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

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

@@ -1 +1 @@
-{"version":3,"file":"parse-pcd.js","names":["getMeshBoundingBox","decompressLZF","getPCDSchema","LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","parsePCDBinaryCompressed","Error","getMeshAttributes","header","getMeshHeader","metadata","Map","JSON","stringify","boundingBox","schema","loaderData","mode","indices","width","height","pointCount","vertexCount","normalizedAttributes","POSITION","value","Float32Array","position","size","normal","length","NORMAL","color","COLOR_0","Uint8Array","result1","search","result2","exec","substr","headerLen","str","replace","version","fields","type","count","viewpoint","points","parseFloat","split","parseInt","map","x","i","push","offset","sizeSum","rowSize","pcdData","lines","line","undefined","y","z","rgb","floatValue","binaryColor","dataview","DataView","buffer","getUint8","normal_x","normal_y","normal_z","row","getFloat32","PCDheader","sizes","Uint32Array","slice","compressedSize","decompressedSize","decompressed"],"sources":["../../../src/lib/parse-pcd.ts"],"sourcesContent":["// PCD Loader, adapted from THREE.js (MIT license)\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n//\n// Attributions per original THREE.js source file:\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\n\nimport type {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';\nimport {getMeshBoundingBox} from '@loaders.gl/schema';\nimport {decompressLZF} from './decompress-lzf';\nimport {getPCDSchema} from './get-pcd-schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype NormalizedAttributes = {\n  POSITION: {\n    value: Float32Array;\n    size: number;\n  };\n  NORMAL?: {\n    value: Float32Array;\n    size: number;\n  };\n  COLOR_0?: {\n    value: Uint8Array;\n    size: number;\n  };\n};\n\ntype HeaderAttributes = {\n  [attributeName: string]: number[];\n};\n\nconst LITTLE_ENDIAN: boolean = true;\n\n/**\n *\n * @param data\n * @returns\n */\nexport default function parsePCD(data: ArrayBufferLike) {\n  // parse header (always ascii format)\n  const textData = new TextDecoder().decode(data);\n  const pcdHeader = parsePCDHeader(textData);\n\n  let attributes: any = {};\n\n  // parse data\n  switch (pcdHeader.data) {\n    case 'ascii':\n      attributes = parsePCDASCII(pcdHeader, textData);\n      break;\n\n    case 'binary':\n      attributes = parsePCDBinary(pcdHeader, data);\n      break;\n\n    case 'binary_compressed':\n      attributes = parsePCDBinaryCompressed(pcdHeader, data);\n      break;\n\n    default:\n      throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n  }\n\n  attributes = getMeshAttributes(attributes);\n\n  const header = getMeshHeader(pcdHeader, attributes);\n\n  const metadata = new Map([\n    ['mode', '0'],\n    ['boundingBox', JSON.stringify(header.boundingBox)]\n  ]);\n\n  const schema = getPCDSchema(pcdHeader, metadata);\n\n  return {\n    loaderData: {\n      header: pcdHeader\n    },\n    header,\n    schema,\n    mode: 0, // POINTS\n    indices: null,\n    attributes\n  };\n}\n\n// Create a header that contains common data for PointCloud category loaders\nfunction getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): Partial<PCDHeader> {\n  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {\n    const pointCount = pcdHeader.width * pcdHeader.height; // Supports \"organized\" point sets\n    return {\n      vertexCount: pointCount,\n      boundingBox: getMeshBoundingBox(attributes)\n    };\n  }\n  return pcdHeader;\n}\n\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getMeshAttributes(attributes: HeaderAttributes): {[attributeName: string]: MeshAttribute} {\n  const normalizedAttributes: MeshAttributes = {\n    POSITION: {\n      // Binary PCD is only 32 bit\n      value: new Float32Array(attributes.position),\n      size: 3\n    }\n  };\n\n  if (attributes.normal && attributes.normal.length > 0) {\n    normalizedAttributes.NORMAL = {\n      value: new Float32Array(attributes.normal),\n      size: 3\n    };\n  }\n\n  if (attributes.color && attributes.color.