@loaders.gl/pcd 3.4.13 → 3.4.15

package/dist/es5/bundle.js

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

package/dist/es5/bundle.js.map

@@ -1 +1 @@
-{"version":3,"file":"bundle.js","names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"sources":["../../src/bundle.ts"],"sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"mappings":";;AACA,IAAMA,aAAa,GAAGC,OAAO,CAAC,SAAS,CAAC;AACxCC,UAAU,CAACC,OAAO,GAAGD,UAAU,CAACC,OAAO,IAAI,CAAC,CAAC;AAC7CC,MAAM,CAACC,OAAO,GAAGC,MAAM,CAACC,MAAM,CAACL,UAAU,CAACC,OAAO,EAAEH,aAAa,CAAC"}
+{"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/es5/index.js

@@ -7,39 +7,19 @@ Object.defineProperty(exports, "__esModule", {
 exports.PCDLoader = void 0;
 Object.defineProperty(exports, "PCDWorkerLoader", {
   enumerable: true,
-  get: function get() {
+  get: function () {
     return _pcdLoader.PCDLoader;
   }
 });
 exports._typecheckPCDLoader = void 0;
-var _regenerator = _interopRequireDefault(require("@babel/runtime/regenerator"));
-var _asyncToGenerator2 = _interopRequireDefault(require("@babel/runtime/helpers/asyncToGenerator"));
-var _defineProperty2 = _interopRequireDefault(require("@babel/runtime/helpers/defineProperty"));
 var _parsePcd = _interopRequireDefault(require("./lib/parse-pcd"));
 var _pcdLoader = require("./pcd-loader");
-function ownKeys(object, enumerableOnly) { var keys = Object.keys(object); if (Object.getOwnPropertySymbols) { var symbols = Object.getOwnPropertySymbols(object); enumerableOnly && (symbols = symbols.filter(function (sym) { return Object.getOwnPropertyDescriptor(object, sym).enumerable; })), keys.push.apply(keys, symbols); } return keys; }
-function _objectSpread(target) { for (var i = 1; i < arguments.length; i++) { var source = null != arguments[i] ? arguments[i] : {}; i % 2 ? ownKeys(Object(source), !0).forEach(function (key) { (0, _defineProperty2.default)(target, key, source[key]); }) : Object.getOwnPropertyDescriptors ? Object.defineProperties(target, Object.getOwnPropertyDescriptors(source)) : ownKeys(Object(source)).forEach(function (key) { Object.defineProperty(target, key, Object.getOwnPropertyDescriptor(source, key)); }); } return target; }
-var PCDLoader = _objectSpread(_objectSpread({}, _pcdLoader.PCDLoader), {}, {
-  parse: function () {
-    var _parse = (0, _asyncToGenerator2.default)(_regenerator.default.mark(function _callee(arrayBuffer) {
-      return _regenerator.default.wrap(function _callee$(_context) {
-        while (1) switch (_context.prev = _context.next) {
-          case 0:
-            return _context.abrupt("return", (0, _parsePcd.default)(arrayBuffer));
-          case 1:
-          case "end":
-            return _context.stop();
-        }
-      }, _callee);
-    }));
-    function parse(_x) {
-      return _parse.apply(this, arguments);
-    }
-    return parse;
-  }(),
+const PCDLoader = {
+  ..._pcdLoader.PCDLoader,
+  parse: async arrayBuffer => (0, _parsePcd.default)(arrayBuffer),
   parseSync: _parsePcd.default
-});
+};
 exports.PCDLoader = PCDLoader;
-var _typecheckPCDLoader = PCDLoader;
+const _typecheckPCDLoader = PCDLoader;
 exports._typecheckPCDLoader = _typecheckPCDLoader;
 //# sourceMappingURL=index.js.map

