@loaders.gl/pcd 4.0.0-alpha.5 → 4.0.0-alpha.6

package/dist/dist.min.js

@@ -13,7 +13,7 @@
       __defProp(target, name, { get: all[name], enumerable: true });
   };
 
-  // ../schema/src/category/mesh/mesh-utils.ts
+  // ../schema/src/lib/mesh/mesh-utils.ts
   function getMeshBoundingBox(attributes) {
     let minX = Infinity;
     let minY = Infinity;
@@ -40,457 +40,7 @@
     ];
   }
   var init_mesh_utils = __esm({
-    "../schema/src/category/mesh/mesh-utils.ts"() {
-    }
-  });
-
-  // ../schema/src/lib/utils/assert.ts
-  function assert(condition, message) {
-    if (!condition) {
-      throw new Error(message || "loader assertion failed.");
-    }
-  }
-  var init_assert = __esm({
-    "../schema/src/lib/utils/assert.ts"() {
-    }
-  });
-
-  // ../schema/src/lib/schema/impl/schema.ts
-  function checkNames(fields) {
-    const usedNames = {};
-    for (const field of fields) {
-      if (usedNames[field.name]) {
-        console.warn("Schema: duplicated field name", field.name, field);
-      }
-      usedNames[field.name] = true;
-    }
-  }
-  function mergeMaps(m1, m2) {
-    return new Map([...m1 || new Map(), ...m2 || new Map()]);
-  }
-  var Schema;
-  var init_schema = __esm({
-    "../schema/src/lib/schema/impl/schema.ts"() {
-      init_assert();
-      Schema = class {
-        constructor(fields, metadata) {
-          assert(Array.isArray(fields));
-          checkNames(fields);
-          this.fields = fields;
-          this.metadata = metadata || new Map();
-        }
-        compareTo(other) {
-          if (this.metadata !== other.metadata) {
-            return false;
-          }
-          if (this.fields.length !== other.fields.length) {
-            return false;
-          }
-          for (let i = 0; i < this.fields.length; ++i) {
-            if (!this.fields[i].compareTo(other.fields[i])) {
-              return false;
-            }
-          }
-          return true;
-        }
-        select(...columnNames) {
-          const nameMap = Object.create(null);
-          for (const name of columnNames) {
-            nameMap[name] = true;
-          }
-          const selectedFields = this.fields.filter((field) => nameMap[field.name]);
-          return new Schema(selectedFields, this.metadata);
-        }
-        selectAt(...columnIndices) {
-          const selectedFields = columnIndices.map((index) => this.fields[index]).filter(Boolean);
-          return new Schema(selectedFields, this.metadata);
-        }
-        assign(schemaOrFields) {
-          let fields;
-          let metadata = this.metadata;
-          if (schemaOrFields instanceof Schema) {
-            const otherSchema = schemaOrFields;
-            fields = otherSchema.fields;
-            metadata = mergeMaps(mergeMaps(new Map(), this.metadata), otherSchema.metadata);
-          } else {
-            fields = schemaOrFields;
-          }
-          const fieldMap = Object.create(null);
-          for (const field of this.fields) {
-            fieldMap[field.name] = field;
-          }
-          for (const field of fields) {
-            fieldMap[field.name] = field;
-          }
-          const mergedFields = Object.values(fieldMap);
-          return new Schema(mergedFields, metadata);
-        }
-      };
-    }
-  });
-
-  // ../schema/src/lib/schema/impl/field.ts
-  var Field;
-  var init_field = __esm({
-    "../schema/src/lib/schema/impl/field.ts"() {
-      Field = class {
-        constructor(name, type, nullable = false, metadata = new Map()) {
-          this.name = name;
-          this.type = type;
-          this.nullable = nullable;
-          this.metadata = metadata;
-        }
-        get typeId() {
-          return this.type && this.type.typeId;
-        }
-        clone() {
-          return new Field(this.name, this.type, this.nullable, this.metadata);
-        }
-        compareTo(other) {
-          return this.name === other.name && this.type === other.type && this.nullable === other.nullable && this.metadata === other.metadata;
-        }
