@loaders.gl/pcd 4.2.0-alpha.3 → 4.2.0-alpha.5

package/dist/dist.dev.js

@@ -2,14 +2,19 @@
   if (typeof exports === 'object' && typeof module === 'object')
     module.exports = factory();
   else if (typeof define === 'function' && define.amd) define([], factory);
-        else if (typeof exports === 'object') exports['loader'] = factory();
-  else root['loader'] = factory();})(globalThis, function () {
+        else if (typeof exports === 'object') exports['loaders'] = factory();
+  else root['loaders'] = factory();})(globalThis, function () {
 "use strict";
 var __exports__ = (() => {
+  var __create = Object.create;
   var __defProp = Object.defineProperty;
   var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
   var __getOwnPropNames = Object.getOwnPropertyNames;
+  var __getProtoOf = Object.getPrototypeOf;
   var __hasOwnProp = Object.prototype.hasOwnProperty;
+  var __commonJS = (cb, mod) => function __require() {
+    return mod || (0, cb[__getOwnPropNames(cb)[0]])((mod = { exports: {} }).exports, mod), mod.exports;
+  };
   var __export = (target, all) => {
     for (var name in all)
       __defProp(target, name, { get: all[name], enumerable: true });
@@ -22,14 +27,31 @@ var __exports__ = (() => {
     }
     return to;
   };
+  var __reExport = (target, mod, secondTarget) => (__copyProps(target, mod, "default"), secondTarget && __copyProps(secondTarget, mod, "default"));
+  var __toESM = (mod, isNodeMode, target) => (target = mod != null ? __create(__getProtoOf(mod)) : {}, __copyProps(
+    // If the importer is in node compatibility mode or this is not an ESM
+    // file that has been converted to a CommonJS file using a Babel-
+    // compatible transform (i.e. "__esModule" has not been set), then set
+    // "default" to the CommonJS "module.exports" for node compatibility.
+    isNodeMode || !mod || !mod.__esModule ? __defProp(target, "default", { value: mod, enumerable: true }) : target,
+    mod
+  ));
   var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
 
-  // src/index.ts
-  var src_exports = {};
-  __export(src_exports, {
+  // external-global-plugin:@loaders.gl/core
+  var require_core = __commonJS({
+    "external-global-plugin:@loaders.gl/core"(exports, module) {
+      module.exports = globalThis.loaders;
+    }
+  });
+
+  // bundle.ts
+  var bundle_exports = {};
+  __export(bundle_exports, {
     PCDLoader: () => PCDLoader2,
     PCDWorkerLoader: () => PCDLoader
   });
+  __reExport(bundle_exports, __toESM(require_core(), 1));
 
   // ../schema/src/lib/mesh/mesh-utils.ts
   function getMeshBoundingBox(attributes) {
@@ -52,7 +74,10 @@ var __exports__ = (() => {
       maxY = y > maxY ? y : maxY;
       maxZ = z > maxZ ? z : maxZ;
     }
-    return [[minX, minY, minZ], [maxX, maxY, maxZ]];
+    return [
+      [minX, minY, minZ],
+      [maxX, maxY, maxZ]
+    ];
   }
 
   // src/lib/decompress-lzf.ts
@@ -114,46 +139,22 @@ var __exports__ = (() => {
     if (offset.x !== void 0) {
       fields.push({
         name: "POSITION",
-        type: {
-          type: "fixed-size-list",
-          listSize: 3,
-          children: [{
-            name: "xyz",
-            type: "float32"
-          }]
-        }
+        type: { type: "fixed-size-list", listSize: 3, children: [{ name: "xyz", type: "float32" }] }
       });
     }
     if (offset.normal_x !== void 0) {
       fields.push({
         name: "NORMAL",
-        type: {
-          type: "fixed-size-list",
-          listSize: 3,
-          children: [{
-            name: "xyz",
-            type: "float32"
-          }]
-        }
+        type: { type: "fixed-size-list", listSize: 3, children: [{ name: "xyz", type: "float32" }] }
       });
     }
     if (offset.rgb !== void 0) {
       fields.push({
         name: "COLOR_0",
-        type: {
-          type: "fixed-size-list",
-          listSize: 3,
-          children: [{
-            name: "rgb",
-            type: "uint8"
-          }]
-        }
+        type: { type: "fixed-size-list", listSize: 3, children: [{ name: "rgb", type: "uint8" }] }
       });
     }
-    return {
-      fields,
-      metadata
-    };
+    return { fields, metadata };
   }
 