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = {\n      value: new Uint8Array(attributes.color),\n      size: 3\n    };\n  }\n\n  return normalizedAttributes;\n}\n\n/**\n * Incoming data parsing\n * @param data\n * @returns Header\n */\n/* eslint-disable complexity, max-statements */\nfunction parsePCDHeader(data: string): PCDHeader {\n  const result1 = data.search(/[\\r\\n]DATA\\s(\\S*)\\s/i);\n  const result2 = /[\\r\\n]DATA\\s(\\S*)\\s/i.exec(data.substr(result1 - 1));\n\n  const pcdHeader: any = {};\n  pcdHeader.data = result2 && result2[1];\n  if (result2 !== null) {\n    pcdHeader.headerLen = (result2 && result2[0].length) + result1;\n  }\n  pcdHeader.str = data.substr(0, pcdHeader.headerLen);\n\n  // remove comments\n\n  pcdHeader.str = pcdHeader.str.replace(/\\#.*/gi, '');\n\n  // parse\n\n  pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);\n  pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);\n  pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);\n  pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);\n  pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);\n  pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);\n  pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);\n  pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);\n  pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);\n\n  // evaluate\n\n  if (pcdHeader.version !== null) {\n    pcdHeader.version = parseFloat(pcdHeader.version[1]);\n  }\n\n  if (pcdHeader.fields !== null) {\n    pcdHeader.fields = pcdHeader.fields[1].split(' ');\n  }\n\n  if (pcdHeader.type !== null) {\n    pcdHeader.type = pcdHeader.type[1].split(' ');\n  }\n\n  if (pcdHeader.width !== null) {\n    pcdHeader.width = parseInt(pcdHeader.width[1], 10);\n  }\n\n  if (pcdHeader.height !== null) {\n    pcdHeader.height = parseInt(pcdHeader.height[1], 10);\n  }\n\n  if (pcdHeader.viewpoint !== null) {\n    pcdHeader.viewpoint = pcdHeader.viewpoint[1];\n  }\n\n  if (pcdHeader.points !== null) {\n    pcdHeader.points = parseInt(pcdHeader.points[1], 10);\n  }\n\n  if (\n    pcdHeader.points === null &&\n    typeof pcdHeader.width === 'number' &&\n    typeof pcdHeader.height === 'number'\n  ) {\n    pcdHeader.points = pcdHeader.width * pcdHeader.height;\n  }\n\n  if (pcdHeader.size !== null) {\n    pcdHeader.size = pcdHeader.size[1].split(' ').map((x) => parseInt(x, 10));\n  }\n\n  if (pcdHeader.count !== null) {\n    pcdHeader.count = pcdHeader.count[1].split(' ').map((x) => parseInt(x, 10));\n  } else {\n    pcdHeader.count = [];\n    if (pcdHeader.fields !== null) {\n      for (let i = 0; i < pcdHeader.fields.length; i++) {\n        pcdHeader.count.push(1);\n      }\n    }\n  }\n\n  pcdHeader.offset = {};\n\n  let sizeSum = 0;\n  if (pcdHeader.fields !== null && pcdHeader.size !== null) {\n    for (let i = 0; i < pcdHeader.fields.length; i++) {\n      if (pcdHeader.data === 'ascii') {\n        pcdHeader.offset[pcdHeader.fields[i]] = i;\n      } else {\n        pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;\n        sizeSum += pcdHeader.size[i];\n      }\n    }\n  }\n\n  // for binary only\n  pcdHeader.rowSize = sizeSum;\n\n  return pcdHeader;\n}\n\n/**\n * @param pcdHeader\n * @param textData\n * @returns [attributes]\n */\n/* eslint-enable complexity, max-statements */\nfunction parsePCDASCII(pcdHeader: PCDHeader, textData: string): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n\n  const offset = pcdHeader.offset;\n  const pcdData = textData.substr(pcdHeader.headerLen);\n  const lines = pcdData.split('\\n');\n\n  for (let i = 0; i < lines.length; i++) {\n    if (lines[i] !== '') {\n      const line = lines[i].split(' ');\n\n      if (offset.x !== undefined) {\n        position.push(parseFloat(line[offset.x]));\n  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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 = 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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 > 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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  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package/dist/esm/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/esm/pcd-loader.js

