QAAQ,CAACE,CAAC,EAAE,EAAE,CAAC;IAAA,EAAC;EAC3E;EAEA,IAAIvD,SAAS,CAACgD,KAAK,KAAK,IAAI,EAAE;IAC5BhD,SAAS,CAACgD,KAAK,GAAGhD,SAAS,CAACgD,KAAK,CAAC,CAAC,CAAC,CAACI,KAAK,CAAC,GAAG,CAAC,CAACE,GAAG,CAAC,UAACC,CAAC;MAAA,OAAKF,QAAQ,CAACE,CAAC,EAAE,EAAE,CAAC;IAAA,EAAC;EAC7E,CAAC,MAAM;IACLvD,SAAS,CAACgD,KAAK,GAAG,EAAE;IACpB,IAAIhD,SAAS,CAAC8C,MAAM,KAAK,IAAI,EAAE;MAC7B,KAAK,IAAIU,CAAC,GAAG,CAAC,EAAEA,CAAC,GAAGxD,SAAS,CAAC8C,MAAM,CAACd,MAAM,EAAEwB,CAAC,EAAE,EAAE;QAChDxD,SAAS,CAACgD,KAAK,CAACS,IAAI,CAAC,CAAC,CAAC;MACzB;IACF;EACF;EAEAzD,SAAS,CAAC0D,MAAM,GAAG,CAAC,CAAC;EAErB,IAAIC,OAAO,GAAG,CAAC;EACf,IAAI3D,SAAS,CAAC8C,MAAM,KAAK,IAAI,IAAI9C,SAAS,CAAC8B,IAAI,KAAK,IAAI,EAAE;IACxD,KAAK,IAAI0B,EAAC,GAAG,CAAC,EAAEA,EAAC,GAAGxD,SAAS,CAAC8C,MAAM,CAACd,MAAM,EAAEwB,EAAC,EAAE,EAAE;MAChD,IAAIxD,SAAS,CAACJ,IAAI,KAAK,OAAO,EAAE;QAC9BI,SAAS,CAAC0D,MAAM,CAAC1D,SAAS,CAAC8C,MAAM,CAACU,EAAC,CAAC,CAAC,GAAGA,EAAC;MAC3C,CAAC,MAAM;QACLxD,SAAS,CAAC0D,MAAM,CAAC1D,SAAS,CAAC8C,MAAM,CAACU,EAAC,CAAC,CAAC,GAAGG,OAAO;QAC/CA,OAAO,IAAI3D,SAAS,CAAC8B,IAAI,CAAC0B,EAAC,CAAC;MAC9B;IACF;EACF;;EAGAxD,SAAS,CAAC4D,OAAO,GAAGD,OAAO;EAE3B,OAAO3D,SAAS;AAClB;;AAQA,SAASG,aAAa,CAACH,SAAoB,EAAEH,QAAgB,EAAoB;EAC/E,IAAMgC,QAAkB,GAAG,EAAE;EAC7B,IAAME,MAAgB,GAAG,EAAE;EAC3B,IAAMG,KAAe,GAAG,EAAE;EAE1B,IAAMwB,MAAM,GAAG1D,SAAS,CAAC0D,MAAM;EAC/B,IAAMG,OAAO,GAAGhE,QAAQ,CAAC4C,MAAM,CAACzC,SAAS,CAAC0C,SAAS,CAAC;EACpD,IAAMoB,KAAK,GAAGD,OAAO,CAACT,KAAK,CAAC,IAAI,CAAC;EAEjC,KAAK,IAAII,CAAC,GAAG,CAAC,EAAEA,CAAC,GAAGM,KAAK,CAAC9B,MAAM,EAAEwB,CAAC,EAAE,EAAE;IACrC,IAAIM,KAAK,CAACN,CAAC,CAAC,KAAK,EAAE,EAAE;MACnB,IAAMO,IAAI,GAAGD,KAAK,CAACN,CAAC,CAAC,CAACJ,KAAK,CAAC,GAAG,CAAC;MAEhC,IAAIM,MAAM,CAACH,CAAC,KAAKS,SAAS,EAAE;QAC1BnC,QAAQ,CAAC4B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACH,CAAC,CAAC,CAAC,CAAC;QACzC1B,QAAQ,CAAC4B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACO,CAAC,CAAC,CAAC,CAAC;QACzCpC,QAAQ,CAAC4B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACQ,CAAC,CAAC,CAAC,CAAC;MAC3C;MAEA,IAAIR,MAAM,CAACS,GAAG,KAAKH,SAAS,EAAE;QAC5B,IAAMI,UAAU,GAAGjB,UAAU,CAACY,IAAI,CAACL,MAAM,CAACS,GAAG,CAAC,CAAC;QAC/C,IAAME,WAAW,GAAG,IAAIzC,YAAY,CAAC,CAACwC,UAAU,CAAC,CAAC;QAClD,IAAME,QAAQ,GAAG,IAAIC,QAAQ,CAACF,WAAW,CAACG,MAAM,EAAE,CAAC,CAAC;QACpDtC,KAAK,CAACuB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAAC,CAAC,CAAC,CAAC;QAChCvC,KAAK,CAACuB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAAC,CAAC,CAAC,CAAC;QAChCvC,KAAK,CAACuB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAAC,CAAC,CAAC,CAAC;MAElC;;MAEA,IAAIf,MAAM,CAACgB,QAAQ,KAAKV,SAAS,EAAE;QACjCjC,MAAM,CAAC0B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACgB,QAAQ,CAAC,CAAC,CAAC;QAC9C3C,MAAM,CAAC0B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACiB,QAAQ,CAAC,CAAC,CAAC;QAC9C5C,MAAM,CAAC0B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACkB,QAAQ,CAAC,CAAC,CAAC;MAChD;IACF;EACF;EAEA,OAAO;IAAC/C,QAAQ,EAARA,QAAQ;IAAEE,MAAM,EAANA,MAAM;IAAEG,KAAK,EAALA;EAAK,CAAC;AAClC;;AAOA,SAAS9B,cAAc,CAACJ,SAAoB,EAAEJ,IAAqB,EAAoB;EACrF,IAAMiC,QAAkB,GAAG,EAAE;EAC7B,IAAME,MAAgB,GAAG,EAAE;EAC3B,IAAMG,KAAe,GAAG,EAAE;EAE1B,IAAMoC,QAAQ,GAAG,IAAIC,QAAQ,CAAC3E,IAAI,EAAEI,SAAS,CAAC0C,SAAS,CAAC;EACxD,IAAMgB,MAAM,GAAG1D,SAAS,CAAC0D,MAAM;EAE/B,KAAK,IAAIF,CAAC,GAAG,CAAC,EAAEqB,GAAG,GAAG,CAAC,EAAErB,CAAC,GAAGxD,SAAS,CAACkD,MAAM,EAAEM,CAAC,EAAE,EAAEqB,GAAG,IAAI7E,SAAS,CAAC4D,OAAO,EAAE;IAC5E,IAAIF,MAAM,CAACH,CAAC,KAAKS,SAAS,EAAE;MAC1BnC,QAAQ,CAAC4B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACH,CAAC,EAAE7D,aAAa,CAAC,CAAC;MACjEmC,QAAQ,CAAC4B