@loaders.gl/pcd 4.0.0-alpha.4 → 4.0.0-alpha.6

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

@@ -0,0 +1,299 @@
+"use strict";
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.default = parsePCD;
+var _schema = require("@loaders.gl/schema");
+var _decompressLzf = require("./decompress-lzf");
+var _getPcdSchema = require("./get-pcd-schema");
+var LITTLE_ENDIAN = true;
+function parsePCD(data) {
+  var textData = new TextDecoder().decode(data);
+  var pcdHeader = parsePCDHeader(textData);
+  var attributes = {};
+  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: ".concat(pcdHeader.data, " files are not supported"));
+  }
+  attributes = getMeshAttributes(attributes);
+  var header = getMeshHeader(pcdHeader, attributes);
+  var metadata = Object.fromEntries([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
+  var schema = (0, _getPcdSchema.getPCDSchema)(pcdHeader, metadata);
+  return {
+    loader: 'pcd',
+    loaderData: pcdHeader,
+    header: header,
+    schema: schema,
+    mode: 0,
+    topology: 'point-list',
+    attributes: attributes
+  };
+}
+function getMeshHeader(pcdHeader, attributes) {
+  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+    var pointCount = pcdHeader.width * pcdHeader.height;
+    return {
+      vertexCount: pointCount,
+      boundingBox: (0, _schema.getMeshBoundingBox)(attributes)
+    };
+  }
+  return {
+    vertexCount: pcdHeader.vertexCount,
+    boundingBox: pcdHeader.boundingBox
+  };
+}
+function getMeshAttributes(attributes) {
+  var normalizedAttributes = {
+    POSITION: {
+      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) {
+    normalizedAttributes.COLOR_0 = {
+      value: new Uint8Array(attributes.color),
+      size: 3
+    };
+  }
+  if (attributes.intensity && attributes.intensity.length > 0) {
+    normalizedAttributes.COLOR_0 = {
+      value: new Uint8Array(attributes.color),
+      size: 3
+    };
+  }
+  if (attributes.label && attributes.label.length > 0) {
+    normalizedAttributes.COLOR_0 = {
+      value: new Uint8Array(attributes.label),
+      size: 3
+    };
+  }
+  return normalizedAttributes;
+}
+function parsePCDHeader(data) {
+  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 = {};
+  pcdHeader.data = result2 && result2[1];
+  if (result2 !== null) {
+    pcdHeader.headerLen = (result2 && result2[0].length) + result1;
+  }
+  pcdHeader.str = data.substr(0, pcdHeader.headerLen);
+  pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
+  pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
+  pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
+  pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
+  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);
+  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(function (x) {
+      return parseInt(x, 10);
+    });
+  }
+  if (pcdHeader.count !== null) {
+    pcdHeader.count = pcdHeader.count[1].split(' ').map(function (x) {
+      return parseInt(x, 10);
+    });
+  } else {
+    pcdHeader.count = [];
+    if (pcdHeader.fields !== null) {
+      for (var i = 0; i < pcdHeader.fields.length; i++) {
+        pcdHeader.count.push(1);
+      }
+    }
+  }
+  pcdHeader.offset = {};
+  var sizeSum = 0;
+  if (pcdHeader.fields !== null && pcdHeader.size !== null) {
+    for (var _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];
+      }
+    }
+  }
+  pcdHeader.rowSize = sizeSum;
+  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++) {
+    if (lines[i] !== '') {
+      var 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);
+        color.push(dataview.getUint8(0));
+        color.push(dataview.getUint8(1));
+        color.push(dataview.getUint8(2));
+      }
+      if (offset.normal_x !== undefined) {
+        normal.push(parseFloat(line[offset.normal_x]));
+        normal.push(parseFloat(line[offset.normal_y]));
+        normal.push(parseFloat(line[offset.normal_z]));
+      }
+      if (offset.intensity !== undefined) {
+        intensity.push(parseFloat(line[offset.intensity]));
+      }
+      if (offset.label !== undefined) {
+        label.push(parseInt(line[offset.label]));
+      }
+    }
+  }
+  return {
+    position: position,
+    normal: normal,
+    color: 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) {
+    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: position,
+    normal: normal,
+    color: color,
+    intensity: intensity,
+    label: 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]
+ */
+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++) {
+    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) {
+      var 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');
+      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
+  };
+}
+//# sourceMappingURL=parse-pcd.js.map

