@loaders.gl/pcd 4.0.0-alpha.23 → 4.0.0-alpha.24

package/dist/es5/pcd-loader.js

@@ -4,7 +4,7 @@ Object.defineProperty(exports, "__esModule", {
   value: true
 });
 exports.PCDLoader = void 0;
-var VERSION = typeof "4.0.0-alpha.23" !== 'undefined' ? "4.0.0-alpha.23" : 'latest';
+var VERSION = typeof "4.0.0-alpha.24" !== 'undefined' ? "4.0.0-alpha.24" : 'latest';
 var PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

package/dist/esm/pcd-loader.js

@@ -1,4 +1,4 @@
-const VERSION = typeof "4.0.0-alpha.23" !== 'undefined' ? "4.0.0-alpha.23" : 'latest';
+const VERSION = typeof "4.0.0-alpha.24" !== 'undefined' ? "4.0.0-alpha.24" : 'latest';
 export const PCDLoader = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',

package/dist/pcd-worker.js

@@ -565,7 +565,7 @@
   }
 
   // src/pcd-loader.ts
-  var VERSION = true ? "4.0.0-alpha.23" : "latest";
+  var VERSION = true ? "4.0.0-alpha.24" : "latest";
   var PCDLoader = {
     name: "PCD (Point Cloud Data)",
     id: "pcd",

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "4.0.0-alpha.23",
+  "version": "4.0.0-alpha.24",
   "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": "4.0.0-alpha.23",
-    "@loaders.gl/schema": "4.0.0-alpha.23"
+    "@loaders.gl/loader-utils": "4.0.0-alpha.24",
+    "@loaders.gl/schema": "4.0.0-alpha.24"
   },
-  "gitHead": "e212f2a0c0e342f7cb65ce84fa2ff39f64b7d94b"
+  "gitHead": "97a8990595c132fb14e3445a8768d9f4cb98ff05"
 }

package/dist/bundle.js

@@ -1,5 +0,0 @@
-"use strict";
-// @ts-nocheck
-const moduleExports = require('./index');
-globalThis.loaders = globalThis.loaders || {};
-module.exports = Object.assign(globalThis.loaders, moduleExports);

package/dist/index.js

@@ -1,17 +0,0 @@
-"use strict";
-var __importDefault = (this && this.__importDefault) || function (mod) {
-    return (mod && mod.__esModule) ? mod : { "default": mod };
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.PCDLoader = exports.PCDWorkerLoader = void 0;
-const parse_pcd_1 = __importDefault(require("./lib/parse-pcd"));
-const pcd_loader_1 = require("./pcd-loader");
-Object.defineProperty(exports, "PCDWorkerLoader", { enumerable: true, get: function () { return pcd_loader_1.PCDLoader; } });
-/**
- * Loader for PCD - Point Cloud Data
- */
-exports.PCDLoader = {
-    ...pcd_loader_1.PCDLoader,
-    parse: async (arrayBuffer) => (0, parse_pcd_1.default)(arrayBuffer),
-    parseSync: parse_pcd_1.default
-};

package/dist/lib/decompress-lzf.js

@@ -1,62 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.decompressLZF = void 0;
-/* eslint-disable */
-/**
- * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
- * @param inData
- * @param outLength
- * @returns
- */
-function decompressLZF(inData, outLength) {
-    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) {
-            ctrl++;
-            if (outPtr + ctrl > outLength) {
-                throw new Error('Output buffer is not large enough');
-            }
-            if (inPtr + ctrl > inLength) {
-                throw new Error('Invalid compressed data');
-            }
-            do {
-                outData[outPtr++] = inData[inPtr++];
-            } while (--ctrl);
-        }
-        else {
-            len = ctrl >> 5;
-            ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
-            if (inPtr >= inLength) {
-                throw new Error('Invalid compressed data');
-            }
-            if (len === 7) {
-                len += inData[inPtr++];
-                if (inPtr >= inLength) {
-                    throw new Error('Invalid compressed data');
-                }
-            }
-            ref -= inData[inPtr++];
-            if (outPtr + len + 2 > outLength) {
-                throw new Error('Output buffer is not large enough');
-            }
-            if (ref < 0) {
-                throw new Error('Invalid compressed data');
-            }
-            if (ref >= outPtr) {
-                throw new Error('Invalid compressed data');
-            }
-            do {
-                outData[outPtr++] = outData[ref++];
-            } while (--len + 2);
-        }
-    } while (inPtr < inLength);
-    return outData;
-}
-exports.decompressLZF = decompressLZF;