-        toString() {
-          return `${this.type}${this.nullable ? ", nullable" : ""}${this.metadata ? `, metadata: ${this.metadata}` : ""}`;
-        }
-      };
-    }
-  });
-
-  // ../schema/src/lib/schema/impl/enum.ts
-  var Type;
-  var init_enum = __esm({
-    "../schema/src/lib/schema/impl/enum.ts"() {
-      (function(Type2) {
-        Type2[Type2["NONE"] = 0] = "NONE";
-        Type2[Type2["Null"] = 1] = "Null";
-        Type2[Type2["Int"] = 2] = "Int";
-        Type2[Type2["Float"] = 3] = "Float";
-        Type2[Type2["Binary"] = 4] = "Binary";
-        Type2[Type2["Utf8"] = 5] = "Utf8";
-        Type2[Type2["Bool"] = 6] = "Bool";
-        Type2[Type2["Decimal"] = 7] = "Decimal";
-        Type2[Type2["Date"] = 8] = "Date";
-        Type2[Type2["Time"] = 9] = "Time";
-        Type2[Type2["Timestamp"] = 10] = "Timestamp";
-        Type2[Type2["Interval"] = 11] = "Interval";
-        Type2[Type2["List"] = 12] = "List";
-        Type2[Type2["Struct"] = 13] = "Struct";
-        Type2[Type2["Union"] = 14] = "Union";
-        Type2[Type2["FixedSizeBinary"] = 15] = "FixedSizeBinary";
-        Type2[Type2["FixedSizeList"] = 16] = "FixedSizeList";
-        Type2[Type2["Map"] = 17] = "Map";
-        Type2[Type2["Dictionary"] = -1] = "Dictionary";
-        Type2[Type2["Int8"] = -2] = "Int8";
-        Type2[Type2["Int16"] = -3] = "Int16";
-        Type2[Type2["Int32"] = -4] = "Int32";
-        Type2[Type2["Int64"] = -5] = "Int64";
-        Type2[Type2["Uint8"] = -6] = "Uint8";
-        Type2[Type2["Uint16"] = -7] = "Uint16";
-        Type2[Type2["Uint32"] = -8] = "Uint32";
-        Type2[Type2["Uint64"] = -9] = "Uint64";
-        Type2[Type2["Float16"] = -10] = "Float16";
-        Type2[Type2["Float32"] = -11] = "Float32";
-        Type2[Type2["Float64"] = -12] = "Float64";
-        Type2[Type2["DateDay"] = -13] = "DateDay";
-        Type2[Type2["DateMillisecond"] = -14] = "DateMillisecond";
-        Type2[Type2["TimestampSecond"] = -15] = "TimestampSecond";
-        Type2[Type2["TimestampMillisecond"] = -16] = "TimestampMillisecond";
-        Type2[Type2["TimestampMicrosecond"] = -17] = "TimestampMicrosecond";
-        Type2[Type2["TimestampNanosecond"] = -18] = "TimestampNanosecond";
-        Type2[Type2["TimeSecond"] = -19] = "TimeSecond";
-        Type2[Type2["TimeMillisecond"] = -20] = "TimeMillisecond";
-        Type2[Type2["TimeMicrosecond"] = -21] = "TimeMicrosecond";
-        Type2[Type2["TimeNanosecond"] = -22] = "TimeNanosecond";
-        Type2[Type2["DenseUnion"] = -23] = "DenseUnion";
-        Type2[Type2["SparseUnion"] = -24] = "SparseUnion";
-        Type2[Type2["IntervalDayTime"] = -25] = "IntervalDayTime";
-        Type2[Type2["IntervalYearMonth"] = -26] = "IntervalYearMonth";
-      })(Type || (Type = {}));
-    }
-  });
-
-  // ../schema/src/lib/schema/impl/type.ts
-  var DataType, Null, Bool, Int, Uint8, Precision, Float, Float32, Binary, Utf8, DateUnit, Date, TimeUnit, Time, Timestamp, IntervalUnit, Interval, FixedSizeList, Struct;
-  var init_type = __esm({
-    "../schema/src/lib/schema/impl/type.ts"() {
-      init_enum();
-      DataType = class {
-        static isNull(x) {
-          return x && x.typeId === Type.Null;
-        }
-        static isInt(x) {
-          return x && x.typeId === Type.Int;
-        }
-        static isFloat(x) {
-          return x && x.typeId === Type.Float;
-        }
-        static isBinary(x) {
-          return x && x.typeId === Type.Binary;
-        }
-        static isUtf8(x) {
-          return x && x.typeId === Type.Utf8;
-        }
-        static isBool(x) {
-          return x && x.typeId === Type.Bool;
-        }
-        static isDecimal(x) {
-          return x && x.typeId === Type.Decimal;
-        }
-        static isDate(x) {
-          return x && x.typeId === Type.Date;
-        }
-        static isTime(x) {
-          return x && x.typeId === Type.Time;
-        }
-        static isTimestamp(x) {
-          return x && x.typeId === Type.Timestamp;
-        }
-        static isInterval(x) {
