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

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

@@ -0,0 +1,289 @@
+import { getMeshBoundingBox } from '@loaders.gl/schema';
+import { decompressLZF } from './decompress-lzf';
+import { getPCDSchema } from './get-pcd-schema';
+const LITTLE_ENDIAN = true;
+export default function parsePCD(data) {
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = parsePCDHeader(textData);
+  let 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);
+  const header = getMeshHeader(pcdHeader, attributes);
+  const metadata = Object.fromEntries([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
+  const schema = getPCDSchema(pcdHeader, metadata);
+  return {
+    loader: 'pcd',
+    loaderData: pcdHeader,
+    header,
+    schema,
+    mode: 0,
+    topology: 'point-list',
+    attributes
+  };
+}
+function getMeshHeader(pcdHeader, attributes) {
+  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+    const pointCount = pcdHeader.width * pcdHeader.height;
+    return {
+      vertexCount: pointCount,
+      boundingBox: getMeshBoundingBox(attributes)
+    };
+  }
+  return {
+    vertexCount: pcdHeader.vertexCount,
+    boundingBox: pcdHeader.boundingBox
+  };
+}
+function getMeshAttributes(attributes) {
+  const 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) {
+  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);
+  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(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];
+      }
+    }
+  }
+  pcdHeader.rowSize = sizeSum;
+  return pcdHeader;
+}
+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));
+      }
+      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
+  };
+}
+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]
+ */
+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 = 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
+  };
+}
+//# sourceMappingURL=parse-pcd.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"parse-pcd.js","names":["getMeshBoundingBox","decompressLZF","getPCDSchema","LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","parsePCDBinaryCompressed","Error","concat","getMeshAttributes","header","getMeshHeader","metadata","Object","fromEntries","JSON","stringify","boundingBox","schema","loader","loaderData","mode","topology","width","height","pointCount","vertexCount","normalizedAttributes","POSITION","value","Float32Array","position","size","normal","length","NORMAL","color","COLOR_0","Uint8Array","intensity","label","result1","search","result2","exec","substr","headerLen","str","replace","version","fields","type","count","viewpoint","points","parseFloat","split","parseInt","map","x","i","push","offset","sizeSum","rowSize","pcdData","lines","line","undefined","y","z","rgb","floatValue","binaryColor","dataview","DataView","buffer","getUint8","normal_x","normal_y","normal_z","row","getFloat32","getInt32","sizes","Uint32Array","slice","compressedSize","decompressedSize","decompressed","intensityIndex","indexOf","labelIndex"],"sources":["../../../src/lib/parse-pcd.ts"],"sourcesContent":["// PCD Loader, adapted from THREE.js (MIT license)\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n//\n// Attributions per original THREE.js source file:\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\n\nimport {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';\nimport {getMeshBoundingBox} from '@loaders.gl/schema';\nimport {decompressLZF} from './decompress-lzf';\nimport {getPCDSchema} from './get-pcd-schema';\nimport type {PCDHeader, 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 = pcdHeader.fields.indexOf('intensity');\n      intensity.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.label !== undefined) {\n      const labelIndex = pcdHeader.fields.indexOf('label');\n      label.push(\n        dataview.getInt32(\n          pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n  }\n\n  return {\n    position,\n    normal,\n    color,\n    intensity,\n    label\n  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package/dist/esm/lib/pcd-types.js

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=pcd-types.js.map

package/dist/esm/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/esm/pcd-loader.js

@@ -0,0 +1,14 @@
+const VERSION = typeof "4.0.0-alpha.6" !== 'undefined' ? "4.0.0-alpha.6" : 'latest';
+export const PCDLoader = {
+  name: 'PCD (Point Cloud Data)',
+  id: 'pcd',
+  module: 'pcd',
+  version: VERSION,
+  worker: true,
+  extensions: ['pcd'],
+  mimeTypes: ['text/plain'],
+  options: {
+    pcd: {}
+  }
+};
+//# sourceMappingURL=pcd-loader.js.map

package/dist/esm/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"],"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,MAAMA,OAAO,GAAG,sBAAkB,KAAK,WAAW,qBAAiB,QAAQ;AAK3E,OAAO,MAAMC,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"}