package/dist/es5/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","names":["_parsePcd","_interopRequireDefault","require","_pcdLoader","ownKeys","object","enumerableOnly","keys","Object","getOwnPropertySymbols","symbols","filter","sym","getOwnPropertyDescriptor","enumerable","push","apply","_objectSpread","target","i","arguments","length","source","forEach","key","_defineProperty2","default","getOwnPropertyDescriptors","defineProperties","defineProperty","PCDLoader","PCDWorkerLoader","parse","_parse","_asyncToGenerator2","_regenerator","mark","_callee","arrayBuffer","wrap","_callee$","_context","prev","next","abrupt","parsePCDSync","stop","_x","parseSync","exports","_typecheckPCDLoader"],"sources":["../../src/index.ts"],"sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"mappings":";;;;;;;;;;;;;;;;;AACA,IAAAA,SAAA,GAAAC,sBAAA,CAAAC,OAAA;AACA,IAAAC,UAAA,GAAAD,OAAA;AAA0D,SAAAE,QAAAC,MAAA,EAAAC,cAAA,QAAAC,IAAA,GAAAC,MAAA,CAAAD,IAAA,CAAAF,MAAA,OAAAG,MAAA,CAAAC,qBAAA,QAAAC,OAAA,GAAAF,MAAA,CAAAC,qBAAA,CAAAJ,MAAA,GAAAC,cAAA,KAAAI,OAAA,GAAAA,OAAA,CAAAC,MAAA,WAAAC,GAAA,WAAAJ,MAAA,CAAAK,wBAAA,CAAAR,MAAA,EAAAO,GAAA,EAAAE,UAAA,OAAAP,IAAA,CAAAQ,IAAA,CAAAC,KAAA,CAAAT,IAAA,EAAAG,OAAA,YAAAH,IAAA;AAAA,SAAAU,cAAAC,MAAA,aAAAC,CAAA,MAAAA,CAAA,GAAAC,SAAA,CAAAC,MAAA,EAAAF,CAAA,UAAAG,MAAA,WAAAF,SAAA,CAAAD,CAAA,IAAAC,SAAA,CAAAD,CAAA,QAAAA,CAAA,OAAAf,OAAA,CAAAI,MAAA,CAAAc,MAAA,OAAAC,OAAA,WAAAC,GAAA,QAAAC,gBAAA,CAAAC,OAAA,EAAAR,MAAA,EAAAM,GAAA,EAAAF,MAAA,CAAAE,GAAA,SAAAhB,MAAA,CAAAmB,yBAAA,GAAAnB,MAAA,CAAAoB,gBAAA,CAAAV,MAAA,EAAAV,MAAA,CAAAmB,yBAAA,CAAAL,MAAA,KAAAlB,OAAA,CAAAI,MAAA,CAAAc,MAAA,GAAAC,OAAA,WAAAC,GAAA,IAAAhB,MAAA,CAAAqB,cAAA,CAAAX,MAAA,EAAAM,GAAA,EAAAhB,MAAA,CAAAK,wBAAA,CAAAS,MAAA,EAAAE,GAAA,iBAAAN,MAAA;AAOnD,IAAMY,SAAS,GAAAb,aAAA,CAAAA,aAAA,KACjBc,oBAAe;EAClBC,KAAK;IAAA,IAAAC,MAAA,OAAAC,kBAAA,CAAAR,OAAA,EAAAS,YAAA,CAAAT,OAAA,CAAAU,IAAA,CAAE,SAAAC,QAAOC,WAAW;MAAA,OAAAH,YAAA,CAAAT,OAAA,CAAAa,IAAA,UAAAC,SAAAC,QAAA;QAAA,kBAAAA,QAAA,CAAAC,IAAA,GAAAD,QAAA,CAAAE,IAAA;UAAA;YAAA,OAAAF,QAAA,CAAAG,MAAA,WAAK,IAAAC,iBAAY,EAACP,WAAW,CAAC;UAAA;UAAA;YAAA,OAAAG,QAAA,CAAAK,IAAA;QAAA;MAAA,GAAAT,OAAA;IAAA;IAAA,SAAAL,MAAAe,EAAA;MAAA,OAAAd,MAAA,CAAAjB,KAAA,OAAAI,SAAA;IAAA;IAAA,OAAAY,KAAA;EAAA;EACvDgB,SAAS,EAAEH;AAAY,EACxB;AAACI,OAAA,CAAAnB,SAAA,GAAAA,SAAA;AAEK,IAAMoB,mBAAqC,GAAGpB,SAAS;AAACmB,OAAA,CAAAC,mBAAA,GAAAA,mBAAA"}
+{"version":3,"file":"index.js","names":["_parsePcd","_interopRequireDefault","require","_pcdLoader","PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parsePCDSync","parseSync","exports","_typecheckPCDLoader"],"sources":["../../src/index.ts"],"sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"mappings":";;;;;;;;;;;;;;AACA,IAAAA,SAAA,GAAAC,sBAAA,CAAAC,OAAA;AACA,IAAAC,UAAA,GAAAD,OAAA;AAOO,MAAME,SAAS,GAAG;EACvB,GAAGC,oBAAe;EAClBC,KAAK,EAAE,MAAOC,WAAW,IAAK,IAAAC,iBAAY,EAACD,WAAW,CAAC;EACvDE,SAAS,EAAED;AACb,CAAC;AAACE,OAAA,CAAAN,SAAA,GAAAA,SAAA;AAEK,MAAMO,mBAAqC,GAAGP,SAAS;AAACM,OAAA,CAAAC,mBAAA,GAAAA,mBAAA"}

