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

package/dist/workers/pcd-worker.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=pcd-worker.d.ts.map

package/dist/workers/pcd-worker.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-worker.d.ts","sourceRoot":"","sources":["../../src/workers/pcd-worker.ts"],"names":[],"mappings":""}

package/dist/workers/pcd-worker.js

@@ -1,4 +1,5 @@
-import { createLoaderWorker } from '@loaders.gl/loader-utils';
-import { PCDLoader } from '../index';
-createLoaderWorker(PCDLoader);
-//# sourceMappingURL=pcd-worker.js.map
+"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);

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "4.0.0-alpha.4",
+  "version": "4.0.0-alpha.6",
   "description": "Framework-independent loader for the PCD format",
   "license": "MIT",
   "publishConfig": {
@@ -18,9 +18,9 @@
     "point cloud",
     "PCD"
   ],
-  "types": "src/index.ts",
-  "main": "dist/index.js",
-  "module": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "main": "dist/es5/index.js",
+  "module": "dist/esm/index.js",
   "sideEffects": false,
   "files": [
     "src",
@@ -29,12 +29,12 @@
   ],
   "scripts": {
     "pre-build": "npm run build-worker && npm run build-bundle",
-    "build-bundle": "esbuild src/bundle.ts --bundle --outfile=dist/bundle.js",
-    "build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js"
+    "build-bundle": "esbuild src/bundle.ts --bundle --outfile=dist/dist.min.js",
+    "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.4",
-    "@loaders.gl/schema": "4.0.0-alpha.4"
+    "@loaders.gl/loader-utils": "4.0.0-alpha.6",
+    "@loaders.gl/schema": "4.0.0-alpha.6"
   },
-  "gitHead": "53026061b3c8871f7e96d3a5826125cc6613bddc"
+  "gitHead": "acc1985050dfaa0f1f0c066f8da5bce7454a046c"
 }

package/src/index.ts

@@ -1,13 +1,14 @@
-import type {LoaderWithParser} from '@loaders.gl/loader-utils';
+import type {LoaderOptions, LoaderWithParser} from '@loaders.gl/loader-utils';
 import parsePCDSync from './lib/parse-pcd';
 import {PCDLoader as PCDWorkerLoader} from './pcd-loader';
+import {PCDMesh} from './lib/pcd-types';
 
 export {PCDWorkerLoader};
 
 /**
  * Loader for PCD - Point Cloud Data
  */
-export const PCDLoader = {
+export const PCDLoader: LoaderWithParser<PCDMesh, never, LoaderOptions> = {
   ...PCDWorkerLoader,
   parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),
   parseSync: parsePCDSync

package/src/lib/decompress-lzf.ts

@@ -0,0 +1,64 @@
+/* eslint-disable */
+/**
+ * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
+ * @param inData
+ * @param outLength
+ * @returns
+ */
+export function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array {
+  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;
+}

package/src/lib/get-pcd-schema.ts

@@ -1,32 +1,37 @@
-import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';
+import {Schema, Field} from '@loaders.gl/schema';
 import type {PCDHeader} from './pcd-types';
 
-type SchemaMetadata = Map<string, any>;
-
 /**
  * Gets schema from PCD header
  * @param PCDheader
  * @param metadata
  * @returns Schema
  */
-export function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {
+export function getPCDSchema(PCDheader: PCDHeader, metadata: Record<string, string>): Schema {
   const offset = PCDheader.offset;
 
   const fields: Field[] = [];
 
   if (offset.x !== undefined) {
-    fields.push(
-      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)
-    );
+    fields.push({
+      name: 'POSITION',
+      type: {type: 'fixed-size-list', listSize: 3, children: [{name: 'xyz', type: 'float32'}]}
+    });
   }
 
   if (offset.normal_x !== undefined) {
-    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));
+    fields.push({
+      name: 'NORMAL',
+      type: {type: 'fixed-size-list', listSize: 3, children: [{name: 'xyz', type: 'float32'}]}
+    });
   }
 
   if (offset.rgb !== undefined) {
-    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));
+    fields.push({
+      name: 'COLOR_0',
+      type: {type: 'fixed-size-list', listSize: 3, children: [{name: 'rgb', type: 'uint8'}]}
+    });
   }
 
-  return new Schema(fields, metadata);
+  return {fields, metadata};
 }

package/src/lib/parse-pcd.ts

@@ -6,10 +6,16 @@
 // @author Filipe Caixeta / http://filipecaixeta.com.br
 // @author Mugen87 / https://github.com/Mugen87
 
