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

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.5",
+  "version": "4.0.0-alpha.6",
   "description": "Framework-independent loader for the PCD format",
   "license": "MIT",
   "publishConfig": {
@@ -19,8 +19,8 @@
     "PCD"
   ],
   "types": "dist/index.d.ts",
-  "main": "dist/index.js",
-  "module": "dist/index.js",
+  "main": "dist/es5/index.js",
+  "module": "dist/esm/index.js",
   "sideEffects": false,
   "files": [
     "src",
@@ -33,8 +33,8 @@
     "build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js --define:__VERSION__=\\\"$npm_package_version\\\""
   },
   "dependencies": {
-    "@loaders.gl/loader-utils": "4.0.0-alpha.5",
-    "@loaders.gl/schema": "4.0.0-alpha.5"
+    "@loaders.gl/loader-utils": "4.0.0-alpha.6",
+    "@loaders.gl/schema": "4.0.0-alpha.6"
   },
-  "gitHead": "7a71a54bdf1ddf985cc3af3db90b82e7fa97d025"
+  "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

@@ -19,8 +19,12 @@ export function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array
 
     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');
+      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++];
@@ -28,17 +32,27 @@ export function decompressLZF(inData: Uint8Array, outLength: number): Uint8Array
     } else {
       len = ctrl >> 5;
       ref = outPtr - ((ctrl & 0x1f) << 8) - 1;
-      if (inPtr >= inLength) throw new Error('Invalid compressed data');
+      if (inPtr >= inLength) {
+        throw new Error('Invalid compressed data');
+      }
 
       if (len === 7) {
         len += inData[inPtr++];
-        if (inPtr >= inLength) throw new Error('Invalid compressed data');
+        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');
+      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++];

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

@@ -6,11 +6,16 @@
 // @author Filipe Caixeta / http://filipecaixeta.com.br
 // @author Mugen87 / https://github.com/Mugen87
 
-import type {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';
+import {MeshAttribute, MeshAttributes} from '@loaders.gl/schema';
 import {getMeshBoundingBox} from '@loaders.gl/schema';
 import {decompressLZF} from './decompress-lzf';
 import {getPCDSchema} from './get-pcd-schema';
-import type {PCDHeader} from './pcd-types';
+import type {PCDHeader, PCDMesh} from './pcd-types';
+
+type MeshHeader = {
+  vertexCount: number;
+  boundingBox: [[number, number, number], [number, number, number]];
+};
 
 type NormalizedAttributes = {
   POSITION: {
@@ -38,7 +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);
@@ -67,7 +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)]
   ]);
@@ -75,19 +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 {
@@ -95,7 +99,10 @@ function getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes):
       boundingBox: getMeshBoundingBox(attributes)
     };
   }
-  return pcdHeader;
+  return {
+    vertexCount: pcdHeader.vertexCount,
+    boundingBox: pcdHeader.boundingBox
+  };
 }
 
 /**
@@ -126,6 +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;
 }
 
@@ -240,11 +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);
@@ -275,6 +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]));
+      }
     }
   }
 
@@ -290,6 +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;
@@ -312,9 +347,17 @@ 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)
@@ -324,78 +367,86 @@ function parsePCDBinary(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttr
  * @param data
  * @returns [attributes]
  */
-function parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {
+// 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 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),
+    new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize),
     decompressedSize
   );
   const dataview = new DataView(decompressed.buffer);
 
-  const offset = PCDheader.offset;
+  const offset = pcdHeader.offset;
 
-  for (let i = 0; i < PCDheader.points; i++) {
+  for (let i = 0; i < pcdHeader.points; i++) {
     if (offset.x !== undefined) {
       position.push(
-        dataview.getFloat32(
-          (PCDheader.points as number) * offset.x + (PCDheader.size as number[])[0] * i,
-          LITTLE_ENDIAN
-        )
+        dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN)
       );
       position.push(
-        dataview.getFloat32(
-          (PCDheader.points as number) * offset.y + (PCDheader.size as number[])[1] * i,
-          LITTLE_ENDIAN
-        )
+        dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN)
       );
       position.push(
-        dataview.getFloat32(
-          (PCDheader.points as number) * offset.z + (PCDheader.size as number[])[2] * i,
-          LITTLE_ENDIAN
-        )
+        dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN)
       );
     }
 
     if (offset.rgb !== undefined) {
       color.push(
-        dataview.getUint8(
-          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 0
-        ) / 255.0
+        dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0
       );
       color.push(
-        dataview.getUint8(
-          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 1
-        ) / 255.0
+        dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0
       );
       color.push(
-        dataview.getUint8(
-          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 2
-        ) / 255.0
+        dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0
       );
     }
 