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

@@ -5,13 +5,13 @@ Object.defineProperty(exports, "__esModule", {
 });
 exports.decompressLZF = decompressLZF;
 function decompressLZF(inData, outLength) {
-  var inLength = inData.length;
-  var outData = new Uint8Array(outLength);
-  var inPtr = 0;
-  var outPtr = 0;
-  var ctrl;
-  var len;
-  var ref;
+  const inLength = inData.length;
+  const outData = new Uint8Array(outLength);
+  let inPtr = 0;
+  let outPtr = 0;
+  let ctrl;
+  let len;
+  let ref;
   do {
     ctrl = inData[inPtr++];
     if (ctrl < 1 << 5) {

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

@@ -1 +1 @@
-{"version":3,"file":"decompress-lzf.js","names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"sources":["../../../src/lib/decompress-lzf.ts"],"sourcesContent":["/* eslint-disable */\n/**\n * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n * @param inData\n * @param outLength\n * @returns\n */\nexport function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array {\n  const inLength = inData.length;\n  const outData = new Uint8Array(outLength);\n  let inPtr = 0;\n  let outPtr = 0;\n  let ctrl;\n  let len;\n  let ref;\n\n  do {\n    ctrl = inData[inPtr++];\n\n    if (ctrl < 1 << 5) {\n      ctrl++;\n      if (outPtr + ctrl > outLength) {\n        throw new Error('Output buffer is not large enough');\n      }\n      if (inPtr + ctrl > inLength) {\n        throw new Error('Invalid compressed data');\n      }\n\n      do {\n        outData[outPtr++] = inData[inPtr++];\n      } while (--ctrl);\n    } else {\n      len = ctrl >> 5;\n      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;\n      if (inPtr >= inLength) {\n        throw new Error('Invalid compressed data');\n      }\n\n      if (len === 7) {\n        len += inData[inPtr++];\n        if (inPtr >= inLength) {\n          throw new Error('Invalid compressed data');\n        }\n      }\n\n      ref -= inData[inPtr++];\n      if (outPtr + len + 2 > outLength) {\n        throw new Error('Output buffer is not large enough');\n      }\n      if (ref < 0) {\n        throw new Error('Invalid compressed data');\n      }\n      if (ref >= outPtr) {\n        throw new Error('Invalid compressed data');\n      }\n\n      do {\n        outData[outPtr++] = outData[ref++];\n      } while (--len + 2);\n    }\n  } while (inPtr < inLength);\n\n  return outData;\n}\n"],"mappings":";;;;;;AAOO,SAASA,aAAaA,CAACC,MAAkB,EAAEC,SAAiB,EAAc;EAC/E,IAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAM;EAC9B,IAAMC,OAAO,GAAG,IAAIC,UAAU,CAACJ,SAAS,CAAC;EACzC,IAAIK,KAAK,GAAG,CAAC;EACb,IAAIC,MAAM,GAAG,CAAC;EACd,IAAIC,IAAI;EACR,IAAIC,GAAG;EACP,IAAIC,GAAG;EAEP,GAAG;IACDF,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAE,CAAC;IAEtB,IAAIE,IAAI,GAAG,CAAC,IAAI,CAAC,EAAE;MACjBA,IAAI,EAAE;MACN,IAAID,MAAM,GAAGC,IAAI,GAAGP,SAAS,EAAE;QAC7B,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtD;MACA,IAAIL,KAAK,GAAGE,IAAI,GAAGN,