-          return x && x.typeId === Type.Interval;
-        }
-        static isList(x) {
-          return x && x.typeId === Type.List;
-        }
-        static isStruct(x) {
-          return x && x.typeId === Type.Struct;
-        }
-        static isUnion(x) {
-          return x && x.typeId === Type.Union;
-        }
-        static isFixedSizeBinary(x) {
-          return x && x.typeId === Type.FixedSizeBinary;
-        }
-        static isFixedSizeList(x) {
-          return x && x.typeId === Type.FixedSizeList;
-        }
-        static isMap(x) {
-          return x && x.typeId === Type.Map;
-        }
-        static isDictionary(x) {
-          return x && x.typeId === Type.Dictionary;
-        }
-        get typeId() {
-          return Type.NONE;
-        }
-        compareTo(other) {
-          return this === other;
-        }
-      };
-      Null = class extends DataType {
-        get typeId() {
-          return Type.Null;
-        }
-        get [Symbol.toStringTag]() {
-          return "Null";
-        }
-        toString() {
-          return "Null";
-        }
-      };
-      Bool = class extends DataType {
-        get typeId() {
-          return Type.Bool;
-        }
-        get [Symbol.toStringTag]() {
-          return "Bool";
-        }
-        toString() {
-          return "Bool";
-        }
-      };
-      Int = class extends DataType {
-        constructor(isSigned, bitWidth) {
-          super();
-          this.isSigned = isSigned;
-          this.bitWidth = bitWidth;
-        }
-        get typeId() {
-          return Type.Int;
-        }
-        get [Symbol.toStringTag]() {
-          return "Int";
-        }
-        toString() {
-          return `${this.isSigned ? "I" : "Ui"}nt${this.bitWidth}`;
-        }
-      };
-      Uint8 = class extends Int {
-        constructor() {
-          super(false, 8);
-        }
-      };
-      Precision = {
-        HALF: 16,
-        SINGLE: 32,
-        DOUBLE: 64
-      };
-      Float = class extends DataType {
-        constructor(precision) {
-          super();
-          this.precision = precision;
-        }
-        get typeId() {
-          return Type.Float;
-        }
-        get [Symbol.toStringTag]() {
-          return "Float";
-        }
-        toString() {
-          return `Float${this.precision}`;
-        }
-      };
-      Float32 = class extends Float {
-        constructor() {
-          super(Precision.SINGLE);
-        }
-      };
-      Binary = class extends DataType {
-        constructor() {
-          super();
-        }
-        get typeId() {
-          return Type.Binary;
-        }
-        toString() {
-          return "Binary";
-        }
-        get [Symbol.toStringTag]() {
-          return "Binary";
-        }
-      };
-      Utf8 = class extends DataType {
-        get typeId() {
-          return Type.Utf8;
-        }
-        get [Symbol.toStringTag]() {
-          return "Utf8";
-        }
-        toString() {
-          return "Utf8";
-        }
-      };
-      DateUnit = {
-        DAY: 0,
-        MILLISECOND: 1
-      };
-      Date = class extends DataType {
-        constructor(unit) {
-          super();
-          this.unit = unit;
-        }
-        get typeId() {
-          return Type.Date;
-        }
-        get [Symbol.toStringTag]() {
-          return "Date";
-        }
-        toString() {
-          return `Date${(this.unit + 1) * 32}<${DateUnit[this.unit]}>`;
-        }
-      };
-      TimeUnit = {
-        SECOND: 1,
-        MILLISECOND: 1e3,
-        MICROSECOND: 1e6,
-        NANOSECOND: 1e9
-      };
-      Time = class extends DataType {
-        constructor(unit, bitWidth) {
-          super();
-          this.unit = unit;
-          this.bitWidth = bitWidth;
-        }
-        get typeId() {
-          return Type.Time;
-        }
-        toString() {
-          return `Time${this.bitWidth}<${TimeUnit[this.unit]}>`;
-        }
-        get [Symbol.toStringTag]() {
-          return "Time";
-        }
-      };