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

@@ -1,33 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.getPCDSchema = void 0;
-/**
- * Gets schema from PCD header
- * @param PCDheader
- * @param metadata
- * @returns Schema
- */
-function getPCDSchema(PCDheader, metadata) {
-    const offset = PCDheader.offset;
-    const fields = [];
-    if (offset.x !== undefined) {
-        fields.push({
-            name: 'POSITION',
-            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }
-        });
-    }
-    if (offset.normal_x !== undefined) {
-        fields.push({
-            name: 'NORMAL',
-            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }
-        });
-    }
-    if (offset.rgb !== undefined) {
-        fields.push({
-            name: 'COLOR_0',
-            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: 'uint8' }] }
-        });
-    }
-    return { fields, metadata };
-}
-exports.getPCDSchema = getPCDSchema;

package/dist/lib/parse-pcd.js

@@ -1,333 +0,0 @@
-"use strict";
-// PCD Loader, adapted from THREE.js (MIT license)
-// Description: A loader for PCD ascii and binary files.
-// Limitations: Compressed binary files are not supported.
-//
-// Attributions per original THREE.js source file:
-// @author Filipe Caixeta / http://filipecaixeta.com.br
-// @author Mugen87 / https://github.com/Mugen87
-Object.defineProperty(exports, "__esModule", { value: true });
-const schema_1 = require("@loaders.gl/schema");
-const decompress_lzf_1 = require("./decompress-lzf");
-const get_pcd_schema_1 = require("./get-pcd-schema");
-const LITTLE_ENDIAN = true;
-/**
- *
- * @param data
- * @returns
- */
-function parsePCD(data) {
-    // parse header (always ascii format)
-    const textData = new TextDecoder().decode(data);
-    const pcdHeader = parsePCDHeader(textData);
-    let attributes = {};
-    // parse data
-    switch (pcdHeader.data) {
-        case 'ascii':
-            attributes = parsePCDASCII(pcdHeader, textData);
-            break;
-        case 'binary':
-            attributes = parsePCDBinary(pcdHeader, data);
-            break;
-        case 'binary_compressed':
-            attributes = parsePCDBinaryCompressed(pcdHeader, data);
-            break;
-        default:
-            throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
-    }
-    attributes = getMeshAttributes(attributes);
-    const header = getMeshHeader(pcdHeader, attributes);
-    const metadata = Object.fromEntries([
-        ['mode', '0'],
-        ['boundingBox', JSON.stringify(header.boundingBox)]
-    ]);
-    const schema = (0, get_pcd_schema_1.getPCDSchema)(pcdHeader, metadata);
-    return {
-        loader: 'pcd',
-        loaderData: pcdHeader,
-        header,
-        schema,
-        mode: 0,
-        topology: 'point-list',
-        attributes
-    };
-}
-exports.default = parsePCD;
-// Create a header that contains common data for PointCloud category loaders
-function getMeshHeader(pcdHeader, attributes) {
-    if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
-        const pointCount = pcdHeader.width * pcdHeader.height; // Supports "organized" point sets
-        return {
-            vertexCount: pointCount,
-            boundingBox: (0, schema_1.getMeshBoundingBox)(attributes)
-        };
-    }
-    return {
-        vertexCount: pcdHeader.vertexCount,
-        boundingBox: pcdHeader.boundingBox
-    };
-}
-/**
- * @param attributes
- * @returns Normalized attributes
- */
-function getMeshAttributes(attributes) {
-    const normalizedAttributes = {
-        POSITION: {
-            // Binary PCD is only 32 bit
-            value: new Float32Array(attributes.position),
-            size: 3
-        }
-    };
-    if (attributes.normal && attributes.normal.length > 0) {
-        normalizedAttributes.NORMAL = {
-            value: new Float32Array(attributes.normal),
-            size: 3
-        };
-    }
-    if (attributes.color && attributes.color.length > 0) {
-        // TODO - RGBA
-        normalizedAttributes.COLOR_0 = {
-            value: new Uint8Array(attributes.color),
-            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;
-}
-/**
- * Incoming data parsing
- * @param data
- * @returns Header
- */
-/* eslint-disable complexity, max-statements */
-function parsePCDHeader(data) {
-    const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
-    const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
-    const pcdHeader = {};
-    pcdHeader.data = result2 && result2[1];
-    if (result2 !== null) {
-        pcdHeader.headerLen = (result2 && result2[0].length) + result1;
-    }
-    pcdHeader.str = data.substr(0, pcdHeader.headerLen);
-    // remove comments
-    pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
-    // parse
-    pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
-    pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
-    pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
-    pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);
-    pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);
-    pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);
-    pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
-    pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
-    pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
-    // evaluate
-    if (pcdHeader.version !== null) {
-        pcdHeader.version = parseFloat(pcdHeader.version[1]);