QAAQ,EAAE;QAC3B,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGP,MAAM,CAACM,KAAK,EAAE,CAAC;MACrC,CAAC,QAAQ,EAAEE,IAAI;IACjB,CAAC,MAAM;MACLC,GAAG,GAAGD,IAAI,IAAI,CAAC;MACfE,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAI,KAAK,CAAC,CAAC,GAAG,CAAC;MACvC,IAAIF,KAAK,IAAIJ,QAAQ,EAAE;QACrB,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,IAAIF,GAAG,KAAK,CAAC,EAAE;QACbA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAE,CAAC;QACtB,IAAIA,KAAK,IAAIJ,QAAQ,EAAE;UACrB,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;QAC5C;MACF;MAEAD,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAE,CAAC;MACtB,IAAIC,MAAM,GAAGE,GAAG,GAAG,CAAC,GAAGR,SAAS,EAAE;QAChC,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtD;MACA,IAAID,GAAG,GAAG,CAAC,EAAE;QACX,MAAM,IAAIC,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MACA,IAAID,GAAG,IAAIH,MAAM,EAAE;QACjB,MAAM,IAAII,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGH,OAAO,CAACM,GAAG,EAAE,CAAC;MACpC,CAAC,QAAQ,EAAED,GAAG,GAAG,CAAC;IACpB;EACF,CAAC,QAAQH,KAAK,GAAGJ,QAAQ;EAEzB,OAAOE,OAAO;AAChB"}
+{"version":3,"file":"decompress-lzf.js","names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"sources":["../../../src/lib/decompress-lzf.ts"],"sourcesContent":["/* eslint-disable */\n/**\n * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n * @param inData\n * @param outLength\n * @returns\n */\nexport function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array {\n  const inLength = inData.length;\n  const outData = new Uint8Array(outLength);\n  let inPtr = 0;\n  let outPtr = 0;\n  let ctrl;\n  let len;\n  let ref;\n\n  do {\n    ctrl = inData[inPtr++];\n\n    if (ctrl < 1 << 5) {\n      ctrl++;\n      if (outPtr + ctrl > outLength) {\n        throw new Error('Output buffer is not large enough');\n      }\n      if (inPtr + ctrl > inLength) {\n        throw new Error('Invalid compressed data');\n      }\n\n      do {\n        outData[outPtr++] = inData[inPtr++];\n      } while (--ctrl);\n    } else {\n      len = ctrl >> 5;\n      ref = outPtr - ((ctrl & 0x1f) << 8) - 1;\n      if (inPtr >= inLength) {\n        throw new Error('Invalid compressed data');\n      }\n\n      if (len === 7) {\n        len += inData[inPtr++];\n        if (inPtr >= inLength) {\n          throw new Error('Invalid compressed data');\n        }\n      }\n\n      ref -= inData[inPtr++];\n      if (outPtr + len + 2 > outLength) {\n        throw new Error('Output buffer is not large enough');\n      }\n      if (ref < 0) {\n        throw new Error('Invalid compressed data');\n      }\n      if (ref >= outPtr) {\n        throw new Error('Invalid compressed data');\n      }\n\n      do {\n        outData[outPtr++] = outData[ref++];\n      } while (--len + 2);\n    }\n  } while (inPtr < inLength);\n\n  return outData;\n}\n"],"mappings":";;;;;;AAOO,SAASA,aAAaA,CAACC,MAAkB,EAAEC,SAAiB,EAAc;EAC/E,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/es5/lib/get-pcd-schema.js