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACO,CAAC,EAAEvE,aAAa,CAAC,CAAC;MACjEmC,QAAQ,CAAC4B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACQ,CAAC,EAAExE,aAAa,CAAC,CAAC;IACnE;IAEA,IAAIgE,MAAM,CAACS,GAAG,KAAKH,SAAS,EAAE;MAC5B9B,KAAK,CAACuB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAACI,GAAG,GAAGnB,MAAM,CAACS,GAAG,GAAG,CAAC,CAAC,CAAC;MACnDjC,KAAK,CAACuB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAACI,GAAG,GAAGnB,MAAM,CAACS,GAAG,GAAG,CAAC,CAAC,CAAC;MACnDjC,KAAK,CAACuB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAACI,GAAG,GAAGnB,MAAM,CAACS,GAAG,GAAG,CAAC,CAAC,CAAC;IACrD;IAEA,IAAIT,MAAM,CAACgB,QAAQ,KAAKV,SAAS,EAAE;MACjCjC,MAAM,CAAC0B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACgB,QAAQ,EAAEhF,aAAa,CAAC,CAAC;MACtEqC,MAAM,CAAC0B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACiB,QAAQ,EAAEjF,aAAa,CAAC,CAAC;MACtEqC,MAAM,CAAC0B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACkB,QAAQ,EAAElF,aAAa,CAAC,CAAC;IACxE;EACF;EAEA,OAAO;IAACmC,QAAQ,EAARA,QAAQ;IAAEE,MAAM,EAANA,MAAM;IAAEG,KAAK,EAALA;EAAK,CAAC;AAClC;;AAEA;AACA;AACA;AACA;AACA;AACA;AACA;AACA,SAAS7B,wBAAwB,CAAC0E,SAAoB,EAAEnF,IAAqB,EAAoB;EAC/F,IAAMiC,QAAkB,GAAG,EAAE;EAC7B,IAAME,MAAgB,GAAG,EAAE;EAC3B,IAAMG,KAAe,GAAG,EAAE;EAE1B,IAAM8C,KAAK,GAAG,IAAIC,WAAW,CAACrF,IAAI,CAACsF,KAAK,CAACH,SAAS,CAACrC,SAAS,EAAEqC,SAAS,CAACrC,SAAS,GAAG,CAAC,CAAC,CAAC;EACvF,IAAMyC,cAAc,GAAGH,KAAK,CAAC,CAAC,CAAC;EAC/B,IAAMI,gBAAgB,GAAGJ,KAAK,CAAC,CAAC,CAAC;EACjC,IAAMK,YAAY,GAAG,IAAAC,4BAAa,EAChC,IAAIlD,UAAU,CAACxC,IAAI,EAAEmF,SAAS,CAACrC,SAAS,GAAG,CAAC,EAAEyC,cAAc,CAAC,EAC7DC,gBAAgB,CACjB;EACD,IAAMd,QAAQ,GAAG,IAAIC,QAAQ,CAACc,YAAY,CAACb,MAAM,CAAC;EAElD,IAAMd,MAAM,GAAGqB,SAAS,CAACrB,MAAM;EAE/B,KAAK,IAAIF,CAAC,GAAG,CAAC,EAAEA,CAAC,GAAGuB,SAAS,CAAC7B,MAAM,EAAEM,CAAC,EAAE,EAAE;IACzC,IAAIE,MAAM,CAACH,CAAC,KAAKS,SAAS,EAAE;MAC1BnC,QAAQ,CAAC4B,IAAI,CACXa,QAAQ,CAACQ,UAAU,CAChBC,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACH,CAAC,GAAIwB,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,EAC7E9D,aAAa,CACd,CACF;MACDmC,QAAQ,CAAC4B,IAAI,CACXa,QAAQ,CAACQ,UAAU,CAChBC,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACO,CAAC,GAAIc,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,EAC7E9D,aAAa,CACd,CACF;MACDmC,QAAQ,CAAC4B,IAAI,CACXa,QAAQ,CAACQ,UAAU,CAChBC,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACQ,CAAC,GAAIa,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,EAC7E9D,aAAa,CACd,CACF;IACH;IAEA,IAAIgE,MAAM,CAACS,GAAG,KAAKH,SAAS,EAAE;MAC5B9B,KAAK,CAACuB,IAAI,CACRa,QAAQ,CAACG,QAAQ,CACdM,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACS,GAAG,GAAIY,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,GAAG,CAAC,CACpF,GAAG,KAAK,CACV;MACDtB,KAAK,CAACuB,IAAI,CACRa,QAAQ,CAACG,QAAQ,CACdM,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACS,GAAG,GAAIY,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,GAAG,CAAC,CACpF,GAAG,KAAK,CACV;MACDtB,KAAK,CAACuB,IAAI,CACRa,QAAQ,CAACG,QAAQ,CACdM,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACS,GAAG,GAAIY,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,GAAG,CAAC,CACpF,GAAG,KAAK,CACV;IACH;IAEA,IAAIE,MAAM,CAACgB,QAAQ,KAAKV,SAAS,EAAE;MACjCjC,MAAM,CAAC0B,IAAI,CACTa,QAAQ,CAACQ,UAAU,CAChBC,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACgB,QAAQ,GAAIK,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,EACpF9D,aAAa,CACd,CACF;MACDqC,MAAM,CAAC0B,IAAI,CACTa,QAAQ,CAACQ,UAAU,CAChBC,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACiB,QAAQ,GAAII,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,EACpF9D,aAAa,CACd,CACF;MACDqC,MAAM,CAAC0B,IAAI,CACTa,QAAQ,CAACQ,UAAU,CAChBC,SAAS,CAAC7B,MAAM,GAAcQ,MAAM,CAACkB,QAAQ,GAAIG,SAAS,CAACjD,IAAI,CAAc,CAAC,CAAC,GAAG0B,CAAC,EACpF9D,aAAa,CACd,CACF;IACH;EACF;EAEA,OAAO;IACLmC,QAAQ,EAARA,QAAQ;IACRE,MAAM,EAANA,MAAM;IACNG,KAAK,EAALA;EACF,CAAC;AACH"}