   // src/lib/parse-pcd.ts
@@ -177,7 +178,10 @@ var __exports__ = (() => {
     }
     attributes = getMeshAttributes(attributes);
     const header = getMeshHeader(pcdHeader, attributes);
-    const metadata = Object.fromEntries([["mode", "0"], ["boundingBox", JSON.stringify(header.boundingBox)]]);
+    const metadata = Object.fromEntries([
+      ["mode", "0"],
+      ["boundingBox", JSON.stringify(header.boundingBox)]
+    ]);
     const schema = getPCDSchema(pcdHeader, metadata);
     return {
       loader: "pcd",
@@ -185,6 +189,7 @@ var __exports__ = (() => {
       header,
       schema,
       mode: 0,
+      // POINTS
       topology: "point-list",
       attributes
     };
@@ -205,6 +210,7 @@ var __exports__ = (() => {
   function getMeshAttributes(attributes) {
     const normalizedAttributes = {
       POSITION: {
+        // Binary PCD is only 32 bit
         value: new Float32Array(attributes.position),
         size: 3
       }
@@ -344,11 +350,7 @@ var __exports__ = (() => {
         }
       }
     }
-    return {
-      position,
-      normal,
-      color
-    };
+    return { position, normal, color };
   }
   function parsePCDBinary(pcdHeader, data) {
     const position = [];
@@ -381,13 +383,7 @@ var __exports__ = (() => {
         label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
       }
     }
-    return {
-      position,
-      normal,
-      color,
-      intensity,
-      label
-    };
+    return { position, normal, color, intensity, label };
   }
   function parsePCDBinaryCompressed(pcdHeader, data) {
     const position = [];
@@ -398,32 +394,72 @@ var __exports__ = (() => {
     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++) {
       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));
+        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));
+        label.push(
+          dataview.getInt32(
+            pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i,
+            LITTLE_ENDIAN
+          )
+        );
       }
     }
     return {
@@ -436,7 +472,7 @@ var __exports__ = (() => {
   }
 
   // src/pcd-loader.ts
-  var VERSION = true ? "4.2.0-alpha.3" : "latest";
+  var VERSION = typeof __VERSION__ !== "undefined" ? __VERSION__ : "latest";
   var PCDLoader = {
     name: "PCD (Point Cloud Data)",
     id: "pcd",
@@ -456,7 +492,7 @@ var __exports__ = (() => {
     parse: async (arrayBuffer) => parsePCD(arrayBuffer),
     parseSync: parsePCD
   };
-  return __toCommonJS(src_exports);
+  return __toCommonJS(bundle_exports);
 })();
 /** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
  * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js