@@ -6,8 +6,8 @@ Object.defineProperty(exports, "__esModule", {
 exports.getPCDSchema = getPCDSchema;
 var _schema = require("@loaders.gl/schema");
 function getPCDSchema(PCDheader, metadata) {
-  var offset = PCDheader.offset;
-  var fields = [];
+  const offset = PCDheader.offset;
+  const fields = [];
   if (offset.x !== undefined) {
     fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));
   }

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

@@ -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,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"}
+{"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,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,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

@@ -7,11 +7,11 @@ exports.default = parsePCD;
 var _schema = require("@loaders.gl/schema");
 var _decompressLzf = require("./decompress-lzf");
 var _getPcdSchema = require("./get-pcd-schema");
-var LITTLE_ENDIAN = true;
+const LITTLE_ENDIAN = true;
 function parsePCD(data) {
-  var textData = new TextDecoder().decode(data);
-  var pcdHeader = parsePCDHeader(textData);
-  var attributes = {};
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = parsePCDHeader(textData);
+  let attributes = {};
   switch (pcdHeader.data) {
     case 'ascii':
       attributes = parsePCDASCII(pcdHeader, textData);
@@ -26,23 +26,23 @@ function parsePCD(data) {
       throw new Error("PCD: ".concat(pcdHeader.data, " files are not supported"));
   }
   attributes = getMeshAttributes(attributes);
-  var header = getMeshHeader(pcdHeader, attributes);
-  var metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
-  var schema = (0, _getPcdSchema.getPCDSchema)(pcdHeader, metadata);
+  const header = getMeshHeader(pcdHeader, attributes);
+  const metadata = new Map([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
+  const schema = (0, _getPcdSchema.getPCDSchema)(pcdHeader, metadata);
   return {
     loaderData: {
       header: pcdHeader
     },
-    header: header,
-    schema: schema,
+    header,
+    schema,
     mode: 0,
     indices: null,
-    attributes: attributes
+    attributes
   };
 }
 function getMeshHeader(pcdHeader, attributes) {
   if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
-    var pointCount = pcdHeader.width * pcdHeader.height;
+    const pointCount = pcdHeader.width * pcdHeader.height;
     return {
       vertexCount: pointCount,
       boundingBox: (0, _schema.getMeshBoundingBox)(attributes)
@@ -51,7 +51,7 @@ function getMeshHeader(pcdHeader, attributes) {
   return pcdHeader;
 }
 function getMeshAttributes(attributes) {
-  var normalizedAttributes = {
+  const normalizedAttributes = {
     POSITION: {
       value: new Float32Array(attributes.position),
       size: 3
@@ -84,9 +84,9 @@ function getMeshAttributes(attributes) {
   return normalizedAttributes;
 }
 function parsePCDHeader(data) {
-  var result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
-  var result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
-  var pcdHeader = {};
+  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));
+  const pcdHeader = {};
   pcdHeader.data = result2 && result2[1];
   if (result2 !== null) {
     pcdHeader.headerLen = (result2 && result2[0].length) + result1;
@@ -127,31 +127,27 @@ function parsePCDHeader(data) {
     pcdHeader.points = pcdHeader.width * pcdHeader.height;
   }
   if (pcdHeader.size !== null) {
-    pcdHeader.size = pcdHeader.size[1].split(' ').map(function (x) {
-      return parseInt(x, 10);
-    });