     if (offset.normal_x !== undefined) {
       normal.push(
         dataview.getFloat32(
-          (PCDheader.points as number) * offset.normal_x + (PCDheader.size as number[])[4] * i,
+          pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i,
           LITTLE_ENDIAN
         )
       );
       normal.push(
         dataview.getFloat32(
-          (PCDheader.points as number) * offset.normal_y + (PCDheader.size as number[])[5] * i,
+          pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i,
           LITTLE_ENDIAN
         )
       );
       normal.push(
         dataview.getFloat32(
-          (PCDheader.points as number) * offset.normal_z + (PCDheader.size as number[])[6] * i,
+          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
         )
       );
@@ -405,6 +456,8 @@ function parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike):
   return {
     position,
     normal,
-    color
+    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 @@
-{"version":3,"sources":["../src/bundle.ts"],"names":["moduleExports","require","globalThis","loaders","module","exports","Object","assign"],"mappings":"AACA,MAAMA,aAAa,GAAGC,OAAO,CAAC,SAAD,CAA7B;;AACAC,UAAU,CAACC,OAAX,GAAqBD,UAAU,CAACC,OAAX,IAAsB,EAA3C;AACAC,MAAM,CAACC,OAAP,GAAiBC,MAAM,CAACC,MAAP,CAAcL,UAAU,CAACC,OAAzB,EAAkCH,aAAlC,CAAjB","sourcesContent":["// @ts-nocheck\nconst moduleExports = require('./index');\nglobalThis.loaders = globalThis.loaders || {};\nmodule.exports = Object.assign(globalThis.loaders, moduleExports);\n"],"file":"bundle.js"}

package/dist/index.js.map

@@ -1 +0,0 @@
-{"version":3,"sources":["../src/index.ts"],"names":["parsePCDSync","PCDLoader","PCDWorkerLoader","parse","arrayBuffer","parseSync","_typecheckPCDLoader"],"mappings":"AACA,OAAOA,YAAP,MAAyB,iBAAzB;AACA,SAAQC,SAAS,IAAIC,eAArB,QAA2C,cAA3C;AAEA,SAAQA,eAAR;AAKA,OAAO,MAAMD,SAAS,GAAG,EACvB,GAAGC,eADoB;AAEvBC,EAAAA,KAAK,EAAE,MAAOC,WAAP,IAAuBJ,YAAY,CAACI,WAAD,CAFnB;AAGvBC,EAAAA,SAAS,EAAEL;AAHY,CAAlB;AAMP,OAAO,MAAMM,mBAAqC,GAAGL,SAA9C","sourcesContent":["import type {LoaderWithParser} from '@loaders.gl/loader-utils';\nimport parsePCDSync from './lib/parse-pcd';\nimport {PCDLoader as PCDWorkerLoader} from './pcd-loader';\n\nexport {PCDWorkerLoader};\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDWorkerLoader,\n  parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n  parseSync: parsePCDSync\n};\n\nexport const _typecheckPCDLoader: LoaderWithParser = PCDLoader;\n"],"file":"index.js"}