+import {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';
 import {getMeshBoundingBox} from '@loaders.gl/schema';
-import type {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';
-import type {PCDHeader} from './pcd-types';
+import {decompressLZF} from './decompress-lzf';
 import {getPCDSchema} from './get-pcd-schema';
+import type {PCDHeader, PCDMesh} from './pcd-types';
+
+type MeshHeader = {
+  vertexCount: number;
+  boundingBox: [[number, number, number], [number, number, number]];
+};
 
 type NormalizedAttributes = {
   POSITION: {
@@ -37,7 +43,7 @@ const LITTLE_ENDIAN: boolean = true;
  * @param data
  * @returns
  */
-export default function parsePCD(data: ArrayBufferLike) {
+export default function parsePCD(data: ArrayBufferLike): PCDMesh {
   // parse header (always ascii format)
   const textData = new TextDecoder().decode(data);
   const pcdHeader = parsePCDHeader(textData);
@@ -55,6 +61,9 @@ export default function parsePCD(data: ArrayBufferLike) {
       break;
 
     case 'binary_compressed':
+      attributes = parsePCDBinaryCompressed(pcdHeader, data);
+      break;
+
     default:
       throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
   }
@@ -63,7 +72,7 @@ export default function parsePCD(data: ArrayBufferLike) {
 
   const header = getMeshHeader(pcdHeader, attributes);
 
-  const metadata = new Map([
+  const metadata = Object.fromEntries([
     ['mode', '0'],
     ['boundingBox', JSON.stringify(header.boundingBox)]
   ]);
@@ -71,19 +80,18 @@ export default function parsePCD(data: ArrayBufferLike) {
   const schema = getPCDSchema(pcdHeader, metadata);
 
   return {
-    loaderData: {
-      header: pcdHeader
-    },
+    loader: 'pcd',
+    loaderData: pcdHeader,
     header,
     schema,
     mode: 0, // POINTS
-    indices: null,
+    topology: 'point-list',
     attributes
   };
 }
 
 // Create a header that contains common data for PointCloud category loaders
-function getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): Partial<PCDHeader> {
+function getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): MeshHeader {
   if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
     const pointCount = pcdHeader.width * pcdHeader.height; // Supports "organized" point sets
     return {
@@ -91,7 +99,10 @@ function getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes):
       boundingBox: getMeshBoundingBox(attributes)
     };
   }
-  return pcdHeader;
+  return {
+    vertexCount: pcdHeader.vertexCount,
+    boundingBox: pcdHeader.boundingBox
+  };
 }
 
 /**
@@ -122,6 +133,22 @@ function getMeshAttributes(attributes: HeaderAttributes): {[attributeName: strin
     };
   }
 
+  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;
 }
 
@@ -236,11 +263,13 @@ function parsePCDHeader(data: string): PCDHeader {
  * @param textData
  * @returns [attributes]
  */
-/* eslint-enable complexity, max-statements */
+// eslint-enable-next-line complexity, max-statements
 function parsePCDASCII(pcdHeader: PCDHeader, textData: string): HeaderAttributes {
   const position: number[] = [];
   const normal: number[] = [];
   const color: number[] = [];
+  const intensity: number[] = [];
+  const label: number[] = [];
 
   const offset = pcdHeader.offset;
   const pcdData = textData.substr(pcdHeader.headerLen);
@@ -271,6 +300,14 @@ function parsePCDASCII(pcdHeader: PCDHeader, textData: string): HeaderAttributes
         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]));
+      }
     }
   }
 
@@ -286,6 +323,8 @@ function parsePCDBinary(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttr
   const position: number[] = [];
   const normal: number[] = [];
   const color: number[] = [];
+  const intensity: number[] = [];
+  const label: number[] = [];
 
   const dataview = new DataView(data, pcdHeader.headerLen);
   const offset = pcdHeader.offset;
@@ -308,7 +347,117 @@ function parsePCDBinary(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttr
       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};
+  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: PCDHeader, data: ArrayBufferLike): HeaderAttributes {
+  const position: number[] = [];
+  const normal: number[] = [];
+  const color: number[] = [];
+  const intensity: number[] = [];
+  const label: number[] = [];
+
+  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
+  };
 }