+    pcdHeader.size = pcdHeader.size[1].split(' ').map(x => parseInt(x, 10));
   }
   if (pcdHeader.count !== null) {
-    pcdHeader.count = pcdHeader.count[1].split(' ').map(function (x) {
-      return parseInt(x, 10);
-    });
+    pcdHeader.count = pcdHeader.count[1].split(' ').map(x => parseInt(x, 10));
   } else {
     pcdHeader.count = [];
     if (pcdHeader.fields !== null) {
-      for (var i = 0; i < pcdHeader.fields.length; i++) {
+      for (let i = 0; i < pcdHeader.fields.length; i++) {
         pcdHeader.count.push(1);
       }
     }
   }
   pcdHeader.offset = {};
-  var sizeSum = 0;
+  let sizeSum = 0;
   if (pcdHeader.fields !== null && pcdHeader.size !== null) {
-    for (var _i = 0; _i < pcdHeader.fields.length; _i++) {
+    for (let i = 0; i < pcdHeader.fields.length; i++) {
       if (pcdHeader.data === 'ascii') {
-        pcdHeader.offset[pcdHeader.fields[_i]] = _i;
+        pcdHeader.offset[pcdHeader.fields[i]] = i;
       } else {
-        pcdHeader.offset[pcdHeader.fields[_i]] = sizeSum;
-        sizeSum += pcdHeader.size[_i];
+        pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
+        sizeSum += pcdHeader.size[i];
       }
     }
   }
@@ -159,26 +155,26 @@ function parsePCDHeader(data) {
   return pcdHeader;
 }
 function parsePCDASCII(pcdHeader, textData) {
-  var position = [];
-  var normal = [];
-  var color = [];
-  var intensity = [];
-  var label = [];
-  var offset = pcdHeader.offset;
-  var pcdData = textData.substr(pcdHeader.headerLen);
-  var lines = pcdData.split('\n');
-  for (var i = 0; i < lines.length; i++) {
+  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');
+  for (let i = 0; i < lines.length; i++) {
     if (lines[i] !== '') {
-      var line = lines[i].split(' ');
+      const line = lines[i].split(' ');
       if (offset.x !== undefined) {
         position.push(parseFloat(line[offset.x]));
         position.push(parseFloat(line[offset.y]));
         position.push(parseFloat(line[offset.z]));
       }
       if (offset.rgb !== undefined) {
-        var floatValue = parseFloat(line[offset.rgb]);
-        var binaryColor = new Float32Array([floatValue]);
-        var dataview = new DataView(binaryColor.buffer, 0);
+        const floatValue = parseFloat(line[offset.rgb]);
+        const binaryColor = new Float32Array([floatValue]);
+        const dataview = new DataView(binaryColor.buffer, 0);
         color.push(dataview.getUint8(0));
         color.push(dataview.getUint8(1));
         color.push(dataview.getUint8(2));
@@ -197,20 +193,20 @@ function parsePCDASCII(pcdHeader, textData) {
     }
   }
   return {
-    position: position,
-    normal: normal,
-    color: color
+    position,
+    normal,
+    color
   };
 }
 function parsePCDBinary(pcdHeader, data) {
-  var position = [];
-  var normal = [];
-  var color = [];
-  var intensity = [];
-  var label = [];
-  var dataview = new DataView(data, pcdHeader.headerLen);
-  var offset = pcdHeader.offset;
-  for (var i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
+  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) {
     if (offset.x !== undefined) {
       position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
       position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
@@ -234,11 +230,11 @@ function parsePCDBinary(pcdHeader, data) {
     }
   }
   return {
-    position: position,
-    normal: normal,
-    color: color,
-    intensity: intensity,
-    label: label
+    position,
+    normal,
+    color,
+    intensity,
+    label
   };
 }
 