+{"version":3,"file":"parse-pcd.js","names":["_schema","require","_decompressLzf","_getPcdSchema","LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","parsePCDBinaryCompressed","Error","concat","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","intensity","label","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","getInt32","sizes","Uint32Array","slice","compressedSize","decompressedSize","decompressed","decompressLZF","intensityIndex","indexOf","labelIndex"],"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 {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  if (attributes.intensity && attributes.intensity.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = {\n      value: new Uint8Array(attributes.color),\n      size: 3\n    };\n  }\n\n  if (attributes.label && attributes.label.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = {\n      value: new Uint8Array(attributes.label),\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-next-line complexity, max-statements\nfunction parsePCDASCII(pcdHeader: PCDHeader, textData: string): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n  const intensity: number[] = [];\n  const label: 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      if (offset.intensity !== undefined) {\n        intensity.push(parseFloat(line[offset.intensity]));\n      }\n\n      if (offset.label !== undefined) {\n        label.push(parseInt(line[offset.label]));\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  const intensity: number[] = [];\n  const label: 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    if (offset.intensity !== undefined) {\n      intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));\n    }\n\n    if (offset.label !== undefined) {\n      label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));\n    }\n  }\n\n  return {position, normal, color, intensity, label};\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 */\n// eslint-enable-next-line complexity, max-statements\nfunction parsePCDBinaryCompressed(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n  const intensity: number[] = [];\n  const label: 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(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN)\n      );\n      position.push(\n        dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN)\n      );\n      position.push(\n        dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN)\n      );\n    }\n\n    if (offset.rgb !== undefined) {\n      color.push(\n        dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0\n      );\n      color.push(\n        dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0\n      );\n      color.push(\n        dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0\n      );\n    }\n\n    if (offset.normal_x !== undefined) {\n      normal.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.intensity !== undefined) {\n      const intensityIndex = pcdHeader.fields.indexOf('intensity');\n      intensity.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.label !