package/src/lib/pcd-types.ts

@@ -6,15 +6,15 @@ export type PCDHeader = {
   data: any;
   headerLen: number;
   str: string;
-  version: RegExpExecArray | null | number;
-  fields: RegExpExecArray | null | string[];
-  size: RegExpExecArray | null | number[];
-  type: RegExpExecArray | null | string[];
-  count: RegExpExecArray | null | number[];
-  width: RegExpExecArray | number;
-  height: RegExpExecArray | number;
-  viewpoint: RegExpExecArray | null | string;
-  points: RegExpExecArray | number;
+  version: number;
+  fields: string[];
+  size: number[];
+  type: null | string[];
+  count: null | number[];
+  width: number;
+  height: number;
+  viewpoint: null | string;
+  points: number;
   offset: {[index: string]: number};
   rowSize: number;
   vertexCount: number;

package/src/pcd-loader.ts

@@ -1,4 +1,7 @@
-import type {Loader} from '@loaders.gl/loader-utils';
+// loaders.gl, MIT license
+
+import type {Loader, LoaderOptions} from '@loaders.gl/loader-utils';
+import {PCDMesh} from './lib/pcd-types';
 
 // __VERSION__ is injected by babel-plugin-version-inline
 // @ts-ignore TS2304: Cannot find name '__VERSION__'.
@@ -7,7 +10,7 @@ const VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';
 /**
  * Worker loader for PCD - Point Cloud Data
  */
-export const PCDLoader = {
+export const PCDLoader: Loader<PCDMesh, never, LoaderOptions> = {
   name: 'PCD (Point Cloud Data)',
   id: 'pcd',
   module: 'pcd',
@@ -19,5 +22,3 @@ export const PCDLoader = {
     pcd: {}
   }
 };
-
-export const _typecheckPCDLoader: Loader = PCDLoader;

package/dist/bundle.js.map

@@ -1 +0,0 @@
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package/dist/index.js.map

@@ -1 +0,0 @@
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package/dist/lib/get-pcd-schema.js.map

@@ -1 +0,0 @@
-{"version":3,"sources":["../../src/lib/get-pcd-schema.ts"],"names":["Schema","Field","Float32","Uint8","FixedSizeList","getPCDSchema","PCDheader","metadata","offset","fields","x","undefined","push","normal_x","rgb"],"mappings":"AAAA,SAAQA,MAAR,EAAgBC,KAAhB,EAAuBC,OAAvB,EAAgCC,KAAhC,EAAuCC,aAAvC,QAA2D,oBAA3D;AAWA,OAAO,SAASC,YAAT,CAAsBC,SAAtB,EAA4CC,QAA5C,EAA8E;AACnF,QAAMC,MAAM,GAAGF,SAAS,CAACE,MAAzB;AAEA,QAAMC,MAAe,GAAG,EAAxB;;AAEA,MAAID,MAAM,CAACE,CAAP,KAAaC,SAAjB,EAA4B;AAC1BF,IAAAA,MAAM,CAACG,IAAP,CACE,IAAIX,KAAJ,CAAU,UAAV,EAAsB,IAAIG,aAAJ,CAAkB,CAAlB,EAAqB,IAAIH,KAAJ,CAAU,KAAV,EAAiB,IAAIC,OAAJ,EAAjB,CAArB,CAAtB,EAA6E,KAA7E,CADF;AAGD;;AAED,MAAIM,MAAM,CAACK,QAAP,KAAoBF,SAAxB,EAAmC;AACjCF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIX,KAAJ,CAAU,QAAV,EAAoB,IAAIG,aAAJ,CAAkB,CAAlB,EAAqB,IAAIH,KAAJ,CAAU,KAAV,EAAiB,IAAIC,OAAJ,EAAjB,CAArB,CAApB,EAA2E,KAA3E,CAAZ;AACD;;AAED,MAAIM,MAAM,CAACM,GAAP,KAAeH,SAAnB,EAA8B;AAC5BF,IAAAA,MAAM,CAACG,IAAP,CAAY,IAAIX,KAAJ,CAAU,SAAV,EAAqB,IAAIG,aAAJ,CAAkB,CAAlB,EAAqB,IAAIH,KAAJ,CAAU,KAAV,EAAiB,IAAIE,KAAJ,EAAjB,CAArB,CAArB,EAA0E,KAA1E,CAAZ;AACD;;AAED,SAAO,IAAIH,MAAJ,CAAWS,MAAX,EAAmBF,QAAnB,CAAP;AACD","sourcesContent":["import {Schema, Field, Float32, Uint8, FixedSizeList} from '@loaders.gl/schema';\nimport type {PCDHeader} from './pcd-types';\n\ntype SchemaMetadata = Map<string, any>;\n\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader: PCDHeader, metadata: SchemaMetadata): Schema {\n  const offset = PCDheader.offset;\n\n  const fields: Field[] = [];\n\n  if (offset.x !== undefined) {\n    fields.push(\n      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)\n    );\n  }\n\n  if (offset.normal_x !== undefined) {\n    fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));\n  }\n\n  if (offset.rgb !== undefined) {\n    fields.push(new Field('COLOR_0', new FixedSizeList(3, new Field('rgb', new Uint8())), false));\n  }\n\n  return new Schema(fields, metadata);\n}\n"],"file":"get-pcd-schema.js"}