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

@@ -0,0 +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","Object","fromEntries","JSON","stringify","boundingBox","schema","getPCDSchema","loader","loaderData","mode","topology","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, PCDMesh} from './pcd-types';\n\ntype MeshHeader = {\n  vertexCount: number;\n  boundingBox: [[number, number, number], [number, number, number]];\n};\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): PCDMesh {\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 = Object.fromEntries([\n    ['mode', '0'],\n    ['boundingBox', JSON.stringify(header.boundingBox)]\n  ]);\n\n  const schema = getPCDSchema(pcdHeader, metadata);\n\n  return {\n    loader: 'pcd',\n    loaderData: pcdHeader,\n    header,\n    schema,\n    mode: 0, // POINTS\n    topology: 'point-list',\n    attributes\n  };\n}\n\n// Create a header that contains common data for PointCloud category loaders\nfunction getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): MeshHeader {\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 {\n    vertexCount: pcdHeader.vertexCount,\n    boundingBox: pcdHeader.boundingBox\n  };\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 = 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package/dist/es5/lib/pcd-types.js

@@ -0,0 +1,2 @@
+"use strict";
+//# sourceMappingURL=pcd-types.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-types.js","names":[],"sources":["../../../src/lib/pcd-types.ts"],"sourcesContent":["import type {Mesh} from '@loaders.gl/schema';\n\ntype BoundingBox = [[number, number, number], [number, number, number]];\n\nexport type PCDHeader = {\n  data: any;\n  headerLen: number;\n  str: string;\n  version: number;\n  fields: string[];\n  size: number[];\n  type: null | string[];\n  count: null | number[];\n  width: number;\n  height: number;\n  viewpoint: null | string;\n  points: number;\n  offset: {[index: string]: number};\n  rowSize: number;\n  vertexCount: number;\n  boundingBox: BoundingBox;\n};\n\n/**  */\nexport type PCDMesh = Mesh & {\n  loader: 'pcd';\n  loaderData: PCDHeader;\n  topology: 'point-list';\n  mode: 0;\n};\n"],"mappings":""}

package/dist/es5/pcd-loader.js

@@ -0,0 +1,21 @@
+"use strict";
+
+Object.defineProperty(exports, "__esModule", {
+  value: true
+});
+exports.PCDLoader = void 0;
+var VERSION = typeof "4.0.0-alpha.6" !== 'undefined' ? "4.0.0-alpha.6" : 'latest';
+var PCDLoader = {
+  name: 'PCD (Point Cloud Data)',
+  id: 'pcd',
+  module: 'pcd',
+  version: VERSION,
+  worker: true,
+  extensions: ['pcd'],
+  mimeTypes: ['text/plain'],
+  options: {
+    pcd: {}
+  }
+};
+exports.PCDLoader = PCDLoader;
+//# sourceMappingURL=pcd-loader.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-loader.js","names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","exports"],"sources":["../../src/pcd-loader.ts"],"sourcesContent":["// loaders.gl, MIT license\n\nimport type {Loader, LoaderOptions} from '@loaders.gl/loader-utils';\nimport {PCDMesh} from './lib/pcd-types';\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: Loader<PCDMesh, never, LoaderOptions> = {\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"],"mappings":";;;;;;AAOA,IAAMA,OAAO,GAAG,sBAAkB,KAAK,WAAW,qBAAiB,QAAQ;AAKpE,IAAMC,SAAgD,GAAG;EAC9DC,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"}

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

@@ -0,0 +1,6 @@
+"use strict";
+
+var _loaderUtils = require("@loaders.gl/loader-utils");
+var _index = require("../index");
+(0, _loaderUtils.createLoaderWorker)(_index.PCDLoader);
+//# sourceMappingURL=pcd-worker.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-worker.js","names":["_loaderUtils","require","_index","createLoaderWorker","PCDLoader"],"sources":["../../../src/workers/pcd-worker.ts"],"sourcesContent":["import {createLoaderWorker} from '@loaders.gl/loader-utils';\nimport {PCDLoader} from '../index';\n\ncreateLoaderWorker(PCDLoader);\n"],"mappings":";;AAAA,IAAAA,YAAA,GAAAC,OAAA;AACA,IAAAC,MAAA,GAAAD,OAAA;AAEA,IAAAE,+BAAkB,EAACC,gBAAS,CAAC"}