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

@@ -1 +0,0 @@
-{"version":3,"sources":["../../src/lib/decompress-lzf.ts"],"names":["decompressLZF","inData","outLength","inLength","length","outData","Uint8Array","inPtr","outPtr","ctrl","len","ref","Error"],"mappings":"AAOA,OAAO,SAASA,aAAT,CAAuBC,MAAvB,EAA2CC,SAA3C,EAA0E;AAC/E,QAAMC,QAAQ,GAAGF,MAAM,CAACG,MAAxB;AACA,QAAMC,OAAO,GAAG,IAAIC,UAAJ,CAAeJ,SAAf,CAAhB;AACA,MAAIK,KAAK,GAAG,CAAZ;AACA,MAAIC,MAAM,GAAG,CAAb;AACA,MAAIC,IAAJ;AACA,MAAIC,GAAJ;AACA,MAAIC,GAAJ;;AAEA,KAAG;AACDF,IAAAA,IAAI,GAAGR,MAAM,CAACM,KAAK,EAAN,CAAb;;AAEA,QAAIE,IAAI,GAAG,KAAK,CAAhB,EAAmB;AACjBA,MAAAA,IAAI;AACJ,UAAID,MAAM,GAAGC,IAAT,GAAgBP,SAApB,EAA+B,MAAM,IAAIU,KAAJ,CAAU,mCAAV,CAAN;AAC/B,UAAIL,KAAK,GAAGE,IAAR,GAAeN,QAAnB,EAA6B,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;;AAE7B,SAAG;AACDP,QAAAA,OAAO,CAACG,MAAM,EAAP,CAAP,GAAoBP,MAAM,CAACM,KAAK,EAAN,CAA1B;AACD,OAFD,QAES,EAAEE,IAFX;AAGD,KARD,MAQO;AACLC,MAAAA,GAAG,GAAGD,IAAI,IAAI,CAAd;AACAE,MAAAA,GAAG,GAAGH,MAAM,IAAI,CAACC,IAAI,GAAG,IAAR,KAAiB,CAArB,CAAN,GAAgC,CAAtC;AACA,UAAIF,KAAK,IAAIJ,QAAb,EAAuB,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;;AAEvB,UAAIF,GAAG,KAAK,CAAZ,EAAe;AACbA,QAAAA,GAAG,IAAIT,MAAM,CAACM,KAAK,EAAN,CAAb;AACA,YAAIA,KAAK,IAAIJ,QAAb,EAAuB,MAAM,IAAIS,KAAJ,CAAU,yBAAV,CAAN;AACxB;;AAEDD,MAAAA,GAAG,IAAIV,MAAM,CAACM,KAAK,EAAN,CAAb;AACA,UAAIC,MAAM,GAAGE,GAAT,GAAe,CAAf,GAAmBR,SAAvB,EAAkC,MAAM,IAAIU,KAAJ,CAAU,mCAAV,CAAN;AAClC,UAAID,GAAG,GAAG,CAAV,EAAa,MAAM,IAAIC,KAAJ,CAAU,yBAAV,CAAN;AACb,UAAID,GAAG,IAAIH,MAAX,EAAmB,MAAM,IAAII,KAAJ,CAAU,yBAAV,CAAN;;AAEnB,SAAG;AACDP,QAAAA,OAAO,CAACG,MAAM,EAAP,CAAP,GAAoBH,OAAO,CAACM,GAAG,EAAJ,CAA3B;AACD,OAFD,QAES,EAAED,GAAF,GAAQ,CAFjB;AAGD;AACF,GA9BD,QA8BSH,KAAK,GAAGJ,QA9BjB;;AAgCA,SAAOE,OAAP;AACD","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) throw new Error('Output buffer is not large enough');\n      if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data');\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) throw new Error('Invalid compressed data');\n\n      if (len === 7) {\n        len += inData[inPtr++];\n        if (inPtr >= inLength) throw new Error('Invalid compressed data');\n      }\n\n      ref -= inData[inPtr++];\n      if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough');\n      if (ref < 0) throw new Error('Invalid compressed data');\n      if (ref >= outPtr) throw new Error('Invalid compressed data');\n\n      do {\n        outData[outPtr++] = outData[ref++];\n      } while (--len + 2);\n    }\n  } while (inPtr < inLength);\n\n  return outData;\n}\n"],"file":"decompress-lzf.js"}