@@ -1,6 +1,4 @@
-
-const VERSION = typeof "3.4.0-alpha.1" !== 'undefined' ? "3.4.0-alpha.1" : 'latest';
-
+const VERSION = typeof "3.4.0-alpha.3" !== 'undefined' ? "3.4.0-alpha.3" : 'latest';
 export const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

package/dist/esm/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,MAAMA,OAAO,GAAG,sBAAkB,KAAK,WAAW,qBAAiB,QAAQ;;AAK3E,OAAO,MAAMC,SAAS,GAAG;EACvBC,IAAI,EAAE,wBAAwB;EAC9BC,EAAE,EAAE,KAAK;EACTC,MAAM,EAAE,KAAK;EACbC,OAAO,EAAEL,OAAO;EAChBM,MAAM,EAAE,IAAI;EACZC,UAAU,EAAE,CAAC,KAAK,CAAC;EACnBC,SAAS,EAAE,CAAC,YAAY,CAAC;EACzBC,OAAO,EAAE;IACPC,GAAG,EAAE,CAAC;EACR;AACF,CAAC;AAED,OAAO,MAAMC,mBAA2B,GAAGV,SAAS"}
+{"version":3,"file":"pcd-loader.js","names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"sources":["../../src/pcd-loader.ts"],"sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pcd',\n  version: VERSION,\n  worker: true,\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  options: {\n    pcd: {}\n  }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"mappings":"AAIA,MAAMA,OAAO,GAAG,sBAAkB,KAAK,WAAW,qBAAiB,QAAQ;AAK3E,OAAO,MAAMC,SAAS,GAAG;EACvBC,IAAI,EAAE,wBAAwB;EAC9BC,EAAE,EAAE,KAAK;EACTC,MAAM,EAAE,KAAK;EACbC,OAAO,EAAEL,OAAO;EAChBM,MAAM,EAAE,IAAI;EACZC,UAAU,EAAE,CAAC,KAAK,CAAC;EACnBC,SAAS,EAAE,CAAC,YAAY,CAAC;EACzBC,OAAO,EAAE;IACPC,GAAG,EAAE,CAAC;EACR;AACF,CAAC;AAED,OAAO,MAAMC,mBAA2B,GAAGV,SAAS"}

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

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

package/dist/lib/decompress-lzf.js

@@ -20,10 +20,12 @@ function decompressLZF(inData, outLength) {
         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);
@@ -31,20 +33,25 @@ function decompressLZF(inData, outLength) {
         else {
             len = ctrl >> 5;
             ref = outPtr - ((ctrl & 0x1f) << 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);

package/dist/lib/get-pcd-schema.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"get-pcd-schema.d.ts","sourceRoot":"","sources":["../../src/lib/get-pcd-schema.ts"],"names":[],"mappings":"AAAA,OAAO,EAAC,MAAM,EAAuC,MAAM,oBAAoB,CAAC;AAChF,OAAO,KAAK,EAAC,SAAS,EAAC,MAAM,aAAa,CAAC;AAE3C,KAAK,cAAc,GAAG,GAAG,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;AAEvC;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,SAAS,EAAE,SAAS,EAAE,QAAQ,EAAE,cAAc,GAAG,MAAM,CAoBnF"}
+{"version":3,"file":"get-pcd-schema.d.ts","sourceRoot":"","sources":["../../src/lib/get-pcd-schema.ts"],"names":[],"mappings":"AAAA,OAAO,EAAC,MAAM,EAA8C,MAAM,oBAAoB,CAAC;AACvF,OAAO,KAAK,EAAC,SAAS,EAAC,MAAM,aAAa,CAAC;AAE3C,KAAK,cAAc,GAAG,GAAG,CAAC,MAAM,EAAE,GAAG,CAAC,CAAC;AAEvC;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,SAAS,EAAE,SAAS,EAAE,QAAQ,EAAE,cAAc,GAAG,MAAM,CA4BnF"}