package/dist/dist.min.js

@@ -0,0 +1,17 @@
+(function webpackUniversalModuleDefinition(root, factory) {
+  if (typeof exports === 'object' && typeof module === 'object')
+    module.exports = factory();
+  else if (typeof define === 'function' && define.amd) define([], factory);
+        else if (typeof exports === 'object') exports['loaders'] = factory();
+  else root['loaders'] = factory();})(globalThis, function () {
+"use strict";var __exports__=(()=>{var D=Object.create;var y=Object.defineProperty;var C=Object.getOwnPropertyDescriptor;var v=Object.getOwnPropertyNames;var O=Object.getPrototypeOf,L=Object.prototype.hasOwnProperty;var P=(t,o)=>()=>(o||t((o={exports:{}}).exports,o),o.exports),B=(t,o)=>{for(var n in o)y(t,n,{get:o[n],enumerable:!0})},x=(t,o,n,e)=>{if(o&&typeof o=="object"||typeof o=="function")for(let i of v(o))!L.call(t,i)&&i!==n&&y(t,i,{get:()=>o[i],enumerable:!(e=C(o,i))||e.enumerable});return t},w=(t,o,n)=>(x(t,o,"default"),n&&x(n,o,"default")),E=(t,o,n)=>(n=t!=null?D(O(t)):{},x(o||!t||!t.__esModule?y(n,"default",{value:t,enumerable:!0}):n,t)),U=t=>x(y({},"__esModule",{value:!0}),t);var F=P((W,z)=>{z.exports=globalThis.loaders});var d={};B(d,{PCDLoader:()=>Z,PCDWorkerLoader:()=>T});w(d,E(F(),1));function I(t){let o=1/0,n=1/0,e=1/0,i=-1/0,r=-1/0,p=-1/0,s=t.POSITION?t.POSITION.value:[],l=s&&s.length;for(let c=0;c<l;c+=3){let f=s[c],a=s[c+1],u=s[c+2];o=f<o?f:o,n=a<n?a:n,e=u<e?u:e,i=f>i?f:i,r=a>r?a:r,p=u>p?u:p}return[[o,n,e],[i,r,p]]}function S(t,o){let n=t.length,e=new Uint8Array(o),i=0,r=0,p,s,l;do if(p=t[i++],p<1<<5){if(p++,r+p>o)throw new Error("Output buffer is not large enough");if(i+p>n)throw new Error("Invalid compressed data");do e[r++]=t[i++];while(--p)}else{if(s=p>>5,l=r-((p&31)<<8)-1,i>=n)throw new Error("Invalid compressed data");if(s===7&&(s+=t[i++],i>=n))throw new Error("Invalid compressed data");if(l-=t[i++],r+s+2>o)throw new Error("Output buffer is not large enough");if(l<0)throw new Error("Invalid compressed data");if(l>=r)throw new Error("Invalid compressed data");do e[r++]=e[l++];while(--s+2)}while(i<n);return e}function A(t,o){let n=t.offset,e=[];return n.x!==void 0&&e.push({name:"POSITION",type:{type:"fixed-size-list",listSize:3,children:[{name:"xyz",type:"float32"}]}}),n.normal_x!==void 0&&e.push({name:"NORMAL",type:{type:"fixed-size-list",listSize:3,children:[{name:"xyz",type:"float32"}]}}),n.rgb!==void 0&&e.push({name:"COLOR_0",type:{type:"fixed-size-list",listSize:3,children:[{name:"rgb",type:"uint8"}]}}),{fields:e,metadata:o}}var h=!0;function b(t){let o=new TextDecoder().decode(t),n=M(o),e={};switch(n.data){case"ascii":e=R(n,o);break;case"binary":e=k(n,t);break;case"binary_compressed":e=V(n,t);break;default:throw new Error(`PCD: ${n.data} files are not supported`)}e=N(e);let i=_(n,e),r=Object.fromEntries([["mode","0"],["boundingBox",JSON.stringify(i.boundingBox)]]),p=A(n,r);return{loader:"pcd",loaderData:n,header:i,schema:p,mode:0,topology:"point-list",attributes:e}}function _(t,o){return typeof t.width=="number"&&typeof t.height=="number"?{vertexCount:t.width*t.height,boundingBox:I(o)}:{vertexCount:t.vertexCount,boundingBox:t.boundingBox}}function N(t){let o={POSITION:{value:new Float32Array(t.position),size:3}};return t.normal&&t.normal.length>0&&(o.NORMAL={value:new Float32Array(t.normal),size:3}),t.color&&t.color.length>0&&(o.COLOR_0={value:new Uint8Array(t.color),size:3}),t.intensity&&t.intensity.length>0&&(o.COLOR_0={value:new Uint8Array(t.color),size:3}),t.label&&t.label.length>0&&(o.COLOR_0={value:new Uint8Array(t.label),size:3}),o}function M(t){let o=t.search(/[\r\n]DATA\s(\S*)\s/i),n=/[\r\n]DATA\s(\S*)\s/i.exec(t.substr(o-1)),e={};if(e.data=n&&n[1],n!==null&&(e.headerLen=(n&&n[0].length)+o),e.str=t.substr(0,e.headerLen),e.str=e.str.replace(/\#.*/gi,""),e.version=/VERSION (.*)/i.exec(e.str),e.fields=/FIELDS (.*)/i.exec(e.str),e.size=/SIZE (.*)/i.exec(e.str),e.type=/TYPE (.