@@ -250,18 +246,18 @@ function parsePCDBinary(pcdHeader, data) {
  * @returns [attributes]
  */
 function parsePCDBinaryCompressed(pcdHeader, data) {
-  var position = [];
-  var normal = [];
-  var color = [];
-  var intensity = [];
-  var label = [];
-  var sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));
-  var compressedSize = sizes[0];
-  var decompressedSize = sizes[1];
-  var decompressed = (0, _decompressLzf.decompressLZF)(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);
-  var dataview = new DataView(decompressed.buffer);
-  var offset = pcdHeader.offset;
-  for (var i = 0; i < pcdHeader.points; i++) {
+  const position = [];
+  const normal = [];
+  const color = [];
+  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, _decompressLzf.decompressLZF)(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);
+  const dataview = new DataView(decompressed.buffer);
+  const offset = pcdHeader.offset;
+  for (let i = 0; i < pcdHeader.points; i++) {
     if (offset.x !== undefined) {
       position.push(dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN));
       position.push(dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN));
@@ -278,20 +274,20 @@ function parsePCDBinaryCompressed(pcdHeader, data) {
       normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i, LITTLE_ENDIAN));
     }
     if (offset.intensity !== undefined) {
-      var intensityIndex = pcdHeader.fields.indexOf('intensity');
+      const intensityIndex = pcdHeader.fields.indexOf('intensity');
       intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
     }
     if (offset.label !== undefined) {
-      var labelIndex = pcdHeader.fields.indexOf('label');
+      const labelIndex = pcdHeader.fields.indexOf('label');
       label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
     }
   }
   return {
-    position: position,
-    normal: normal,
-    color: color,
-    intensity: intensity,
-    label: label
+    position,
+    normal,
+    color,
+    intensity,
+    label
   };
 }
 //# sourceMappingURL=parse-pcd.js.map

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

@@ -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 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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    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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    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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 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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, 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package/dist/es5/pcd-loader.js

@@ -4,8 +4,8 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-var VERSION = typeof "3.4.13" !== 'undefined' ? "3.4.13" : 'latest';
-var PCDLoader = {
+const VERSION = typeof "3.4.15" !== 'undefined' ? "3.4.15" : 'latest';
+const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',
   module: 'pcd',
@@ -18,6 +18,6 @@ var PCDLoader = {
   }
 };
 exports.PCDLoader = PCDLoader;
-var _typecheckPCDLoader = PCDLoader;
+const _typecheckPCDLoader = PCDLoader;
 exports._typecheckPCDLoader = _typecheckPCDLoader;
 //# sourceMappingURL=pcd-loader.js.map

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","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,eAAkB,KAAK,WAAW,cAAiB,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"}
+{"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,MAAMA,OAAO,GAAG,eAAkB,KAAK,WAAW,cAAiB,QAAQ;AAKpE,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;AAACC,OAAA,CAAAV,SAAA,GAAAA,SAAA;AAEK,MAAMW,mBAA2B,GAAGX,SAAS;AAACU,OAAA,CAAAC,mBAAA,GAAAA,mBAAA"}

package/dist/esm/pcd-loader.js

@@ -1,4 +1,4 @@
-const VERSION = typeof "3.4.13" !== 'undefined' ? "3.4.13" : 'latest';
+const VERSION = typeof "3.4.15" !== 'undefined' ? "3.4.15" : 'latest';
 export const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

package/dist/pcd-worker.js

@@ -976,7 +976,7 @@
   }
 
   // src/pcd-loader.ts
-  var VERSION = true ? "3.4.13" : "latest";
+  var VERSION = true ? "3.4.15" : "latest";
   var PCDLoader = {
     name: "PCD (Point Cloud Data)",
     id: "pcd",

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "3.4.13",
+  "version": "3.4.15",
   "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": "3.4.13",
-    "@loaders.gl/schema": "3.4.13"
+    "@loaders.gl/loader-utils": "3.4.15",
+    "@loaders.gl/schema": "3.4.15"
   },
-  "gitHead": "be8849c02972ce541e01720d29b976f830d6af92"
+  "gitHead": "19e941d5805568e449ef9092490d6568a4853298"
 }