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

@@ -20,6 +20,12 @@ function getPCDSchema(PCDheader, metadata) {
     if (offset.rgb !== undefined) {
         fields.push(new schema_1.Field('COLOR_0', new schema_1.FixedSizeList(3, new schema_1.Field('rgb', new schema_1.Uint8())), false));
     }
+    if (offset.intensity !== undefined) {
+        fields.push(new schema_1.Field('intensity', new schema_1.Field('intensity', new schema_1.Float32()), false));
+    }
+    if (offset.label !== undefined) {
+        fields.push(new schema_1.Field('label', new schema_1.Field('label', new schema_1.Int32()), false));
+    }
     return new schema_1.Schema(fields, metadata);
 }
 exports.getPCDSchema = getPCDSchema;

package/dist/lib/parse-pcd.js

@@ -90,6 +90,20 @@ function getMeshAttributes(attributes) {
             size: 3
         };
     }
+    if (attributes.intensity && attributes.intensity.length > 0) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = {
+            value: new Uint8Array(attributes.color),
+            size: 3
+        };
+    }
+    if (attributes.label && attributes.label.length > 0) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = {
+            value: new Uint8Array(attributes.label),
+            size: 3
+        };
+    }
     return normalizedAttributes;
 }
 /**
@@ -182,11 +196,13 @@ function parsePCDHeader(data) {
  * @param textData
  * @returns [attributes]
  */
-/* eslint-enable complexity, max-statements */
+// eslint-enable-next-line complexity, max-statements
 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');
@@ -212,6 +228,12 @@ function parsePCDASCII(pcdHeader, textData) {
                 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 { position, normal, color };
@@ -225,6 +247,8 @@ 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) {
@@ -243,8 +267,14 @@ 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 };
+    return { position, normal, color, intensity, label };
 }
 /** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
  * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
@@ -253,36 +283,49 @@ function parsePCDBinary(pcdHeader, data) {
  * @param data
  * @returns [attributes]
  */
-function parsePCDBinaryCompressed(PCDheader, data) {
+// eslint-enable-next-line complexity, max-statements
+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 = (0, decompress_lzf_1.decompressLZF)(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize);
+    const decompressed = (0, decompress_lzf_1.decompressLZF)(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);
     const dataview = new DataView(decompressed.buffer);
-    const offset = PCDheader.offset;
-    for (let i = 0; i < PCDheader.points; i++) {
+    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
     };
 }

package/dist/lib/pcd-types.d.ts

@@ -4,15 +4,15 @@ export type PCDHeader = {
     data: any;
     headerLen: number;
     str: string;
-    version: RegExpExecArray | null | number;
-    fields: RegExpExecArray | null | string[];
-    size: RegExpExecArray | null | number[];
-    type: RegExpExecArray | null | string[];
-    count: RegExpExecArray | null | number[];
-    width: RegExpExecArray | number;
-    height: RegExpExecArray | number;
-    viewpoint: RegExpExecArray | null | string;
-    points: RegExpExecArray | number;
+    version: number;
+    fields: string[];
+    size: number[];
+    type: null | string[];
+    count: null | number[];
+    width: number;
+    height: number;
+    viewpoint: null | string;
+    points: number;
     offset: {
         [index: string]: number;
     };

