@loaders.gl/pcd 3.4.0-alpha.3 → 3.4.0-alpha.5

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Files changed (8) hide show
  1. package/dist/es5/lib/get-pcd-schema.js.map +1 -1
  2. package/dist/es5/lib/parse-pcd.js.map +1 -1
  3. package/dist/es5/pcd-loader.js +1 -1
  4. package/dist/esm/lib/get-pcd-schema.js.map +1 -1
  5. package/dist/esm/lib/parse-pcd.js.map +1 -1
  6. package/dist/esm/pcd-loader.js +1 -1
  7. package/dist/pcd-worker.js +1 -1
  8. package/package.json +4 -4
package/dist/es5/lib/get-pcd-schema.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"get-pcd-schema.js","names":["_schema","require","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","intensity","label","Int32","Schema"],"sources":["../../../src/lib/get-pcd-schema.ts"],"sourcesContent":["import {Schema, Field, Float32, Int32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n const offset = PCDheader.offset;\n\n const fields: Field[] = [];\n\n if (offset.x !== undefined) {\n fields.push(\n new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n );\n }\n\n if (offset.normal_x !== undefined) {\n fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n }\n\n if (offset.rgb !== undefined) {\n fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n }\n\n if (offset.intensity !== undefined) {\n fields.push(new Field('intensity', new Field('intensity', new Float32()), false));\n }\n\n if (offset.label !== undefined) {\n fields.push(new Field('label', new Field('label', new Int32()), false));\n }\n\n return new Schema(fields, metadata);\n}\n"],"mappings":";;;;;;AAAA,IAAAA,OAAA,GAAAC,OAAA;AAWO,SAASC,YAAYA,CAACC,SAAoB,EAAEC,QAAwB,EAAU;EACnF,IAAMC,MAAM,GAAGF,SAAS,CAACE,MAAM;EAE/B,IAAMC,MAAe,GAAG,EAAE;EAE1B,IAAID,MAAM,CAACE,CAAC,KAAKC,SAAS,EAAE;IAC1BF,MAAM,CAACG,IAAI,CACT,IAAIC,aAAK,CAAC,UAAU,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIE,eAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CACpF;EACH;EAEA,IAAIP,MAAM,CAACQ,QAAQ,KAAKL,SAAS,EAAE;IACjCF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,QAAQ,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIE,eAAO,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAChG;EAEA,IAAIP,MAAM,CAACS,GAAG,KAAKN,SAAS,EAAE;IAC5BF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,SAAS,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIK,aAAK,EAAE,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAC/F;EAEA,IAAIV,MAAM,CAACW,SAAS,KAAKR,SAAS,EAAE;IAClCF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,WAAW,EAAE,IAAIA,aAAK,CAAC,WAAW,EAAE,IAAIE,eAAO,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;EACnF;EAEA,IAAIP,MAAM,CAACY,KAAK,KAAKT,SAAS,EAAE;IAC9BF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,OAAO,EAAE,IAAIA,aAAK,CAAC,OAAO,EAAE,IAAIQ,aAAK,EAAE,CAAC,EAAE,KAAK,CAAC,CAAC;EACzE;EAEA,OAAO,IAAIC,cAAM,CAACb,MAAM,EAAEF,QAAQ,CAAC;AACrC"}
1
+ {"version":3,"file":"get-pcd-schema.js","names":["_schema","require","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","Field","FixedSizeList","Float32","normal_x","rgb","Uint8","intensity","label","Int32","Schema"],"sources":["../../../src/lib/get-pcd-schema.ts"],"sourcesContent":["import {Schema, Field, Float32, Int32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n const offset = PCDheader.offset;\n\n const fields: Field[] = [];\n\n if (offset.x !== undefined) {\n fields.push(\n new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n );\n }\n\n if (offset.normal_x !== undefined) {\n fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n }\n\n if (offset.rgb !== undefined) {\n fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n }\n\n if (offset.intensity !== undefined) {\n fields.push(new Field('intensity', new Field('intensity', new Float32()), false));\n }\n\n if (offset.label !