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 @@
-{"version":3,"sources":["../../src/lib/parse-pcd.ts"],"names":["getMeshBoundingBox","decompressLZF","getPCDSchema","LITTLE_ENDIAN","parsePCD","data","textData","TextDecoder","decode","pcdHeader","parsePCDHeader","attributes","parsePCDASCII","parsePCDBinary","parsePCDBinaryCompressed","Error","getMeshAttributes","header","getMeshHeader","metadata","Map","JSON","stringify","boundingBox","schema","loaderData","mode","indices","width","height","pointCount","vertexCount","normalizedAttributes","POSITION","value","Float32Array","position","size","normal","length","NORMAL","color","COLOR_0","Uint8Array","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","PCDheader","sizes","Uint32Array","slice","compressedSize","decompressedSize","decompressed"],"mappings":"AASA,SAAQA,kBAAR,QAAiC,oBAAjC;AACA,SAAQC,aAAR,QAA4B,kBAA5B;AACA,SAAQC,YAAR,QAA2B,kBAA3B;AAsBA,MAAMC,aAAsB,GAAG,IAA/B;AAOA,eAAe,SAASC,QAAT,CAAkBC,IAAlB,EAAyC;AAEtD,QAAMC,QAAQ,GAAG,IAAIC,WAAJ,GAAkBC,MAAlB,CAAyBH,IAAzB,CAAjB;AACA,QAAMI,SAAS,GAAGC,cAAc,CAACJ,QAAD,CAAhC;AAEA,MAAIK,UAAe,GAAG,EAAtB;;AAGA,UAAQF,SAAS,CAACJ,IAAlB;AACE,SAAK,OAAL;AACEM,MAAAA,UAAU,GAAGC,aAAa,CAACH,SAAD,EAAYH,QAAZ,CAA1B;AACA;;AAEF,SAAK,QAAL;AACEK,MAAAA,UAAU,GAAGE,cAAc,CAACJ,SAAD,EAAYJ,IAAZ,CAA3B;AACA;;AAEF,SAAK,mBAAL;AACEM,MAAAA,UAAU,GAAGG,wBAAwB,CAACL,SAAD,EAAYJ,IAAZ,CAArC;AACA;;AAEF;AACE,YAAM,IAAIU,KAAJ,gBAAkBN,SAAS,CAACJ,IAA5B,8BAAN;AAdJ;;AAiBAM,EAAAA,UAAU,GAAGK,iBAAiB,CAACL,UAAD,CAA9B;AAEA,QAAMM,MAAM,GAAGC,aAAa,CAACT,SAAD,EAAYE,UAAZ,CAA5B;AAEA,QAAMQ,QAAQ,GAAG,IAAIC,GAAJ,CAAQ,CACvB,CAAC,MAAD,EAAS,GAAT,CADuB,EAEvB,CAAC,aAAD,EAAgBC,IAAI,CAACC,SAAL,CAAeL,MAAM,CAACM,WAAtB,CAAhB,CAFuB,CAAR,CAAjB;AAKA,QAAMC,MAAM,GAAGtB,YAAY,CAACO,SAAD,EAAYU,QAAZ,CAA3B;AAEA,SAAO;AACLM,IAAAA,UAAU,EAAE;AACVR,MAAAA,MAAM,EAAER;AADE,KADP;AAILQ,IAAAA,MAJK;AAKLO,IAAAA,MALK;AAMLE,IAAAA,IAAI,EAAE,CAND;AAOLC,IAAAA,OAAO,EAAE,IAPJ;AAQLhB,IAAAA;AARK,GAAP;AAUD;;AAGD,SAASO,aAAT,CAAuBT,SAAvB,EAA6CE,UAA7C,EAAmG;AACjG,MAAI,OAAOF,SAAS,CAACmB,KAAjB,KAA2B,QAA3B,IAAuC,OAAOnB,SAAS,CAACoB,MAAjB,KAA4B,QAAvE,EAAiF;AAC/E,UAAMC,UAAU,GAAGrB,SAAS,CAACmB,KAAV,GAAkBnB,SAAS,CAACoB,MAA/C;AACA,WAAO;AACLE,MAAAA,WAAW,EAAED,UADR;AAELP,MAAAA,WAAW,EAAEvB,kBAAkB,CAACW,UAAD;AAF1B,KAAP;AAID;;AACD,SAAOF,SAAP;AACD;;AAMD,SAASO,iBAAT,CAA2BL,UAA3B,EAAmG;AACjG,QAAMqB,oBAAoC,GAAG;AAC3CC,IAAAA,QAAQ,EAAE;AAERC,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBxB,UAAU,CAACyB,QAA5B,CAFC;AAGRC,MAAAA,IAAI,EAAE;AAHE;AADiC,GAA7C;;AAQA,MAAI1B,UAAU,CAAC2B,MAAX,IAAqB3B,UAAU,CAAC2B,MAAX,CAAkBC,MAAlB,GAA2B,CAApD,EAAuD;AACrDP,IAAAA,oBAAoB,CAACQ,MAArB,GAA8B;AAC5BN,MAAAA,KAAK,EAAE,IAAIC,YAAJ,CAAiBxB,UAAU,CAAC2B,MAA5B,CADqB;AAE5BD,MAAAA,IAAI,EAAE;AAFsB,KAA9B;AAID;;AAED,MAAI1B,UAAU,CAAC8B,KAAX,IAAoB9B,UAAU,CAAC8B,KAAX,CAAiBF,MAAjB,GAA0B,CAAlD,EAAqD;AAEnDP,IAAAA,oBAAoB,CAACU,OAArB,GAA+B;AAC7BR,MAAAA,KAAK,EAAE,IAAIS,UAAJ,CAAehC,UAAU,CAAC8B,KAA1B,CADsB;AAE7BJ,MAAAA,