@loaders.gl/pcd 4.0.0-alpha.5 → 4.0.0-alpha.7

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.7",
   "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.7",
+    "@loaders.gl/schema": "4.0.0-alpha.7"
   },
-  "gitHead": "7a71a54bdf1ddf985cc3af3db90b82e7fa97d025"
+  "gitHead": "afb59c4d8e5d8ebb9c28f111cb0c96c5527d0ffd"
 }

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

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

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 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 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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 @@
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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"}