package/dist/esm/bundle.js

@@ -0,0 +1,4 @@
+const moduleExports = require('./index');
+globalThis.loaders = globalThis.loaders || {};
+module.exports = Object.assign(globalThis.loaders, moduleExports);
+//# sourceMappingURL=bundle.js.map

package/dist/esm/bundle.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"bundle.js","names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"sources":["../../src/bundle.ts"],"sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"mappings":"AACA,MAAMA,aAAa,GAAGC,OAAO,CAAC,SAAS,CAAC;AACxCC,UAAU,CAACC,OAAO,GAAGD,UAAU,CAACC,OAAO,IAAI,CAAC,CAAC;AAC7CC,MAAM,CAACC,OAAO,GAAGC,MAAM,CAACC,MAAM,CAACL,UAAU,CAACC,OAAO,EAAEH,aAAa,CAAC"}

package/dist/esm/index.js

@@ -0,0 +1,10 @@
+import parsePCDSync from './lib/parse-pcd';
+import { PCDLoader as PCDWorkerLoader } from './pcd-loader';
+export { PCDWorkerLoader };
+export const PCDLoader = {
+  ...PCDWorkerLoader,
+  parse: async arrayBuffer => parsePCDSync(arrayBuffer),
+  parseSync: parsePCDSync
+};
+export const _typecheckPCDLoader = PCDLoader;
+//# sourceMappingURL=index.js.map

package/dist/esm/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","names":["parsePCDSync","PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","_typecheckPCDLoader"],"sources":["../../src/index.ts"],"sourcesContent":["import type {LoaderOptions, LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\nimport {PCDMesh} from './lib/pcd-types';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader: LoaderWithParser<PCDMesh, never, LoaderOptions> = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"mappings":"AACA,OAAOA,YAAY,MAAM,iBAAiB;AAC1C,SAAQC,SAAS,IAAIC,eAAe,QAAO,cAAc;AAGzD,SAAQA,eAAe;AAKvB,OAAO,MAAMD,SAA0D,GAAG;EACxE,GAAGC,eAAe;EAClBC,KAAK,EAAE,MAAOC,WAAW,IAAKJ,YAAY,CAACI,WAAW,CAAC;EACvDC,SAAS,EAAEL;AACb,CAAC;AAED,OAAO,MAAMM,mBAAqC,GAAGL,SAAS"}

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

@@ -0,0 +1,51 @@
+export 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;
+}
+//# sourceMappingURL=decompress-lzf.js.map

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

@@ -0,0 +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":"AAOA,OAAO,SAASA,aAAaA,CAACC,MAAkB,EAAEC,SAAiB,EAAc;EAC/E,MAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAM;EAC9B,MAAMC,OAAO,GAAG,IAAIC,UAAU,CAACJ,SAAS,CAAC;EACzC,IAAIK,KAAK,GAAG,CAAC;EACb,IAAIC,MAAM,GAAG,CAAC;EACd,IAAIC,IAAI;EACR,IAAIC,GAAG;EACP,IAAIC,GAAG;EAEP,GAAG;IACDF,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAE,CAAC;IAEtB,IAAIE,IAAI,GAAG,CAAC,IAAI,CAAC,EAAE;MACjBA,IAAI,EAAE;MACN,IAAID,MAAM,GAAGC,IAAI,GAAGP,SAAS,EAAE;QAC7B,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtD;MACA,IAAIL,KAAK,GAAGE,IAAI,GAAGN,QAAQ,EAAE;QAC3B,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGP,MAAM,CAACM,KAAK,EAAE,CAAC;MACrC,CAAC,QAAQ,EAAEE,IAAI;IACjB,CAAC,MAAM;MACLC,GAAG,GAAGD,IAAI,IAAI,CAAC;MACfE,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAI,KAAK,CAAC,CAAC,GAAG,CAAC;MACvC,IAAIF,KAAK,IAAIJ,QAAQ,EAAE;QACrB,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,IAAIF,GAAG,KAAK,CAAC,EAAE;QACbA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAE,CAAC;QACtB,IAAIA,KAAK,IAAIJ,QAAQ,EAAE;UACrB,MAAM,IAAIS,KAAK,CAAC,yBAAyB,CAAC;QAC5C;MACF;MAEAD,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAE,CAAC;MACtB,IAAIC,MAAM,GAAGE,GAAG,GAAG,CAAC,GAAGR,SAAS,EAAE;QAChC,MAAM,IAAIU,KAAK,CAAC,mCAAmC,CAAC;MACtD;MACA,IAAID,GAAG,GAAG,CAAC,EAAE;QACX,MAAM,IAAIC,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MACA,IAAID,GAAG,IAAIH,MAAM,EAAE;QACjB,MAAM,IAAII,KAAK,CAAC,yBAAyB,CAAC;MAC5C;MAEA,GAAG;QACDP,OAAO,CAACG,MAAM,EAAE,CAAC,GAAGH,OAAO,CAACM,GAAG,EAAE,CAAC;MACpC,CAAC,QAAQ,EAAED,GAAG,GAAG,CAAC;IACpB;EACF,CAAC,QAAQH,KAAK,GAAGJ,QAAQ;EAEzB,OAAOE,OAAO;AAChB"}