*)/i.exec(e.str),e.count=/COUNT (.*)/i.exec(e.str),e.width=/WIDTH (.*)/i.exec(e.str),e.height=/HEIGHT (.*)/i.exec(e.str),e.viewpoint=/VIEWPOINT (.*)/i.exec(e.str),e.points=/POINTS (.*)/i.exec(e.str),e.version!==null&&(e.version=parseFloat(e.version[1])),e.fields!==null&&(e.fields=e.fields[1].split(" ")),e.type!==null&&(e.type=e.type[1].split(" ")),e.width!==null&&(e.width=parseInt(e.width[1],10)),e.height!==null&&(e.height=parseInt(e.height[1],10)),e.viewpoint!==null&&(e.viewpoint=e.viewpoint[1]),e.points!==null&&(e.points=parseInt(e.points[1],10)),e.points===null&&typeof e.width=="number"&&typeof e.height=="number"&&(e.points=e.width*e.height),e.size!==null&&(e.size=e.size[1].split(" ").map(r=>parseInt(r,10))),e.count!==null)e.count=e.count[1].split(" ").map(r=>parseInt(r,10));else if(e.count=[],e.fields!==null)for(let r=0;r<e.fields.length;r++)e.count.push(1);e.offset={};let i=0;if(e.fields!==null&&e.size!==null)for(let r=0;r<e.fields.length;r++)e.data==="ascii"?e.offset[e.fields[r]]=r:(e.offset[e.fields[r]]=i,i+=e.size[r]);return e.rowSize=i,e}function R(t,o){let n=[],e=[],i=[],r=[],p=[],s=t.offset,c=o.substr(t.headerLen).split(`
+`);for(let f=0;f<c.length;f++)if(c[f]!==""){let a=c[f].split(" ");if(s.x!==void 0&&(n.push(parseFloat(a[s.x])),n.push(parseFloat(a[s.y])),n.push(parseFloat(a[s.z]))),s.rgb!==void 0){let u=parseFloat(a[s.rgb]),m=new Float32Array([u]),g=new DataView(m.buffer,0);i.push(g.getUint8(0)),i.push(g.getUint8(1)),i.push(g.getUint8(2))}s.normal_x!==void 0&&(e.push(parseFloat(a[s.normal_x])),e.push(parseFloat(a[s.normal_y])),e.push(parseFloat(a[s.normal_z]))),s.intensity!==void 0&&r.push(parseFloat(a[s.intensity])),s.label!==void 0&&p.push(parseInt(a[s.label]))}return{position:n,normal:e,color:i}}function k(t,o){let n=[],e=[],i=[],r=[],p=[],s=new DataView(o,t.headerLen),l=t.offset;for(let c=0,f=0;c<t.points;c++,f+=t.rowSize)l.x!==void 0&&(n.push(s.getFloat32(f+l.x,h)),n.push(s.getFloat32(f+l.y,h)),n.push(s.getFloat32(f+l.z,h))),l.rgb!==void 0&&(i.push(s.getUint8(f+l.rgb+0)),i.push(s.getUint8(f+l.rgb+1)),i.push(s.getUint8(f+l.rgb+2))),l.normal_x!==void 0&&(e.push(s.getFloat32(f+l.normal_x,h)),e.push(s.getFloat32(f+l.normal_y,h)),e.push(s.getFloat32(f+l.normal_z,h))),l.intensity!==void 0&&r.push(s.getFloat32(f+l.intensity,h)),l.label!==void 0&&p.push(s.getInt32(f+l.label,h));return{position:n,normal:e,color:i,intensity:r,label:p}}function V(t,o){let n=[],e=[],i=[],r=[],p=[],s=new Uint32Array(o.slice(t.headerLen,t.headerLen+8)),l=s[0],c=s[1],f=S(new Uint8Array(o,t.headerLen+8,l),c),a=new DataView(f.buffer),u=t.offset;for(let m=0;m<t.points;m++){if(u.x!==void 0&&(n.push(a.getFloat32(t.points*u.x+t.size[0]*m,h)),n.push(a.getFloat32(t.points*u.y+t.size[1]*m,h)),n.push(a.getFloat32(t.points*u.z+t.size[2]*m,h))),u.rgb!==void 0&&(i.push(a.getUint8(t.points*u.rgb+t.size[3]*m+0)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*m+1)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*m+2)/255)),u.normal_x!==void 0&&(e.push(a.getFloat32(t.points*u.normal_x+t.size[4]*m,h)),e.push(a.getFloat32(t.points*u.normal_y+t.size[5]*m,h)),e.push(a.getFloat32(t.points*u.normal_z+t.size[6]*m,h))),u.intensity!==void 0){let g=t.fields.indexOf("intensity");r.push(a.getFloat32(t.points*u.intensity+t.size[g]*m,h))}if(u.label!==void 0){let g=t.fields.indexOf("label");p.push(a.getInt32(t.points*u.label+t.size[g]*m,h))}}return{position:n,normal:e,color:i,intensity:r,label:p}}var Y="4.2.0-alpha.4",T={name:"PCD (Point Cloud Data)",id:"pcd",module:"pcd",version:Y,worker:!0,extensions:["pcd"],mimeTypes:["text/plain"],options:{pcd:{}}};var Z={...T,parse:async t=>b(t),parseSync:b};return U(d);})();
+/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
+ * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
+ * @license MIT (http://opensource.org/licenses/MIT)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+      return __exports__;
+      });