== undefined) {\n      const labelIndex = pcdHeader.fields.indexOf('label');\n      label.push(\n        dataview.getInt32(\n          pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n  }\n\n  return {\n    position,\n    normal,\n    color,\n    intensity,\n    label\n  };\n}\n"],"mappings":";;;;;;AASA,IAAAA,OAAA,GAAAC,OAAA;AACA,IAAAC,cAAA,GAAAD,OAAA;AACA,IAAAE,aAAA,GAAAF,OAAA;AAsBA,IAAMG,aAAsB,GAAG,IAAI;AAOpB,SAASC,QAAQA,CAACC,IAAqB,EAAE;EAEtD,IAAMC,QAAQ,GAAG,IAAIC,WAAW,EAAE,CAACC,MAAM,CAACH,IAAI,CAAC;EAC/C,IAAMI,SAAS,GAAGC,cAAc,CAACJ,QAAQ,CAAC;EAE1C,IAAIK,UAAe,GAAG,CAAC,CAAC;EAGxB,QAAQF,SAAS,CAACJ,IAAI;IACpB,KAAK,OAAO;MACVM,UAAU,GAAGC,aAAa,CAACH,SAAS,EAAEH,QAAQ,CAAC;MAC/C;IAEF,KAAK,QAAQ;MACXK,UAAU,GAAGE,cAAc,CAACJ,SAAS,EAAEJ,IAAI,CAAC;MAC5C;IAEF,KAAK,mBAAmB;MACtBM,UAAU,GAAGG,wBAAwB,CAACL,SAAS,EAAEJ,IAAI,CAAC;MACtD;IAEF;MACE,MAAM,IAAIU,KAAK,SAAAC,MAAA,CAASP,SAAS,CAACJ,IAAI,8BAA2B;EAAC;EAGtEM,UAAU,GAAGM,iBAAiB,CAACN,UAAU,CAAC;EAE1C,IAAMO,MAAM,GAAGC,aAAa,CAACV,SAAS,EAAEE,UAAU,CAAC;EAEnD,IAAMS,QAAQ,GAAG,IAAIC,GAAG,CAAC,CACvB,CAAC,MAAM,EAAE,GAAG,CAAC,EACb,CAAC,aAAa,EAAEC,IAAI,CAACC,SAAS,CAACL,MAAM,CAACM,WAAW,CAAC,CAAC,CACpD,CAAC;EAEF,IAAMC,MAAM,GAAG,IAAAC,0BAAY,EAACjB,SAAS,EAAEW,QAAQ,CAAC;EAEhD,OAAO;IACLO,UAAU,EAAE;MACVT,MAAM,EAAET;IACV,CAAC;IACDS,MAAM,EAANA,MAAM;IACNO,MAAM,EAANA,MAAM;IACNG,IAAI,EAAE,CAAC;IACPC,OAAO,EAAE,IAAI;IACblB,UAAU,EAAVA;EACF,CAAC;AACH;AAGA,SAASQ,aAAaA,CAACV,SAAoB,EAAEE,UAAgC,EAAsB;EACjG,IAAI,OAAOF,SAAS,CAACqB,KAAK,KAAK,QAAQ,IAAI,OAAOrB,SAAS,CAACsB,MAAM,KAAK,QAAQ,EAAE;IAC/E,IAAMC,UAAU,GAAGvB,SAAS,CAACqB,KAAK,GAAGrB,SAAS,CAACsB,MAAM;IACrD,OAAO;MACLE,WAAW,EAAED,UAAU;MACvBR,WAAW,EAAE,IAAAU,0BAAkB,EAACvB,UAAU;IAC5C,CAAC;EACH;EACA,OAAOF,SAAS;AAClB;AAMA,SAASQ,iBAAiBA,CAACN,UAA4B,EAA4C;EACjG,IAAMwB,oBAAoC,GAAG;IAC3CC,QAAQ,EAAE;MAERC,KAAK,EAAE,IAAIC,YAAY,CAAC3B,UAAU,CAAC4B,QAAQ,CAAC;MAC5CC,IAAI,EAAE;IACR;EACF,CAAC;EAED,IAAI7B,UAAU,CAAC8B,MAAM,IAAI9B,UAAU,CAAC8B,MAAM,CAACC,MAAM,GAAG,CAAC,EAAE;IACrDP,oBAAoB,CAACQ,MAAM,GAAG;MAC5BN,KAAK,EAAE,IAAIC,YAAY,CAAC3B,UAAU,CAAC8B,MAAM,CAAC;MAC1CD,IAAI,EAAE;IACR,CAAC;EACH;EAEA,IAAI7B,UAAU,CAACiC,KAAK,IAAIjC,UAAU,CAACiC,KAAK,CAACF,MAAM,GAAG,CAAC,EAAE;IAEnDP,oBAAoB,CAACU,OAAO,GAAG;MAC7BR,KAAK,EAAE,IAAIS,UAAU,CAACnC,UAAU,CAACiC,KAAK,CAAC;MACvCJ,IAAI,EAAE;IACR,CAAC;EACH;EAEA,IAAI7B,UAAU,CAACoC,SAAS,IAAIpC,UAAU,CAACoC,SAAS,CAACL,MAAM,GAAG,CAAC,EAAE;IAE3DP,oBAAoB,CAACU,OAAO,GAAG;MAC7BR,KAAK,EAAE,IAAIS,UAAU,CAACnC,UAAU,CAACiC,KAAK,CAAC;MACvCJ,IAAI,EAAE;IACR,CAAC;EACH;EAEA,IAAI7B,UAAU,CAACqC,KAAK,IAAIrC,UAAU,CAACqC,KAAK,CAACN,MAAM,GAAG,CAAC,EAAE;IAEnDP,oBAAoB,CAACU,OAAO,GAAG;MAC7BR,KAAK,EAAE,IAAIS,UAAU,CAACnC,UAAU,CAACqC,KAAK,CAAC;MACvCR,IAAI,EAAE;IACR,CAAC;EACH;EAEA,OAAOL,oBAAoB;AAC7B;AAQA,SAASzB,cAAcA,CAACL,IAAY,EAAa;EAC/C,IAAM4C,OAAO,GAAG5C,IAAI,CAAC6C,MAAM,CAAC,sBAAsB,CAAC;EACnD,IAAMC,OAAO,GAAG,sBAAsB,CAACC,IAAI,CAAC/C,IAAI,CAACgD,MAAM,CAACJ,OAAO,GAAG,CAAC,CAAC,CAAC;EAErE,IAAMxC,SAAc,GAAG,CAAC,CAAC;EACzBA,SAAS,CAACJ,IAAI,GAAG8C,OAAO,IAAIA,OAAO,CAAC,CAAC,CAAC;EACtC,IAAIA,OAAO,KAAK,IAAI,EAAE;IACpB1C,SAAS,CAAC6C,SAAS,GAAG,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAC,CAAC,CAACT,MAAM,IAAIO,OAAO;EAChE;EACAxC,SAAS,CAAC8C,GAAG,GAAGlD,IAAI,CAACgD,MAAM,CAAC,CAAC,EAAE5C,SAAS,CAAC6C,SAAS,CAAC;EAInD7C,SAAS,CAAC8C,GAAG,GAAG9C,SAAS,CAAC8C,GAAG,CAACC,OAAO,CAAC,QAAQ,EAAE,EAAE,CAAC;EAInD/C,SAAS,CAACgD,OAAO,GAAG,eAAe,CAACL,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACvD9C,SAAS,CAACiD,MAAM,GAAG,cAAc,CAACN,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACrD9C,SAAS,CAAC+B,IAAI,GAAG,YAAY,CAACY,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACjD9C,SAAS,CAACkD,IAAI,GAAG,YAAY,CAACP,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACjD9C,SAAS