-      Timestamp = class extends DataType {
-        constructor(unit, timezone = null) {
-          super();
-          this.unit = unit;
-          this.timezone = timezone;
-        }
-        get typeId() {
-          return Type.Timestamp;
-        }
-        get [Symbol.toStringTag]() {
-          return "Timestamp";
-        }
-        toString() {
-          return `Timestamp<${TimeUnit[this.unit]}${this.timezone ? `, ${this.timezone}` : ""}>`;
-        }
-      };
-      IntervalUnit = {
-        DAY_TIME: 0,
-        YEAR_MONTH: 1
-      };
-      Interval = class extends DataType {
-        constructor(unit) {
-          super();
-          this.unit = unit;
-        }
-        get typeId() {
-          return Type.Interval;
-        }
-        get [Symbol.toStringTag]() {
-          return "Interval";
-        }
-        toString() {
-          return `Interval<${IntervalUnit[this.unit]}>`;
-        }
-      };
-      FixedSizeList = class extends DataType {
-        constructor(listSize, child) {
-          super();
-          this.listSize = listSize;
-          this.children = [child];
-        }
-        get typeId() {
-          return Type.FixedSizeList;
-        }
-        get valueType() {
-          return this.children[0].type;
-        }
-        get valueField() {
-          return this.children[0];
-        }
-        get [Symbol.toStringTag]() {
-          return "FixedSizeList";
-        }
-        toString() {
-          return `FixedSizeList[${this.listSize}]<${this.valueType}>`;
-        }
-      };
-      Struct = class extends DataType {
-        constructor(children) {
-          super();
-          this.children = children;
-        }
-        get typeId() {
-          return Type.Struct;
-        }
-        toString() {
-          return `Struct<{${this.children.map((f) => `${f.name}:${f.type}`).join(", ")}}>`;
-        }
-        get [Symbol.toStringTag]() {
-          return "Struct";
-        }
-      };
-    }
-  });
-
-  // ../schema/src/lib/schema/schema.ts
-  var init_schema2 = __esm({
-    "../schema/src/lib/schema/schema.ts"() {
-      init_schema();
-      init_field();
-      init_type();
+    "../schema/src/lib/mesh/mesh-utils.ts"() {
     }
   });
 
@@ -498,7 +48,6 @@
   var init_src = __esm({
     "../schema/src/index.ts"() {
       init_mesh_utils();
-      init_schema2();
     }
   });
 
@@ -515,30 +64,37 @@
       ctrl = inData[inPtr++];
       if (ctrl < 1 << 5) {
         ctrl++;
-        if (outPtr + ctrl > outLength)
+        if (outPtr + ctrl > outLength) {
           throw new Error("Output buffer is not large enough");
-        if (inPtr + ctrl > inLength)
+        }
+        if (inPtr + ctrl > inLength) {
           throw new Error("Invalid compressed data");
+        }
         do {
           outData[outPtr++] = inData[inPtr++];
         } while (--ctrl);
       } else {
         len = ctrl >> 5;
         ref = outPtr - ((ctrl & 31) << 8) - 1;
-        if (inPtr >= inLength)
+        if (inPtr >= inLength) {
           throw new Error("Invalid compressed data");
+        }
         if (len === 7) {
           len += inData[inPtr++];
-          if (inPtr >= inLength)
+          if (inPtr >= inLength) {
             throw new Error("Invalid compressed data");
+          }
         }
         ref -= inData[inPtr++];
-        if (outPtr + len + 2 > outLength)
+        if (outPtr + len + 2 > outLength) {
           throw new Error("Output buffer is not large enough");
-        if (ref < 0)
+        }
+        if (ref < 0) {
           throw new Error("Invalid compressed data");
-        if (ref >= outPtr)
+        }
+        if (ref >= outPtr) {
           throw new Error("Invalid compressed data");
+        }
         do {
           outData[outPtr++] = outData[ref++];
         } while (--len + 2);
@@ -556,19 +112,27 @@
     const offset = PCDheader.offset;
     const fields = [];
     if (offset.x !== void 0) {
-      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 !== void 0) {