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

@@ -1 +1 @@
-{"version":3,"file":"pcd-types.d.ts","sourceRoot":"","sources":["../../src/lib/pcd-types.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,IAAI,EAAC,MAAM,oBAAoB,CAAC;AAE7C,KAAK,WAAW,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAExE,MAAM,MAAM,SAAS,GAAG;IACtB,IAAI,EAAE,GAAG,CAAC;IACV,SAAS,EAAE,MAAM,CAAC;IAClB,GAAG,EAAE,MAAM,CAAC;IACZ,OAAO,EAAE,eAAe,GAAG,IAAI,GAAG,MAAM,CAAC;IACzC,MAAM,EAAE,eAAe,GAAG,IAAI,GAAG,MAAM,EAAE,CAAC;IAC1C,IAAI,EAAE,eAAe,GAAG,IAAI,GAAG,MAAM,EAAE,CAAC;IACxC,IAAI,EAAE,eAAe,GAAG,IAAI,GAAG,MAAM,EAAE,CAAC;IACxC,KAAK,EAAE,eAAe,GAAG,IAAI,GAAG,MAAM,EAAE,CAAC;IACzC,KAAK,EAAE,eAAe,GAAG,MAAM,CAAC;IAChC,MAAM,EAAE,eAAe,GAAG,MAAM,CAAC;IACjC,SAAS,EAAE,eAAe,GAAG,IAAI,GAAG,MAAM,CAAC;IAC3C,MAAM,EAAE,eAAe,GAAG,MAAM,CAAC;IACjC,MAAM,EAAE;QAAC,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAAA;KAAC,CAAC;IAClC,OAAO,EAAE,MAAM,CAAC;IAChB,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE,WAAW,CAAC;CAC1B,CAAC;AAEF,OAAO;AACP,MAAM,MAAM,OAAO,GAAG,IAAI,GAAG;IAC3B,MAAM,EAAE,KAAK,CAAC;IACd,UAAU,EAAE,SAAS,CAAC;IACtB,QAAQ,EAAE,YAAY,CAAC;IACvB,IAAI,EAAE,CAAC,CAAC;CACT,CAAC"}
+{"version":3,"file":"pcd-types.d.ts","sourceRoot":"","sources":["../../src/lib/pcd-types.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,IAAI,EAAC,MAAM,oBAAoB,CAAC;AAE7C,KAAK,WAAW,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAExE,MAAM,MAAM,SAAS,GAAG;IACtB,IAAI,EAAE,GAAG,CAAC;IACV,SAAS,EAAE,MAAM,CAAC;IAClB,GAAG,EAAE,MAAM,CAAC;IACZ,OAAO,EAAE,MAAM,CAAC;IAChB,MAAM,EAAE,MAAM,EAAE,CAAC;IACjB,IAAI,EAAE,MAAM,EAAE,CAAC;IACf,IAAI,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACtB,KAAK,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACvB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,SAAS,EAAE,IAAI,GAAG,MAAM,CAAC;IACzB,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE;QAAC,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAAA;KAAC,CAAC;IAClC,OAAO,EAAE,MAAM,CAAC;IAChB,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE,WAAW,CAAC;CAC1B,CAAC;AAEF,OAAO;AACP,MAAM,MAAM,OAAO,GAAG,IAAI,GAAG;IAC3B,MAAM,EAAE,KAAK,CAAC;IACd,UAAU,EAAE,SAAS,CAAC;IACtB,QAAQ,EAAE,YAAY,CAAC;IACvB,IAAI,EAAE,CAAC,CAAC;CACT,CAAC"}

package/dist/pcd-worker.js

@@ -457,6 +457,11 @@
       return `${this.isSigned ? "I" : "Ui"}nt${this.bitWidth}`;
     }
   };
+  var Int32 = class extends Int {
+    constructor() {
+      super(true, 32);
+    }
+  };
   var Uint8 = class extends Int {
     constructor() {
       super(false, 8);
@@ -639,30 +644,37 @@
       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);
@@ -684,6 +696,12 @@
     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);
   }
 
@@ -753,6 +771,18 @@
         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) {
@@ -830,6 +860,8 @@
     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");
@@ -854,6 +886,12 @@
           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 };
@@ -862,6 +900,8 @@
     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) {
@@ -880,45 +920,63 @@
         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
     };
   }
 
   // src/pcd-loader.ts
-  var VERSION = true ? "3.4.0-alpha.1" : "latest";
+  var VERSION = true ? "3.4.0-alpha.3" : "latest";
   var PCDLoader = {
     name: "PCD (Point Cloud Data)",
     id: "pcd",

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "3.4.0-alpha.1",
+  "version": "3.4.0-alpha.3",
   "description": "Framework-independent loader for the PCD format",
   "license": "MIT",
   "publishConfig": {
@@ -33,8 +33,8 @@
     "build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js --define:__VERSION__=\\\"$npm_package_version\\\""
   },
   "dependencies": {
-    "@loaders.gl/loader-utils": "3.4.0-alpha.1",
-    "@loaders.gl/schema": "3.4.0-alpha.1"
+    "@loaders.gl/loader-utils": "3.4.0-alpha.3",
+    "@loaders.gl/schema": "3.4.0-alpha.3"
   },
-  "gitHead": "4085b0323050e4361614471319a1fb4729547bbf"
+  "gitHead": "a954528dd1d78a1f128d8f6b07e4baeb7a296924"
 }