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

@@ -0,0 +1,4 @@
+import { createLoaderWorker } from '@loaders.gl/loader-utils';
+import { PCDLoader } from '../index';
+createLoaderWorker(PCDLoader);
+//# sourceMappingURL=pcd-worker.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-worker.js","names":["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,SAAQA,kBAAkB,QAAO,0BAA0B;AAC3D,SAAQC,SAAS,QAAO,UAAU;AAElCD,kBAAkB,CAACC,SAAS,CAAC"}

package/dist/index.d.ts

@@ -0,0 +1,10 @@
+import type { LoaderOptions, LoaderWithParser } from '@loaders.gl/loader-utils';
+import { PCDLoader as PCDWorkerLoader } from './pcd-loader';
+import { PCDMesh } from './lib/pcd-types';
+export { PCDWorkerLoader };
+/**
+ * Loader for PCD - Point Cloud Data
+ */
+export declare const PCDLoader: LoaderWithParser<PCDMesh, never, LoaderOptions>;
+export declare const _typecheckPCDLoader: LoaderWithParser;
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,aAAa,EAAE,gBAAgB,EAAC,MAAM,0BAA0B,CAAC;AAE9E,OAAO,EAAC,SAAS,IAAI,eAAe,EAAC,MAAM,cAAc,CAAC;AAC1D,OAAO,EAAC,OAAO,EAAC,MAAM,iBAAiB,CAAC;AAExC,OAAO,EAAC,eAAe,EAAC,CAAC;AAEzB;;GAEG;AACH,eAAO,MAAM,SAAS,EAAE,gBAAgB,CAAC,OAAO,EAAE,KAAK,EAAE,aAAa,CAIrE,CAAC;AAEF,eAAO,MAAM,mBAAmB,EAAE,gBAA4B,CAAC"}

package/dist/index.js

@@ -1,9 +1,18 @@
-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
+"use strict";
+var __importDefault = (this && this.__importDefault) || function (mod) {
+    return (mod && mod.__esModule) ? mod : { "default": mod };
 };
-export const _typecheckPCDLoader = PCDLoader;
-//# sourceMappingURL=index.js.map
+Object.defineProperty(exports, "__esModule", { value: true });
+exports._typecheckPCDLoader = 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
+};
+exports._typecheckPCDLoader = exports.PCDLoader;

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

@@ -0,0 +1,8 @@
+/**
+ * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
+ * @param inData
+ * @param outLength
+ * @returns
+ */
+export declare function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array;
+//# sourceMappingURL=decompress-lzf.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"decompress-lzf.d.ts","sourceRoot":"","sources":["../../src/lib/decompress-lzf.ts"],"names":[],"mappings":"AACA;;;;;GAKG;AACH,wBAAgB,aAAa,CAAC,MAAM,EAAE,UAAU,EAAE,SAAS,EAAE,MAAM,GAAG,UAAU,CAwD/E"}

package/dist/lib/decompress-lzf.js

@@ -0,0 +1,62 @@
+"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.d.ts

@@ -0,0 +1,10 @@
+import { Schema } from '@loaders.gl/schema';
+import type { PCDHeader } from './pcd-types';
+/**
+ * Gets schema from PCD header
+ * @param PCDheader
+ * @param metadata
+ * @returns Schema
+ */
+export declare function getPCDSchema(PCDheader: PCDHeader, metadata: Record<string, string>): Schema;
+//# sourceMappingURL=get-pcd-schema.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"get-pcd-schema.d.ts","sourceRoot":"","sources":["../../src/lib/get-pcd-schema.ts"],"names":[],"mappings":"AAAA,OAAO,EAAC,MAAM,EAAQ,MAAM,oBAAoB,CAAC;AACjD,OAAO,KAAK,EAAC,SAAS,EAAC,MAAM,aAAa,CAAC;AAE3C;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,SAAS,EAAE,SAAS,EAAE,QAAQ,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,MAAM,CA2B3F"}

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

@@ -1,20 +1,33 @@
-import { Schema, Field, Float32, Uint8, FixedSizeList } from '@loaders.gl/schema';
-export function getPCDSchema(PCDheader, metadata) {
-  const offset = PCDheader.offset;
-  const fields = [];
-
-  if (offset.x !== undefined) {
-    fields.push(new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false));
-  }
-
-  if (offset.normal_x !== undefined) {
-    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));
-  }
-
-  if (offset.rgb !== undefined) {
-    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));
-  }
-
-  return new Schema(fields, metadata);
+"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 };
 }
-//# sourceMappingURL=get-pcd-schema.js.map
+exports.getPCDSchema = getPCDSchema;

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

@@ -0,0 +1,8 @@
+import type { PCDMesh } from './pcd-types';
+/**
+ *
+ * @param data
+ * @returns
+ */
+export default function parsePCD(data: ArrayBufferLike): PCDMesh;
+//# sourceMappingURL=parse-pcd.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"parse-pcd.d.ts","sourceRoot":"","sources":["../../src/lib/parse-pcd.ts"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAY,OAAO,EAAC,MAAM,aAAa,CAAC;AA4BpD;;;;GAIG;AACH,MAAM,CAAC,OAAO,UAAU,QAAQ,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CA6C/D"}