== undefined) {\n fields.push(new Field('label', new Field('label', new Int32()), false));\n }\n\n return new Schema(fields, metadata);\n}\n"],"mappings":";;;;;;AAAA,IAAAA,OAAA,GAAAC,OAAA;AAWO,SAASC,YAAYA,CAACC,SAAoB,EAAEC,QAAwB,EAAU;EACnF,IAAMC,MAAM,GAAGF,SAAS,CAACE,MAAM;EAE/B,IAAMC,MAAe,GAAG,EAAE;EAE1B,IAAID,MAAM,CAACE,CAAC,KAAKC,SAAS,EAAE;IAC1BF,MAAM,CAACG,IAAI,CACT,IAAIC,aAAK,CAAC,UAAU,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIE,eAAO,CAAC,CAAC,CAAC,CAAC,EAAE,KAAK,CACpF,CAAC;EACH;EAEA,IAAIP,MAAM,CAACQ,QAAQ,KAAKL,SAAS,EAAE;IACjCF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,QAAQ,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIE,eAAO,CAAC,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAChG;EAEA,IAAIP,MAAM,CAACS,GAAG,KAAKN,SAAS,EAAE;IAC5BF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,SAAS,EAAE,IAAIC,qBAAa,CAAC,CAAC,EAAE,IAAID,aAAK,CAAC,KAAK,EAAE,IAAIK,aAAK,CAAC,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EAC/F;EAEA,IAAIV,MAAM,CAACW,SAAS,KAAKR,SAAS,EAAE;IAClCF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,WAAW,EAAE,IAAIA,aAAK,CAAC,WAAW,EAAE,IAAIE,eAAO,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EACnF;EAEA,IAAIP,MAAM,CAACY,KAAK,KAAKT,SAAS,EAAE;IAC9BF,MAAM,CAACG,IAAI,CAAC,IAAIC,aAAK,CAAC,OAAO,EAAE,IAAIA,aAAK,CAAC,OAAO,EAAE,IAAIQ,aAAK,CAAC,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC;EACzE;EAEA,OAAO,IAAIC,cAAM,CAACb,MAAM,EAAEF,QAAQ,CAAC;AACrC"}
package/dist/es5/lib/parse-pcd.js.map CHANGED
@@ -1 +1 @@
1
- {"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 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{"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 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package/dist/es5/pcd-loader.js CHANGED
@@ -4,7 +4,7 @@ Object.defineProperty(exports, "__esModule", {
4
4
  value: true
5
5
  });
6
6
  exports._typecheckPCDLoader = exports.PCDLoader = void 0;
7
- var VERSION = typeof "3.4.0-alpha.3" !== 'undefined' ? "3.4.0-alpha.3" : 'latest';
7
+ var VERSION = typeof "3.4.0-alpha.5" !== 'undefined' ? "3.4.0-alpha.5" : 'latest';
8
8
  var PCDLoader = {
9
9
  name: 'PCD (Point Cloud Data)',
10
10
  id: 'pcd',
package/dist/esm/lib/get-pcd-schema.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/esm/lib/parse-pcd.js.map CHANGED
@@ -1 +1 @@
1
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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 > 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 !== 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*/\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 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{"version":3,"file":"parse-pcd.js","names":["getMeshBoundingBox","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","loaderData","mode","indices","width","height","pointCount","vertexCount","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","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 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{\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 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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) 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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 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package/dist/esm/pcd-loader.js CHANGED
@@ -1,4 +1,4 @@
1
- const VERSION = typeof "3.4.0-alpha.3" !== 'undefined' ? "3.4.0-alpha.3" : 'latest';
1
+ const VERSION = typeof "3.4.0-alpha.5" !== 'undefined' ? "3.4.0-alpha.5" : 'latest';
2
2
  export const PCDLoader = {
3
3
  name: 'PCD (Point Cloud Data)',
4
4
  id: 'pcd',
package/dist/pcd-worker.js CHANGED
@@ -976,7 +976,7 @@
976
976
  }
977
977
 
978
978
  // src/pcd-loader.ts
979
- var VERSION = true ? "3.4.0-alpha.3" : "latest";
979
+ var VERSION = true ? "3.4.0-alpha.5" : "latest";
980
980
  var PCDLoader = {
981
981
  name: "PCD (Point Cloud Data)",
982
982
  id: "pcd",
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@loaders.gl/pcd",
3
- "version": "3.4.0-alpha.3",
3
+ "version": "3.4.0-alpha.5",
4
4
  "description": "Framework-independent loader for the PCD format",
5
5
  "license": "MIT",
6
6
  "publishConfig": {
@@ -33,8 +33,8 @@
33
33
  "build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js --define:__VERSION__=\\\"$npm_package_version\\\""
34
34
  },
35
35
  "dependencies": {
36
- "@loaders.gl/loader-utils": "3.4.0-alpha.3",
37
- "@loaders.gl/schema": "3.4.0-alpha.3"
36
+ "@loaders.gl/loader-utils": "3.4.0-alpha.5",
37
+ "@loaders.gl/schema": "3.4.0-alpha.5"
38
38
  },
39
- "gitHead": "a954528dd1d78a1f128d8f6b07e4baeb7a296924"
39
+ "gitHead": "686929f85b3420c15df051eab769942b260dd242"
40
40
  }