-    }
-    if (pcdHeader.fields !== null) {
-        pcdHeader.fields = pcdHeader.fields[1].split(' ');
-    }
-    if (pcdHeader.type !== null) {
-        pcdHeader.type = pcdHeader.type[1].split(' ');
-    }
-    if (pcdHeader.width !== null) {
-        pcdHeader.width = parseInt(pcdHeader.width[1], 10);
-    }
-    if (pcdHeader.height !== null) {
-        pcdHeader.height = parseInt(pcdHeader.height[1], 10);
-    }
-    if (pcdHeader.viewpoint !== null) {
-        pcdHeader.viewpoint = pcdHeader.viewpoint[1];
-    }
-    if (pcdHeader.points !== null) {
-        pcdHeader.points = parseInt(pcdHeader.points[1], 10);
-    }
-    if (pcdHeader.points === null &&
-        typeof pcdHeader.width === 'number' &&
-        typeof pcdHeader.height === 'number') {
-        pcdHeader.points = pcdHeader.width * pcdHeader.height;
-    }
-    if (pcdHeader.size !== null) {
-        pcdHeader.size = pcdHeader.size[1].split(' ').map((x) => parseInt(x, 10));
-    }
-    if (pcdHeader.count !== null) {
-        pcdHeader.count = pcdHeader.count[1].split(' ').map((x) => parseInt(x, 10));
-    }
-    else {
-        pcdHeader.count = [];
-        if (pcdHeader.fields !== null) {
-            for (let i = 0; i < pcdHeader.fields.length; i++) {
-                pcdHeader.count.push(1);
-            }
-        }
-    }
-    pcdHeader.offset = {};
-    let sizeSum = 0;
-    if (pcdHeader.fields !== null && pcdHeader.size !== null) {
-        for (let i = 0; i < pcdHeader.fields.length; i++) {
-            if (pcdHeader.data === 'ascii') {
-                pcdHeader.offset[pcdHeader.fields[i]] = i;
-            }
-            else {
-                pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
-                sizeSum += pcdHeader.size[i];
-            }
-        }
-    }
-    // for binary only
-    pcdHeader.rowSize = sizeSum;
-    return pcdHeader;
-}
-/**
- * @param pcdHeader
- * @param textData
- * @returns [attributes]
- */
-// 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');
-    for (let i = 0; i < lines.length; i++) {
-        if (lines[i] !== '') {
-            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) {
-                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));
-                // TODO - handle alpha channel / RGBA?
-            }
-            if (offset.normal_x !== undefined) {
-                normal.push(parseFloat(line[offset.normal_x]));
-                normal.push(parseFloat(line[offset.normal_y]));
-                normal.push(parseFloat(line[offset.normal_z]));
-            }
-            if (offset.intensity !== undefined) {
-                intensity.push(parseFloat(line[offset.intensity]));
-            }
-            if (offset.label !== undefined) {
-                label.push(parseInt(line[offset.label]));
-            }
-        }
-    }
-    return { position, normal, color };
-}
-/**
- * @param pcdHeader
- * @param data
- * @returns [attributes]
- */
-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) {
-        if (offset.x !== undefined) {
-            position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
-            position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
-            position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));
-        }
-        if (offset.rgb !== undefined) {
-            color.push(dataview.getUint8(row + offset.rgb + 0));
-            color.push(dataview.getUint8(row + offset.rgb + 1));
-            color.push(dataview.getUint8(row + offset.rgb + 2));
-        }
-        if (offset.normal_x !== undefined) {
-            normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));
-            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, 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
- * @license MIT (http://opensource.org/licenses/MIT)
- * @param pcdHeader
- * @param data
- * @returns [attributes]
- */
-// eslint-enable-next-line complexity, max-statements
-function parsePCDBinaryCompressed(pcdHeader, data) {
-    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, 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++) {
-        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));
-        }
-        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);
-        }
-        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));
-        }
-        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,
-        intensity,
-        label
-    };
-}

package/dist/lib/pcd-types.js

@@ -1,2 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });

package/dist/pcd-loader.js

@@ -1,22 +0,0 @@
-"use strict";
-// loaders.gl, MIT license
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.PCDLoader = void 0;
-// __VERSION__ is injected by babel-plugin-version-inline
-// @ts-ignore TS2304: Cannot find name '__VERSION__'.
-const VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';
-/**
- * Worker loader for PCD - Point Cloud Data
- */
-exports.PCDLoader = {
-    name: 'PCD (Point Cloud Data)',
-    id: 'pcd',
-    module: 'pcd',
-    version: VERSION,
-    worker: true,
-    extensions: ['pcd'],
-    mimeTypes: ['text/plain'],
-    options: {
-        pcd: {}
-    }
-};

package/dist/workers/pcd-worker.js

@@ -1,5 +0,0 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-const loader_utils_1 = require("@loaders.gl/loader-utils");
-const index_1 = require("../index");
-(0, loader_utils_1.createLoaderWorker)(index_1.PCDLoader);