package/dist/index.cjs

@@ -17,18 +17,18 @@ var __copyProps = (to, from, except, desc) => {
 };
 var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
 
-// src/index.ts
-var src_exports = {};
-__export(src_exports, {
+// dist/index.js
+var dist_exports = {};
+__export(dist_exports, {
   PCDLoader: () => PCDLoader2,
   PCDWorkerLoader: () => PCDLoader
 });
-module.exports = __toCommonJS(src_exports);
+module.exports = __toCommonJS(dist_exports);
 
-// src/lib/parse-pcd.ts
+// dist/lib/parse-pcd.js
 var import_schema = require("@loaders.gl/schema");
 
-// src/lib/decompress-lzf.ts
+// dist/lib/decompress-lzf.js
 function decompressLZF(inData, outLength) {
   const inLength = inData.length;
   const outData = new Uint8Array(outLength);
@@ -80,7 +80,7 @@ function decompressLZF(inData, outLength) {
   return outData;
 }
 
-// src/lib/get-pcd-schema.ts
+// dist/lib/get-pcd-schema.js
 function getPCDSchema(PCDheader, metadata) {
   const offset = PCDheader.offset;
   const fields = [];
@@ -105,7 +105,7 @@ function getPCDSchema(PCDheader, metadata) {
   return { fields, metadata };
 }
 