,CAACmD,KAAK,GAAG,aAAa,CAACR,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACnD9C,SAAS,CAACqB,KAAK,GAAG,aAAa,CAACsB,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACnD9C,SAAS,CAACsB,MAAM,GAAG,cAAc,CAACqB,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EACrD9C,SAAS,CAACoD,SAAS,GAAG,iBAAiB,CAACT,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EAC3D9C,SAAS,CAACqD,MAAM,GAAG,cAAc,CAACV,IAAI,CAAC3C,SAAS,CAAC8C,GAAG,CAAC;EAIrD,IAAI9C,SAAS,CAACgD,OAAO,KAAK,IAAI,EAAE;IAC9BhD,SAAS,CAACgD,OAAO,GAAGM,UAAU,CAACtD,SAAS,CAACgD,OAAO,CAAC,CAAC,CAAC,CAAC;EACtD;EAEA,IAAIhD,SAAS,CAACiD,MAAM,KAAK,IAAI,EAAE;IAC7BjD,SAAS,CAACiD,MAAM,GAAGjD,SAAS,CAACiD,MAAM,CAAC,CAAC,CAAC,CAACM,KAAK,CAAC,GAAG,CAAC;EACnD;EAEA,IAAIvD,SAAS,CAACkD,IAAI,KAAK,IAAI,EAAE;IAC3BlD,SAAS,CAACkD,IAAI,GAAGlD,SAAS,CAACkD,IAAI,CAAC,CAAC,CAAC,CAACK,KAAK,CAAC,GAAG,CAAC;EAC/C;EAEA,IAAIvD,SAAS,CAACqB,KAAK,KAAK,IAAI,EAAE;IAC5BrB,SAAS,CAACqB,KAAK,GAAGmC,QAAQ,CAACxD,SAAS,CAACqB,KAAK,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;EACpD;EAEA,IAAIrB,SAAS,CAACsB,MAAM,KAAK,IAAI,EAAE;IAC7BtB,SAAS,CAACsB,MAAM,GAAGkC,QAAQ,CAACxD,SAAS,CAACsB,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;EACtD;EAEA,IAAItB,SAAS,CAACoD,SAAS,KAAK,IAAI,EAAE;IAChCpD,SAAS,CAACoD,SAAS,GAAGpD,SAAS,CAACoD,SAAS,CAAC,CAAC,CAAC;EAC9C;EAEA,IAAIpD,SAAS,CAACqD,MAAM,KAAK,IAAI,EAAE;IAC7BrD,SAAS,CAACqD,MAAM,GAAGG,QAAQ,CAACxD,SAAS,CAACqD,MAAM,CAAC,CAAC,CAAC,EAAE,EAAE,CAAC;EACtD;EAEA,IACErD,SAAS,CAACqD,MAAM,KAAK,IAAI,IACzB,OAAOrD,SAAS,CAACqB,KAAK,KAAK,QAAQ,IACnC,OAAOrB,SAAS,CAACsB,MAAM,KAAK,QAAQ,EACpC;IACAtB,SAAS,CAACqD,MAAM,GAAGrD,SAAS,CAACqB,KAAK,GAAGrB,SAAS,CAACsB,MAAM;EACvD;EAEA,IAAItB,SAAS,CAAC+B,IAAI,KAAK,IAAI,EAAE;IAC3B/B,SAAS,CAAC+B,IAAI,GAAG/B,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,CAACwB,KAAK,CAAC,GAAG,CAAC,CAACE,GAAG,CAAC,UAACC,CAAC;MAAA,OAAKF,QAAQ,CAACE,CAAC,EAAE,EAAE,CAAC;IAAA,EAAC;EAC3E;EAEA,IAAI1D,SAAS,CAACmD,KAAK,KAAK,IAAI,EAAE;IAC5BnD,SAAS,CAACmD,KAAK,GAAGnD,SAAS,CAACmD,KAAK,CAAC,CAAC,CAAC,CAACI,KAAK,CAAC,GAAG,CAAC,CAACE,GAAG,CAAC,UAACC,CAAC;MAAA,OAAKF,QAAQ,CAACE,CAAC,EAAE,EAAE,CAAC;IAAA,EAAC;EAC7E,CAAC,MAAM;IACL1D,SAAS,CAACmD,KAAK,GAAG,EAAE;IACpB,IAAInD,SAAS,CAACiD,MAAM,KAAK,IAAI,EAAE;MAC7B,KAAK,IAAIU,CAAC,GAAG,CAAC,EAAEA,CAAC,GAAG3D,SAAS,CAACiD,MAAM,CAAChB,MAAM,EAAE0B,CAAC,EAAE,EAAE;QAChD3D,SAAS,CAACmD,KAAK,CAACS,IAAI,CAAC,CAAC,CAAC;MACzB;IACF;EACF;EAEA5D,SAAS,CAAC6D,MAAM,GAAG,CAAC,CAAC;EAErB,IAAIC,OAAO,GAAG,CAAC;EACf,IAAI9D,SAAS,CAACiD,MAAM,KAAK,IAAI,IAAIjD,SAAS,CAAC+B,IAAI,KAAK,IAAI,EAAE;IACxD,KAAK,IAAI4B,EAAC,GAAG,CAAC,EAAEA,EAAC,GAAG3D,SAAS,CAACiD,MAAM,CAAChB,MAAM,EAAE0B,EAAC,EAAE,EAAE;MAChD,IAAI3D,SAAS,CAACJ,IAAI,KAAK,OAAO,EAAE;QAC9BI,SAAS,CAAC6D,MAAM,CAAC7D,SAAS,CAACiD,MAAM,CAACU,EAAC,CAAC,CAAC,GAAGA,EAAC;MAC3C,CAAC,MAAM;QACL3D,SAAS,CAAC6D,MAAM,CAAC7D,SAAS,CAACiD,MAAM,CAACU,EAAC,CAAC,CAAC,GAAGG,OAAO;QAC/CA,OAAO,IAAI9D,SAAS,CAAC+B,IAAI,CAAC4B,EAAC,CAAC;MAC9B;IACF;EACF;EAGA3D,SAAS,CAAC+D,OAAO,GAAGD,OAAO;EAE3B,OAAO9D,SAAS;AAClB;AAQA,SAASG,aAAaA,CAACH,SAAoB,EAAEH,QAAgB,EAAoB;EAC/E,IAAMiC,QAAkB,GAAG,EAAE;EAC7B,IAAME,MAAgB,GAAG,EAAE;EAC3B,IAAMG,KAAe,GAAG,EAAE;EAC1B,IAAMG,SAAmB,GAAG,EAAE;EAC9B,IAAMC,KAAe,GAAG,EAAE;EAE1B,IAAMsB,MAAM,GAAG7D,SAAS,CAAC6D,MAAM;EAC/B,IAAMG,OAAO,GAAGnE,QAAQ,CAAC+C,MAAM,CAAC5C,SAAS,CAAC6C,SAAS,CAAC;EACpD,IAAMoB,KAAK,GAAGD,OAAO,CAACT,KAAK,CAAC,IAAI,CAAC;EAEjC,KAAK,IAAII,CAAC,GAAG,CAAC,EAAEA,CAAC,GAAGM,KAAK,CAAChC,MAAM,EAAE0B,CAAC,EAAE,EAAE;IACrC,IAAIM,KAAK,CAACN,CAAC,CAAC,KAAK,EAAE,EAAE;MACnB,IAAMO,IAAI,GAAGD,KAAK,CAACN,CAAC,CAAC,CAACJ,KAAK,CAAC,GAAG,CAAC;MAEhC,IAAIM,MAAM,CAACH,CAAC,KAAKS,SAAS,EAAE;QAC1BrC,QAAQ,CAAC8B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACH,CAAC,CAAC,CAAC,CAAC;QACzC5B,QAAQ,CAAC8B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACO,CAAC,CAAC,CAAC,CAAC;QACzCtC,QAAQ,CAAC8B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACQ,CAAC,CAAC,CAAC,CAAC;MAC3C;MAEA,IAAIR,MAAM,CAACS,GAAG,KAAKH,SAAS,EAAE;QAC5B,IAAMI,UAAU,GAAGjB,UAAU,CAACY,IAAI,CAACL,MAAM,CAACS,GAAG,CAAC,CAAC;QAC/C,IAAME,WAAW,GAAG,IAAI3C,YAAY,CAAC,CAAC0C,UAAU,CAAC,CAAC;QAClD,IAAME,QAAQ,GAAG,IAAIC,QAAQ,CAACF,WAAW,CAACG,MAAM,EAAE,CAAC,CAAC;QACpDxC,KAAK,CAACyB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAAC,CAAC,CAAC,CAAC;QAChCzC,KAAK,CAACyB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAAC,CAAC,CAAC,CAAC;QAChCzC,KAAK,CAACyB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAAC,CAAC,CAAC,CAAC;MAElC;MAEA,IAAIf,MAAM,CAACgB,QAAQ,KAAKV,SAAS,EAAE;QACjCnC,MAAM,CAAC4B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACgB,QAAQ,CAAC,CAAC,CAAC;QAC9C7C,MAAM,CAAC4B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACiB,QAAQ,CAAC,CAAC,CAAC;QAC9C9C,MAAM,CAAC4B,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACkB,QAAQ,CAAC,CAAC,CAAC;MAChD;MAEA,IAAIlB,MAAM,CAACvB,SAAS,KAAK6B,SAAS,EAAE;QAClC7B,SAAS,CAACsB,IAAI,CAACN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACvB,SAAS,CAAC,CAAC,CAAC;MACpD;MAEA,IAAIuB,MAAM,CAACtB,KAAK,KAAK4B,SAAS,EAAE;QAC9B5B,KAAK,CAACqB,IAAI,CAACJ,QAAQ,CAACU,IAAI,CAACL,MAAM,CAACtB,KAAK,CAAC,CAAC,CAAC;MAC1C;IACF;EACF;EAEA,OAAO;IAACT,QAAQ,EAARA,QAAQ;IAAEE,MAAM,EAANA,MAAM;IAAEG,KAAK,EAALA;EAAK,CAAC;AAClC;AAOA,SAAS/B,cAAcA,CAACJ,SAAoB,EAAEJ,IAAqB,EAAoB;EACrF,IAAMkC,QAAkB,GAAG,EAAE;EAC7B,IAAME,MAAgB,GAAG,EAAE;EAC3B,IAAMG,KAAe,GAAG,EAAE;EAC1B,IAAMG,SAAmB,GAAG,EAAE;EAC9B,IAAMC,KAAe,GAAG,EAAE;EAE1B,IAAMkC,QAAQ,GAAG,IAAIC,QAAQ,CAAC9E,IAAI,EAAEI,SAAS,CAAC6C,SAAS,CAAC;EACxD,IAAMgB,MAAM,GAAG7D,SAAS,CAAC6D,MAAM;EAE/B,KAAK,IAAIF,CAAC,GAAG,CAAC,EAAEqB,GAAG,GAAG,CAAC,EAAErB,CAAC,GAAG3D,SAAS,CAACqD,MAAM,EAAEM,CAAC,EAAE,EAAEqB,GAAG,IAAIhF,SAAS,CAAC+D,OAAO,EAAE;IAC5E,IAAIF,MAAM,CAACH,CAAC,KAAKS,SAAS,EAAE;MAC1BrC,QAAQ,CAAC8B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACH,CAAC,EAAEhE,aAAa,CAAC,CAAC;MACjEoC,QAAQ,CAAC8B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACO,CAAC,EAAE1E,aAAa,CAAC,CAAC;MACjEoC,QAAQ,CAAC8B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACQ,CAAC,EAAE3E,aAAa,CAAC,CAAC;IACnE;IAEA,IAAImE,MAAM,CAACS,GAAG,KAAKH,SAAS,EAAE;MAC5BhC,KAAK,CAACyB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAACI,GAAG,GAAGnB,MAAM,CAACS,GAAG,GAAG,CAAC,CAAC,CAAC;MACnDnC,KAAK,CAACyB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAACI,GAAG,GAAGnB,MAAM,CAACS,GAAG,GAAG,CAAC,CAAC,CAAC;MACnDnC,KAAK,CAACyB,IAAI,CAACa,QAAQ,CAACG,QAAQ,CAACI,GAAG,GAAGnB,MAAM,CAACS,GAAG,GAAG,CAAC,CAAC,CAAC;IACrD;IAEA,IAAIT,MAAM,CAACgB,QAAQ,KAAKV,SAAS,EAAE;MACjCnC,MAAM,CAAC4B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACgB,QAAQ,EAAEnF,aAAa,CAAC,CAAC;MACtEsC,MAAM,CAAC4B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACiB,QAAQ,EAAEpF,aAAa,CAAC,CAAC;MACtEsC,MAAM,CAAC4B,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACkB,QAAQ,EAAErF,aAAa,CAAC,CAAC;IACxE;IAEA,IAAImE,MAAM,CAACvB,SAAS,KAAK6B,SAAS,EAAE;MAClC7B,SAAS,CAACsB,IAAI,CAACa,QAAQ,CAACQ,UAAU,CAACD,GAAG,GAAGnB,MAAM,CAACvB,SAAS,EAAE5C,aAAa,CAAC,CAAC;IAC5E;IAEA,IAAImE,MAAM,CAACtB,KAAK,KAAK4B,SAAS,EAAE;MAC9B5B,KAAK,CAACqB,IAAI,CAACa,QAAQ,CAACS,QAAQ,CAACF,GAAG,GAAGnB,MAAM,CAACtB,KAAK,EAAE7C,aAAa,CAAC,CAAC;IAClE;EACF;EAEA,OAAO;IAACoC,QAAQ,EAARA,QAAQ;IAAEE,MAAM,EAANA,MAAM;IAAEG,KAAK,EAALA,KAAK;IAAEG,SAAS,EAATA,SAAS;IAAEC,KAAK,EAALA;EAAK,CAAC;AACpD;;AAEA;AACA;AACA;AACA;AACA;AACA;AACA;AAEA,SAASlC,wBAAwBA,CAACL,SAAoB,EAAEJ,IAAqB,EAAoB;EAC/F,IAAMkC,QAAkB,GAAG,EAAE;EAC7B,IAAME,MAAgB,GAAG,EAAE;EAC3B,IAAMG,KAAe,GAAG,EAAE;EAC1B,IAAMG,SAAmB,GAAG,EAAE;EAC9B,IAAMC,KAAe,GAAG,EAAE;EAE1B,IAAM4C,KAAK,GAAG,IAAIC,WAAW,CAACxF,IAAI,CAACyF,KAAK,CAACrF,SAAS,CAAC6C,SAAS,EAAE7C,SAAS,CAAC6C,SAAS,GAAG,CAAC,CAAC,CAAC;EACvF,IAAMyC,cAAc,GAAGH,KAAK,CAAC,CAAC,CAAC;EAC/B,IAAMI,gBAAgB,GAAGJ,KAAK,CAAC,CAAC,CAAC;EACjC,IAAMK,YAAY,GAAG,IAAAC,4BAAa,EAChC,IAAIpD,UAAU,CAACzC,IAAI,EAAEI,SAAS,CAAC6C,SAAS,GAAG,CAAC,EAAEyC,cAAc,CAAC,EAC7DC,gBAAgB,CACjB;EACD,IAAMd,QAAQ,GAAG,IAAIC,QAAQ,CAACc,YAAY,CAACb,MAAM,CAAC;EAElD,IAAMd,MAAM,GAAG7D,SAAS,CAAC6D,MAAM;EAE/B,KAAK,IAAIF,CAAC,GAAG,CAAC,EAAEA,CAAC,GAAG3D,SAAS,CAACqD,MAAM,EAAEM,CAAC,EAAE,EAAE;IACzC,IAAIE,MAAM,CAACH,CAAC,KAAKS,SAAS,EAAE;MAC1BrC,QAAQ,CAAC8B,IAAI,CACXa,QAAQ,CAACQ,UAAU,CAACjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACH,CAAC,GAAG1D,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,EAAEjE,aAAa,CAAC,CACxF;MACDoC,QAAQ,CAAC8B,IAAI,CACXa,QAAQ,CAACQ,UAAU,CAACjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACO,CAAC,GAAGpE,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,EAAEjE,aAAa,CAAC,CACxF;MACDoC,QAAQ,CAAC8B,IAAI,CACXa,QAAQ,CAACQ,UAAU,CAACjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACQ,CAAC,GAAGrE,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,EAAEjE,aAAa,CAAC,CACxF;IACH;IAEA,IAAImE,MAAM,CAACS,GAAG,KAAKH,SAAS,EAAE;MAC5BhC,KAAK,CAACyB,IAAI,CACRa,QAAQ,CAACG,QAAQ,CAAC5E,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACS,GAAG,GAAGtE,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CACrF;MACDxB,KAAK,CAACyB,IAAI,CACRa,QAAQ,CAACG,QAAQ,CAAC5E,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACS,GAAG,GAAGtE,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CACrF;MACDxB,KAAK,CAACyB,IAAI,CACRa,QAAQ,CAACG,QAAQ,CAAC5E,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACS,GAAG,GAAGtE,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,GAAG,CAAC,CAAC,GAAG,KAAK,CACrF;IACH;IAEA,IAAIE,MAAM,CAACgB,QAAQ,KAAKV,SAAS,EAAE;MACjCnC,MAAM,CAAC4B,IAAI,CACTa,QAAQ,CAACQ,UAAU,CACjBjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACgB,QAAQ,GAAG7E,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,EAC1DjE,aAAa,CACd,CACF;MACDsC,MAAM,CAAC4B,IAAI,CACTa,QAAQ,CAACQ,UAAU,CACjBjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACiB,QAAQ,GAAG9E,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,EAC1DjE,aAAa,CACd,CACF;MACDsC,MAAM,CAAC4B,IAAI,CACTa,QAAQ,CAACQ,UAAU,CACjBjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACkB,QAAQ,GAAG/E,SAAS,CAAC+B,IAAI,CAAC,CAAC,CAAC,GAAG4B,CAAC,EAC1DjE,aAAa,CACd,CACF;IACH;IAEA,IAAImE,MAAM,CAACvB,SAAS,KAAK6B,SAAS,EAAE;MAClC,IAAMuB,cAAc,GAAG1F,SAAS,CAACiD,MAAM,CAAC0C,OAAO,CAAC,WAAW,CAAC;MAC5DrD,SAAS,CAACsB,IAAI,CACZa,QAAQ,CAACQ,UAAU,CACjBjF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACvB,SAAS,GAAGtC,SAAS,CAAC+B,IAAI,CAAC2D,cAAc,CAAC,GAAG/B,CAAC,EACxEjE,aAAa,CACd,CACF;IACH;IAEA,IAAImE,MAAM,CAACtB,KAAK,KAAK4B,SAAS,EAAE;MAC9B,IAAMyB,UAAU,GAAG5F,SAAS,CAACiD,MAAM,CAAC0C,OAAO,CAAC,OAAO,CAAC;MACpDpD,KAAK,CAACqB,IAAI,CACRa,QAAQ,CAACS,QAAQ,CACflF,SAAS,CAACqD,MAAM,GAAGQ,MAAM,CAACtB,KAAK,GAAGvC,SAAS,CAAC+B,IAAI,CAAC6D,UAAU,CAAC,GAAGjC,CAAC,EAChEjE,aAAa,CACd,CACF;IACH;EACF;EAEA,OAAO;IACLoC,QAAQ,EAARA,QAAQ;IACRE,MAAM,EAANA,MAAM;IACNG,KAAK,EAALA,KAAK;IACLG,SAAS,EAATA,SAAS;IACTC,KAAK,EAALA;EACF,CAAC;AACH"}