-      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 !== void 0) {
-      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 };
   }
   var init_get_pcd_schema = __esm({
     "src/lib/get-pcd-schema.ts"() {
-      init_src();
     }
   });
 
@@ -592,19 +156,18 @@
     }
     attributes = getMeshAttributes(attributes);
     const header = getMeshHeader(pcdHeader, attributes);
-    const metadata = new Map([
+    const metadata = Object.fromEntries([
       ["mode", "0"],
       ["boundingBox", JSON.stringify(header.boundingBox)]
     ]);
     const schema = getPCDSchema(pcdHeader, metadata);
     return {
-      loaderData: {
-        header: pcdHeader
-      },
+      loader: "pcd",
+      loaderData: pcdHeader,
       header,
       schema,
       mode: 0,
-      indices: null,
+      topology: "point-list",
       attributes
     };
   }
@@ -616,7 +179,10 @@
         boundingBox: getMeshBoundingBox(attributes)
       };
     }
-    return pcdHeader;
+    return {
+      vertexCount: pcdHeader.vertexCount,
+      boundingBox: pcdHeader.boundingBox
+    };
   }
   function getMeshAttributes(attributes) {
     const normalizedAttributes = {
@@ -637,6 +203,18 @@
         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) {
@@ -714,6 +292,8 @@
     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");
@@ -738,6 +318,12 @@
           normal.push(parseFloat(line[offset.normal_y]));
           normal.push(parseFloat(line[offset.normal_z]));
         }
+        if (offset.intensity !== void 0) {
+          intensity.push(parseFloat(line[offset.intensity]));
+        }
+        if (offset.label !== void 0) {
+          label.push(parseInt(line[offset.label]));
+        }
       }
     }
     return { position, normal, color };
@@ -746,6 +332,8 @@
     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) {
@@ -764,40 +352,58 @@
         normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));
         normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));
       }
+      if (offset.intensity !== void 0) {
+        intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+      }
+      if (offset.label !== void 0) {
+        label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
+      }
     }
-    return { position, normal, color };
+    return { position, normal, color, intensity, label };
   }
-  function parsePCDBinaryCompressed(PCDheader, data) {
+  function parsePCDBinaryCompressed(pcdHeader, data) {
     const position = [];
     const normal = [];
     const color = [];
-    const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
+    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 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++) {
+    const offset = pcdHeader.offset;
+    for (let i = 0; i < pcdHeader.points; i++) {
       if (offset.x !== void 0) {
-        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));
+        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 !== void 0) {
-        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255);
-        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255);
-        color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255);
+        color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255);
+        color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255);
+        color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255);
       }
       if (offset.normal_x !== void 0) {
-        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));
+        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 !== void 0) {
+        const intensityIndex = pcdHeader.fields.indexOf("intensity");
+        intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
+      }
+      if (offset.label !== void 0) {
+        const labelIndex = pcdHeader.fields.indexOf("label");
+        label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
       }
     }
     return {
       position,
       normal,
-      color
+      color,
+      intensity,
+      label
     };
   }
   var LITTLE_ENDIAN;