IAAI,EAAE;AAFuB,KAA/B;AAID;;AAED,SAAOL,oBAAP;AACD;;AAQD,SAAStB,cAAT,CAAwBL,IAAxB,EAAiD;AAC/C,QAAMuC,OAAO,GAAGvC,IAAI,CAACwC,MAAL,CAAY,sBAAZ,CAAhB;AACA,QAAMC,OAAO,GAAG,uBAAuBC,IAAvB,CAA4B1C,IAAI,CAAC2C,MAAL,CAAYJ,OAAO,GAAG,CAAtB,CAA5B,CAAhB;AAEA,QAAMnC,SAAc,GAAG,EAAvB;AACAA,EAAAA,SAAS,CAACJ,IAAV,GAAiByC,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAnC;;AACA,MAAIA,OAAO,KAAK,IAAhB,EAAsB;AACpBrC,IAAAA,SAAS,CAACwC,SAAV,GAAsB,CAACH,OAAO,IAAIA,OAAO,CAAC,CAAD,CAAP,CAAWP,MAAvB,IAAiCK,OAAvD;AACD;;AACDnC,EAAAA,SAAS,CAACyC,GAAV,GAAgB7C,IAAI,CAAC2C,MAAL,CAAY,CAAZ,EAAevC,SAAS,CAACwC,SAAzB,CAAhB;AAIAxC,EAAAA,SAAS,CAACyC,GAAV,GAAgBzC,SAAS,CAACyC,GAAV,CAAcC,OAAd,CAAsB,QAAtB,EAAgC,EAAhC,CAAhB;AAIA1C,EAAAA,SAAS,CAAC2C,OAAV,GAAoB,gBAAgBL,IAAhB,CAAqBtC,SAAS,CAACyC,GAA/B,CAApB;AACAzC,EAAAA,SAAS,CAAC4C,MAAV,GAAmB,eAAeN,IAAf,CAAoBtC,SAAS,CAACyC,GAA9B,CAAnB;AACAzC,EAAAA,SAAS,CAAC4B,IAAV,GAAiB,aAAaU,IAAb,CAAkBtC,SAAS,CAACyC,GAA5B,CAAjB;AACAzC,EAAAA,SAAS,CAAC6C,IAAV,GAAiB,aAAaP,IAAb,CAAkBtC,SAAS,CAACyC,GAA5B,CAAjB;AACAzC,EAAAA,SAAS,CAAC8C,KAAV,GAAkB,cAAcR,IAAd,CAAmBtC,SAAS,CAACyC,GAA7B,CAAlB;AACAzC,EAAAA,SAAS,CAACmB,KAAV,GAAkB,cAAcmB,IAAd,CAAmBtC,SAAS,CAACyC,GAA7B,CAAlB;AACAzC,EAAAA,SAAS,CAACoB,MAAV,GAAmB,eAAekB,IAAf,CAAoBtC,SAAS,CAACyC,GAA9B,CAAnB;AACAzC,EAAAA,SAAS,CAAC+C,SAAV,GAAsB,kBAAkBT,IAAlB,CAAuBtC,SAAS,CAACyC,GAAjC,CAAtB;AACAzC,EAAAA,SAAS,CAACgD,MAAV,GAAmB,eAAeV,IAAf,CAAoBtC,SAAS,CAACyC,GAA9B,CAAnB;;AAIA,MAAIzC,SAAS,CAAC2C,OAAV,KAAsB,IAA1B,EAAgC;AAC9B3C,IAAAA,SAAS,CAAC2C,OAAV,GAAoBM,UAAU,CAACjD,SAAS,CAAC2C,OAAV,CAAkB,CAAlB,CAAD,CAA9B;AACD;;AAED,MAAI3C,SAAS,CAAC4C,MAAV,KAAqB,IAAzB,EAA+B;AAC7B5C,IAAAA,SAAS,CAAC4C,MAAV,GAAmB5C,SAAS,CAAC4C,MAAV,CAAiB,CAAjB,EAAoBM,KAApB,CAA0B,GAA1B,CAAnB;AACD;;AAED,MAAIlD,SAAS,CAAC6C,IAAV,KAAmB,IAAvB,EAA6B;AAC3B7C,IAAAA,SAAS,CAAC6C,IAAV,GAAiB7C,SAAS,CAAC6C,IAAV,CAAe,CAAf,EAAkBK,KAAlB,CAAwB,GAAxB,CAAjB;AACD;;AAED,MAAIlD,SAAS,CAACmB,KAAV,KAAoB,IAAxB,EAA8B;AAC5BnB,IAAAA,SAAS,CAACmB,KAAV,GAAkBgC,QAAQ,CAACnD,SAAS,CAACmB,KAAV,CAAgB,CAAhB,CAAD,EAAqB,EAArB,CAA1B;AACD;;AAED,MAAInB,SAAS,CAACoB,MAAV,KAAqB,IAAzB,EAA+B;AAC7BpB,IAAAA,SAAS,CAACoB,MAAV,GAAmB+B,QAAQ,CAACnD,SAAS,CAACoB,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MAAIpB,SAAS,CAAC+C,SAAV,KAAwB,IAA5B,EAAkC;AAChC/C,IAAAA,SAAS,CAAC+C,SAAV,GAAsB/C,SAAS,CAAC+C,SAAV,CAAoB,CAApB,CAAtB;AACD;;AAED,MAAI/C,SAAS,CAACgD,MAAV,KAAqB,IAAzB,EAA+B;AAC7BhD,IAAAA,SAAS,CAACgD,MAAV,GAAmBG,QAAQ,CAACnD,SAAS,CAACgD,MAAV,CAAiB,CAAjB,CAAD,EAAsB,EAAtB,CAA3B;AACD;;AAED,MACEhD,SAAS,CAACgD,MAAV,KAAqB,IAArB,IACA,OAAOhD,SAAS,CAACmB,KAAjB,KAA2B,QAD3B,IAEA,OAAOnB,SAAS,CAACoB,MAAjB,KAA4B,QAH9B,EAIE;AACApB,IAAAA,SAAS,CAACgD,MAAV,GAAmBhD,SAAS,CAACmB,KAAV,GAAkBnB,SAAS,CAACoB,MAA/C;AACD;;AAED,MAAIpB,SAAS,CAAC4B,IAAV,KAAmB,IAAvB,EAA6B;AAC3B5B,IAAAA,SAAS,CAAC4B,IAAV,GAAiB5B,SAAS,CAAC4B,IAAV,CAAe,CAAf,EAAkBsB,KAAlB,CAAwB,GAAxB,EAA6BE,GAA7B,CAAkCC,CAAD,IAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAhD,CAAjB;AACD;;AAED