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

@@ -1 +1 @@
-{"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":""}
+{"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: number;\n  fields: string[];\n  size: number[];\n  type: null | string[];\n  count: null | number[];\n  width: number;\n  height: number;\n  viewpoint: null | string;\n  points: 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

@@ -4,8 +4,7 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-var VERSION = typeof "3.4.0-alpha.1" !== 'undefined' ? "3.4.0-alpha.1" : 'latest';
-
+var VERSION = typeof "3.4.0-alpha.3" !== 'undefined' ? "3.4.0-alpha.3" : 'latest';
 var PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

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

@@ -1 +1 @@
-{"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"}
+{"version":3,"file":"pcd-loader.js","names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","exports","_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;AAACC,OAAA,CAAAV,SAAA,GAAAA,SAAA;AAEK,IAAMW,mBAA2B,GAAGX,SAAS;AAACU,OAAA,CAAAC,mBAAA,GAAAA,mBAAA"}

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

@@ -1 +1 @@
-{"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"}
+{"version":3,"file":"pcd-worker.js","names":["_loaderUtils","require","_index","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,IAAAA,YAAA,GAAAC,OAAA;AACA,IAAAC,MAAA,GAAAD,OAAA;AAEA,IAAAE,+BAAkB,EAACC,gBAAS,CAAC"}

package/dist/esm/bundle.js

@@ -1,4 +1,3 @@
-
 const moduleExports = require('./index');
 globalThis.loaders = globalThis.loaders || {};
 module.exports = Object.assign(globalThis.loaders, moduleExports);

package/dist/esm/bundle.js.map

@@ -1 +1 @@
-{"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"}
+{"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 +1,6 @@
 import parsePCDSync from './lib/parse-pcd';
 import { PCDLoader as PCDWorkerLoader } from './pcd-loader';
 export { PCDWorkerLoader };
-
 export const PCDLoader = {
   ...PCDWorkerLoader,
   parse: async arrayBuffer => parsePCDSync(arrayBuffer),

package/dist/esm/index.js.map

@@ -1 +1 @@
-{"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"}
+{"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

@@ -1,4 +1,3 @@
-
 export function decompressLZF(inData, outLength) {
   const inLength = inData.length;
   const outData = new Uint8Array(outLength);
@@ -11,23 +10,37 @@ export 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/esm/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":";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"}
+{"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":"AAOA,OAAO,SAASA,aAAaA,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;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/esm/lib/get-pcd-schema.js

@@ -1,4 +1,4 @@
-import { Schema, Field, Float32, Uint8, FixedSizeList } from '@loaders.gl/schema';
+import { Schema, Field, Float32, Int32, Uint8, FixedSizeList } from '@loaders.gl/schema';
 export function getPCDSchema(PCDheader, metadata) {
   const offset = PCDheader.offset;
   const fields = [];
@@ -11,6 +11,12 @@ export function getPCDSchema(PCDheader, metadata) {
   if (offset.rgb !== undefined) {
     fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));
   }
+  if (offset.intensity !== undefined) {
+    fields.push(new Field('intensity', new Field('intensity', new Float32()), false));
+  }
+  if (offset.label !== undefined) {
+    fields.push(new Field('label', new Field('label', new Int32()), 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,"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"}
+{"version":3,"file":"get-pcd-schema.js","names":["Schema","Field","Float32","Int32","Uint8","FixedSizeList","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","normal_x","rgb","intensity","label"],"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,SAAQA,MAAM,EAAEC,KAAK,EAAEC,OAAO,EAAEC,KAAK,EAAEC,KAAK,EAAEC,aAAa,QAAO,oBAAoB;AAWtF,OAAO,SAASC,YAAYA,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,IAAIZ,KAAK,CAAC,UAAU,EAAE,IAAII,aAAa,CAAC,CAAC,EAAE,IAAIJ,KAAK,CAAC,KAAK,EAAE,IAAIC,OAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CACpF;EACH;EAEA,IAAIO,MAAM,CAACK,QAAQ,KAAKF,SAAS,EAAE;IACjCF,MAAM,CAACG,IAAI,CAAC,IAAIZ,KAAK,CAAC,QAAQ,EAAE,IAAII,aAAa,CAAC,CAAC,EAAE,IAAIJ,KAAK,CAAC,KAAK,EAAE,IAAIC,OAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAChG;EAEA,IAAIO,MAAM,CAACM,GAAG,KAAKH,SAAS,EAAE;IAC5BF,MAAM,CAACG,IAAI,CAAC,IAAIZ,KAAK,CAAC,SAAS,EAAE,IAAII,aAAa,CAAC,CAAC,EAAE,IAAIJ,KAAK,CAAC,KAAK,EAAE,IAAIG,KAAK,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAC/F;EAEA,IAAIK,MAAM,CAACO,SAAS,KAAKJ,SAAS,EAAE;IAClCF,MAAM,CAACG,IAAI,CAAC,IAAIZ,KAAK,CAAC,WAAW,EAAE,IAAIA,KAAK,CAAC,WAAW,EAAE,IAAIC,OAAO,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;EACnF;EAEA,IAAIO,MAAM,CAACQ,KAAK,KAAKL,SAAS,EAAE;IAC9BF,MAAM,CAACG,IAAI,CAAC,IAAIZ,KAAK,CAAC,OAAO,EAAE,IAAIA,KAAK,CAAC,OAAO,EAAE,IAAIE,KAAK,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;EACzE;EAEA,OAAO,IAAIH,MAAM,CAACU,MAAM,EAAEF,QAAQ,CAAC;AACrC"}

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

@@ -1,15 +1,11 @@
-
-
 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);
   let attributes = {};
-
   switch (pcdHeader.data) {
     case 'ascii':
       attributes = parsePCDASCII(pcdHeader, textData);
@@ -38,7 +34,6 @@ export default function parsePCD(data) {
     attributes
   };
 }
-
 function getMeshHeader(pcdHeader, attributes) {
   if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
     const pointCount = pcdHeader.width * pcdHeader.height;
@@ -49,7 +44,6 @@ function getMeshHeader(pcdHeader, attributes) {
   }
   return pcdHeader;
 }
-
 function getMeshAttributes(attributes) {
   const normalizedAttributes = {
     POSITION: {
@@ -69,9 +63,20 @@ 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) {
   const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
   const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
@@ -81,9 +86,7 @@ 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);
@@ -93,7 +96,6 @@ 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]);
   }
@@ -143,15 +145,15 @@ function parsePCDHeader(data) {
       }
     }
   }
-
   pcdHeader.rowSize = sizeSum;
   return pcdHeader;
 }
-
 function parsePCDASCII(pcdHeader, textData) {
   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');
@@ -171,12 +173,17 @@ 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 {
@@ -185,11 +192,12 @@ function parsePCDASCII(pcdHeader, textData) {
     color
   };
 }
-
 function parsePCDBinary(pcdHeader, data) {
   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) {
@@ -208,11 +216,19 @@ 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,
     normal,
-    color
+    color,
+    intensity,
+    label
   };
 }
 
@@ -223,37 +239,49 @@ function parsePCDBinary(pcdHeader, data) {
  * @param data
  * @returns [attributes]
  */
-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 !== 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) {
+      const intensityIndex = pcdHeader.fields.indexOf('intensity');
+      intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
+    }
+    if (offset.label !== undefined) {
+      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
   };
 }
 //# sourceMappingURL=parse-pcd.js.map