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

@@ -1 +0,0 @@
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// 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    default:\n      throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n  }\n\n  attributes = getMeshAttributes(attributes);\n\n  const header = getMeshHeader(pcdHeader, attributes);\n\n  const metadata = new Map([\n    ['mode', '0'],\n    ['boundingBox', JSON.stringify(header.boundingBox)]\n  ]);\n\n  const schema = getPCDSchema(pcdHeader, metadata);\n\n  return {\n    loaderData: {\n      header: pcdHeader\n    },\n    header,\n    schema,\n    mode: 0, // POINTS\n    indices: null,\n    attributes\n  };\n}\n\n// Create a header that contains common data for PointCloud category loaders\nfunction getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): Partial<PCDHeader> {\n  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {\n    const pointCount = pcdHeader.width * pcdHeader.height; // Supports \"organized\" point sets\n    return {\n      vertexCount: pointCount,\n      boundingBox: getMeshBoundingBox(attributes)\n    };\n  }\n  return pcdHeader;\n}\n\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getMeshAttributes(attributes: HeaderAttributes): {[attributeName: string]: MeshAttribute} {\n  const normalizedAttributes: MeshAttributes = {\n    POSITION: {\n      // Binary PCD is only 32 bit\n      value: new Float32Array(attributes.position),\n      size: 3\n    }\n  };\n\n  if (attributes.normal && attributes.normal.length > 0) {\n    normalizedAttributes.NORMAL = {\n      value: new Float32Array(attributes.normal),\n      size: 3\n    };\n  }\n\n  if (attributes.color && attributes.color.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = {\n      value: new Uint8Array(attributes.color),\n      size: 3\n    };\n  }\n\n  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 complexity, max-statements */\nfunction parsePCDASCII(pcdHeader: PCDHeader, textData: string): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: 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  }\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\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\n  return {position, normal, color};\n}\n"],"file":"parse-pcd.js"}

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

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package/dist/pcd-loader.js.map

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-{"version":3,"sources":["../src/pcd-loader.ts"],"names":["VERSION","PCDLoader","name","id","module","version","worker","extensions","mimeTypes","options","pcd","_typecheckPCDLoader"],"mappings":"AAIA,MAAMA,OAAO,GAAG,2BAAuB,WAAvB,qBAAmD,QAAnE;AAKA,OAAO,MAAMC,SAAS,GAAG;AACvBC,EAAAA,IAAI,EAAE,wBADiB;AAEvBC,EAAAA,EAAE,EAAE,KAFmB;AAGvBC,EAAAA,MAAM,EAAE,KAHe;AAIvBC,EAAAA,OAAO,EAAEL,OAJc;AAKvBM,EAAAA,MAAM,EAAE,IALe;AAMvBC,EAAAA,UAAU,EAAE,CAAC,KAAD,CANW;AAOvBC,EAAAA,SAAS,EAAE,CAAC,YAAD,CAPY;AAQvBC,EAAAA,OAAO,EAAE;AACPC,IAAAA,GAAG,EAAE;AADE;AARc,CAAlB;AAaP,OAAO,MAAMC,mBAA2B,GAAGV,SAApC","sourcesContent":["import type {Loader} from '@loaders.gl/loader-utils';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pcd',\n  version: VERSION,\n  worker: true,\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  options: {\n    pcd: {}\n  }\n};\n\nexport const _typecheckPCDLoader: Loader = PCDLoader;\n"],"file":"pcd-loader.js"}

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

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-{"version":3,"sources":["../../src/workers/pcd-worker.ts"],"names":["createLoaderWorker","PCDLoader"],"mappings":"AAAA,SAAQA,kBAAR,QAAiC,0BAAjC;AACA,SAAQC,SAAR,QAAwB,UAAxB;AAEAD,kBAAkB,CAACC,SAAD,CAAlB","sourcesContent":["import {createLoaderWorker} from '@loaders.gl/loader-utils';\nimport {PCDLoader} from '../index';\n\ncreateLoaderWorker(PCDLoader);\n"],"file":"pcd-worker.js"}