,MAAIrD,SAAS,CAAC8C,KAAV,KAAoB,IAAxB,EAA8B;AAC5B9C,IAAAA,SAAS,CAAC8C,KAAV,GAAkB9C,SAAS,CAAC8C,KAAV,CAAgB,CAAhB,EAAmBI,KAAnB,CAAyB,GAAzB,EAA8BE,GAA9B,CAAmCC,CAAD,IAAOF,QAAQ,CAACE,CAAD,EAAI,EAAJ,CAAjD,CAAlB;AACD,GAFD,MAEO;AACLrD,IAAAA,SAAS,CAAC8C,KAAV,GAAkB,EAAlB;;AACA,QAAI9C,SAAS,CAAC4C,MAAV,KAAqB,IAAzB,EAA+B;AAC7B,WAAK,IAAIU,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGtD,SAAS,CAAC4C,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChDtD,QAAAA,SAAS,CAAC8C,KAAV,CAAgBS,IAAhB,CAAqB,CAArB;AACD;AACF;AACF;;AAEDvD,EAAAA,SAAS,CAACwD,MAAV,GAAmB,EAAnB;AAEA,MAAIC,OAAO,GAAG,CAAd;;AACA,MAAIzD,SAAS,CAAC4C,MAAV,KAAqB,IAArB,IAA6B5C,SAAS,CAAC4B,IAAV,KAAmB,IAApD,EAA0D;AACxD,SAAK,IAAI0B,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGtD,SAAS,CAAC4C,MAAV,CAAiBd,MAArC,EAA6CwB,CAAC,EAA9C,EAAkD;AAChD,UAAItD,SAAS,CAACJ,IAAV,KAAmB,OAAvB,EAAgC;AAC9BI,QAAAA,SAAS,CAACwD,MAAV,CAAiBxD,SAAS,CAAC4C,MAAV,CAAiBU,CAAjB,CAAjB,IAAwCA,CAAxC;AACD,OAFD,MAEO;AACLtD,QAAAA,SAAS,CAACwD,MAAV,CAAiBxD,SAAS,CAAC4C,MAAV,CAAiBU,CAAjB,CAAjB,IAAwCG,OAAxC;AACAA,QAAAA,OAAO,IAAIzD,SAAS,CAAC4B,IAAV,CAAe0B,CAAf,CAAX;AACD;AACF;AACF;;AAGDtD,EAAAA,SAAS,CAAC0D,OAAV,GAAoBD,OAApB;AAEA,SAAOzD,SAAP;AACD;;AAQD,SAASG,aAAT,CAAuBH,SAAvB,EAA6CH,QAA7C,EAAiF;AAC/E,QAAM8B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAMwB,MAAM,GAAGxD,SAAS,CAACwD,MAAzB;AACA,QAAMG,OAAO,GAAG9D,QAAQ,CAAC0C,MAAT,CAAgBvC,SAAS,CAACwC,SAA1B,CAAhB;AACA,QAAMoB,KAAK,GAAGD,OAAO,CAACT,KAAR,CAAc,IAAd,CAAd;;AAEA,OAAK,IAAII,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGM,KAAK,CAAC9B,MAA1B,EAAkCwB,CAAC,EAAnC,EAAuC;AACrC,QAAIM,KAAK,CAACN,CAAD,CAAL,KAAa,EAAjB,EAAqB;AACnB,YAAMO,IAAI,GAAGD,KAAK,CAACN,CAAD,CAAL,CAASJ,KAAT,CAAe,GAAf,CAAb;;AAEA,UAAIM,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACH,CAAR,CAAL,CAAxB;AACA1B,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACO,CAAR,CAAL,CAAxB;AACApC,QAAAA,QAAQ,CAAC4B,IAAT,CAAcN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACQ,CAAR,CAAL,CAAxB;AACD;;AAED,UAAIR,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B,cAAMI,UAAU,GAAGjB,UAAU,CAACY,IAAI,CAACL,MAAM,CAACS,GAAR,CAAL,CAA7B;AACA,cAAME,WAAW,GAAG,IAAIzC,YAAJ,CAAiB,CAACwC,UAAD,CAAjB,CAApB;AACA,cAAME,QAAQ,GAAG,IAAIC,QAAJ,CAAaF,WAAW,CAACG,MAAzB,EAAiC,CAAjC,CAAjB;AACAtC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AACAvC,QAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkB,CAAlB,CAAX;AAED;;AAED,UAAIf,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACgB,QAAR,CAAL,CAAtB;AACA3C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACiB,QAAR,CAAL,CAAtB;AACA5C,QAAAA,MAAM,CAAC0B,IAAP,CAAYN,UAAU,CAACY,IAAI,CAACL,MAAM,CAACkB,QAAR,CAAL,CAAtB;AACD;AACF;AACF;;AAED,SAAO;AAAC/C,IAAAA,QAAD;AAAWE,IAAAA,MAAX;AAAmBG,IAAAA;AAAnB,GAAP;AACD;;AAOD,SAAS5B,cAAT,CAAwBJ,SAAxB,EAA8CJ,IAA9C,EAAuF;AACrF,QAAM+B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAMoC,QAAQ,GAAG,IAAIC,QAAJ,CAAazE,IAAb,EAAmBI,SAAS,CAACwC,SAA7B,CAAjB;AACA,QAAMgB,MAAM,GAAGxD,SAAS,CAACwD,MAAzB;;AAEA,OAAK,IAAIF,CAAC,GAAG,CAAR,EAAWqB,GAAG,GAAG,CAAtB,EAAyBrB,CAAC,GAAGtD,SAAS,CAACgD,MAAvC,EAA+CM,CAAC,IAAIqB,GAAG,IAAI3E,SAAS,CAAC0D,OAArE,EAA8E;AAC5E,QAAIF,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACH,CAAjC,EAAoC3D,aAApC,CAAd;AACAiC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACO,CAAjC,EAAoCrE,aAApC,CAAd;AACAiC,MAAAA,QAAQ,CAAC4B,IAAT,CAAca,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACQ,CAAjC,EAAoCtE,aAApC,CAAd;AACD;;AAED,QAAI8D,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B9B,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACAjC,MAAAA,KAAK,CAACuB,IAAN,CAAWa,QAAQ,CAACG,QAAT,CAAkBI,GAAG,GAAGnB,MAAM,CAACS,GAAb,GAAmB,CAArC,CAAX;AACD;;AAED,QAAIT,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACgB,QAAjC,EAA2C9E,aAA3C,CAAZ;AACAmC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACiB,QAAjC,EAA2C/E,aAA3C,CAAZ;AACAmC,MAAAA,MAAM,CAAC0B,IAAP,CAAYa,QAAQ,CAACQ,UAAT,CAAoBD,GAAG,GAAGnB,MAAM,CAACkB,QAAjC,EAA2ChF,aAA3C,CAAZ;AACD;AACF;;AAED,SAAO;AAACiC,IAAAA,QAAD;AAAWE,IAAAA,MAAX;AAAmBG,IAAAA;AAAnB,GAAP;AACD;AAED;AACA;AACA;AACA;AACA;AACA;AACA;;;AACA,SAAS3B,wBAAT,CAAkCwE,SAAlC,EAAwDjF,IAAxD,EAAiG;AAC/F,QAAM+B,QAAkB,GAAG,EAA3B;AACA,QAAME,MAAgB,GAAG,EAAzB;AACA,QAAMG,KAAe,GAAG,EAAxB;AAEA,QAAM8C,KAAK,GAAG,IAAIC,WAAJ,CAAgBnF,IAAI,CAACoF,KAAL,CAAWH,SAAS,CAACrC,SAArB,EAAgCqC,SAAS,CAACrC,SAAV,GAAsB,CAAtD,CAAhB,CAAd;AACA,QAAMyC,cAAc,GAAGH,KAAK,CAAC,CAAD,CAA5B;AACA,QAAMI,gBAAgB,GAAGJ,KAAK,CAAC,CAAD,CAA9B;AACA,QAAMK,YAAY,GAAG3F,aAAa,CAChC,IAAI0C,UAAJ,CAAetC,IAAf,EAAqBiF,SAAS,CAACrC,SAAV,GAAsB,CAA3C,EAA8CyC,cAA9C,CADgC,EAEhCC,gBAFgC,CAAlC;AAIA,QAAMd,QAAQ,GAAG,IAAIC,QAAJ,CAAac,YAAY,CAACb,MAA1B,CAAjB;AAEA,QAAMd,MAAM,GAAGqB,SAAS,CAACrB,MAAzB;;AAEA,OAAK,IAAIF,CAAC,GAAG,CAAb,EAAgBA,CAAC,GAAGuB,SAAS,CAAC7B,MAA9B,EAAsCM,CAAC,EAAvC,EAA2C;AACzC,QAAIE,MAAM,CAACH,CAAP,KAAaS,SAAjB,EAA4B;AAC1BnC,MAAAA,QAAQ,CAAC4B,IAAT,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACH,CAAtC,GAA2CwB,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAD9E,EAEE5D,aAFF,CADF;AAMAiC,MAAAA,QAAQ,CAAC4B,IAAT,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACO,CAAtC,GAA2Cc,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAD9E,EAEE5D,aAFF,CADF;AAMAiC,MAAAA,QAAQ,CAAC4B,IAAT,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACQ,CAAtC,GAA2Ca,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAD9E,EAEE5D,aAFF,CADF;AAMD;;AAED,QAAI8D,MAAM,CAACS,GAAP,KAAeH,SAAnB,EAA8B;AAC5B9B,MAAAA,KAAK,CAACuB,IAAN,CACEa,QAAQ,CAACG,QAAT,CACGM,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACS,GAAtC,GAA6CY,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAA9E,GAAkF,CADpF,IAEI,KAHN;AAKAtB,MAAAA,KAAK,CAACuB,IAAN,CACEa,QAAQ,CAACG,QAAT,CACGM,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACS,GAAtC,GAA6CY,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAA9E,GAAkF,CADpF,IAEI,KAHN;AAKAtB,MAAAA,KAAK,CAACuB,IAAN,CACEa,QAAQ,CAACG,QAAT,CACGM,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACS,GAAtC,GAA6CY,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CAA9E,GAAkF,CADpF,IAEI,KAHN;AAKD;;AAED,QAAIE,MAAM,CAACgB,QAAP,KAAoBV,SAAxB,EAAmC;AACjCjC,MAAAA,MAAM,CAAC0B,IAAP,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACgB,QAAtC,GAAkDK,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CADrF,EAEE5D,aAFF,CADF;AAMAmC,MAAAA,MAAM,CAAC0B,IAAP,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACiB,QAAtC,GAAkDI,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CADrF,EAEE5D,aAFF,CADF;AAMAmC,MAAAA,MAAM,CAAC0B,IAAP,CACEa,QAAQ,CAACQ,UAAT,CACGC,SAAS,CAAC7B,MAAX,GAA+BQ,MAAM,CAACkB,QAAtC,GAAkDG,SAAS,CAACjD,IAAX,CAA6B,CAA7B,IAAkC0B,CADrF,EAEE5D,aAFF,CADF;AAMD;AACF;;AAED,SAAO;AACLiC,IAAAA,QADK;AAELE,IAAAA,MAFK;AAGLG,IAAAA;AAHK,GAAP;AAKD","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 type {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} from './pcd-types';\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) {\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 = 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\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 */\nfunction parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: 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(\n          (PCDheader.points as number) * offset.x + (PCDheader.size as number[])[0] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.y + (PCDheader.size as number[])[1] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      position.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.z + (PCDheader.size as number[])[2] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.rgb !== undefined) {\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 0\n        ) / 255.0\n      );\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 1\n        ) / 255.0\n      );\n      color.push(\n        dataview.getUint8(\n          (PCDheader.points as number) * offset.rgb + (PCDheader.size as number[])[3] * i + 2\n        ) / 255.0\n      );\n    }\n\n    if (offset.normal_x !== undefined) {\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_x + (PCDheader.size as number[])[4] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_y + (PCDheader.size as number[])[5] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          (PCDheader.points as number) * offset.normal_z + (PCDheader.size as number[])[6] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n  }\n\n  return {\n    position,\n    normal,\n    color\n  };\n}\n"],"file":"parse-pcd.js"}

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

@@ -1 +0,0 @@
-{"version":3,"sources":[],"names":[],"mappings":"","sourcesContent":[],"file":"pcd-types.js"}

package/dist/pcd-loader.js.map

@@ -1 +0,0 @@
-{"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

@@ -1 +0,0 @@
-{"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"}