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

@@ -0,0 +1,48 @@
+export 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
+  };
+}
+//# sourceMappingURL=get-pcd-schema.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"get-pcd-schema.js","names":["getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","name","type","listSize","children","normal_x","rgb"],"sources":["../../../src/lib/get-pcd-schema.ts"],"sourcesContent":["import {Schema, Field} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: Record<string, string>): Schema {\n  const offset = PCDheader.offset;\n\n  const fields: Field[] = [];\n\n  if (offset.x !== undefined) {\n    fields.push({\n      name: 'POSITION',\n      type: {type: 'fixed-size-list', listSize: 3, children: [{name: 'xyz', type: 'float32'}]}\n    });\n  }\n\n  if (offset.normal_x !== undefined) {\n    fields.push({\n      name: 'NORMAL',\n      type: {type: 'fixed-size-list', listSize: 3, children: [{name: 'xyz', type: 'float32'}]}\n    });\n  }\n\n  if (offset.rgb !== undefined) {\n    fields.push({\n      name: 'COLOR_0',\n      type: {type: 'fixed-size-list', listSize: 3, children: [{name: 'rgb', type: 'uint8'}]}\n    });\n  }\n\n  return {fields, metadata};\n}\n"],"mappings":"AASA,OAAO,SAASA,YAAYA,CAACC,SAAoB,EAAEC,QAAgC,EAAU;EAC3F,MAAMC,MAAM,GAAGF,SAAS,CAACE,MAAM;EAE/B,MAAMC,MAAe,GAAG,EAAE;EAE1B,IAAID,MAAM,CAACE,CAAC,KAAKC,SAAS,EAAE;IAC1BF,MAAM,CAACG,IAAI,CAAC;MACVC,IAAI,EAAE,UAAU;MAChBC,IAAI,EAAE;QAACA,IAAI,EAAE,iBAAiB;QAAEC,QAAQ,EAAE,CAAC;QAAEC,QAAQ,EAAE,CAAC;UAACH,IAAI,EAAE,KAAK;UAAEC,IAAI,EAAE;QAAS,CAAC;MAAC;IACzF,CAAC,CAAC;EACJ;EAEA,IAAIN,MAAM,CAACS,QAAQ,KAAKN,SAAS,EAAE;IACjCF,MAAM,CAACG,IAAI,CAAC;MACVC,IAAI,EAAE,QAAQ;MACdC,IAAI,EAAE;QAACA,IAAI,EAAE,iBAAiB;QAAEC,QAAQ,EAAE,CAAC;QAAEC,QAAQ,EAAE,CAAC;UAACH,IAAI,EAAE,KAAK;UAAEC,IAAI,EAAE;QAAS,CAAC;MAAC;IACzF,CAAC,CAAC;EACJ;EAEA,IAAIN,MAAM,CAACU,GAAG,KAAKP,SAAS,EAAE;IAC5BF,MAAM,CAACG,IAAI,CAAC;MACVC,IAAI,EAAE,SAAS;MACfC,IAAI,EAAE;QAACA,IAAI,EAAE,iBAAiB;QAAEC,QAAQ,EAAE,CAAC;QAAEC,QAAQ,EAAE,CAAC;UAACH,IAAI,EAAE,KAAK;UAAEC,IAAI,EAAE;QAAO,CAAC;MAAC;IACvF,CAAC,CAAC;EACJ;EAEA,OAAO;IAACL,MAAM;IAAEF;EAAQ,CAAC;AAC3B"}