-// src/lib/parse-pcd.ts
+// dist/lib/parse-pcd.js
 var LITTLE_ENDIAN = true;
 function parsePCD(data) {
   const textData = new TextDecoder().decode(data);
@@ -342,72 +342,32 @@ function parsePCDBinaryCompressed(pcdHeader, data) {
   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++) {
     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
-        )
-      );
+      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
-        )
-      );
+      label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
     }
   }
   return {
@@ -419,8 +379,8 @@ function parsePCDBinaryCompressed(pcdHeader, data) {
   };
 }
 
-// src/pcd-loader.ts
-var VERSION = typeof __VERSION__ !== "undefined" ? __VERSION__ : "latest";
+// dist/pcd-loader.js
+var VERSION = true ? "4.2.0-alpha.4" : "latest";
 var PCDLoader = {
   name: "PCD (Point Cloud Data)",
   id: "pcd",
@@ -434,7 +394,7 @@ var PCDLoader = {
   }
 };
 
-// src/index.ts
+// dist/index.js
 var PCDLoader2 = {
   ...PCDLoader,
   parse: async (arrayBuffer) => parsePCD(arrayBuffer),
@@ -447,3 +407,4 @@ var PCDLoader2 = {
  * @param data
  * @returns [attributes]
  */
+//# sourceMappingURL=index.cjs.map

package/dist/index.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["index.js", "lib/parse-pcd.js", "lib/decompress-lzf.js", "lib/get-pcd-schema.js", "pcd-loader.js"],
+  "sourcesContent": ["import parsePCDSync from \"./lib/parse-pcd.js\";\nimport { PCDLoader as PCDWorkerLoader } from \"./pcd-loader.js\";\nexport { PCDWorkerLoader };\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", "// 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\nimport { getMeshBoundingBox } from '@loaders.gl/schema';\nimport { decompressLZF } from \"./decompress-lzf.js\";\nimport { getPCDSchema } from \"./get-pcd-schema.js\";\nconst LITTLE_ENDIAN = true;\n/**\n *\n * @param data\n * @returns\n */\nexport default function parsePCD(data) {\n    // parse header (always ascii format)\n    const textData = new TextDecoder().decode(data);\n    const pcdHeader = parsePCDHeader(textData);\n    let attributes = {};\n    // parse data\n    switch (pcdHeader.data) {\n        case 'ascii':\n            attributes = parsePCDASCII(pcdHeader, textData);\n            break;\n        case 'binary':\n            attributes = parsePCDBinary(pcdHeader, data);\n            break;\n        case 'binary_compressed':\n            attributes = parsePCDBinaryCompressed(pcdHeader, data);\n            break;\n        default:\n            throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n    }\n    attributes = getMeshAttributes(attributes);\n    const header = getMeshHeader(pcdHeader, attributes);\n    const metadata = Object.fromEntries([\n        ['mode', '0'],\n        ['boundingBox', JSON.stringify(header.boundingBox)]\n    ]);\n    const schema = getPCDSchema(pcdHeader, metadata);\n    return {\n        loader: 'pcd',\n        loaderData: pcdHeader,\n        header,\n        schema,\n        mode: 0, // POINTS\n        topology: 'point-list',\n        attributes\n    };\n}\n// Create a header that contains common data for PointCloud category loaders\nfunction getMeshHeader(pcdHeader, attributes) {\n    if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {\n        const pointCount = pcdHeader.width * pcdHeader.height; // Supports \"organized\" point sets\n        return {\n            vertexCount: pointCount,\n            boundingBox: getMeshBoundingBox(attributes)\n        };\n    }\n    return {\n        vertexCount: pcdHeader.vertexCount,\n        boundingBox: pcdHeader.boundingBox\n    };\n}\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getMeshAttributes(attributes) {\n    const normalizedAttributes = {\n        POSITION: {\n            // Binary PCD is only 32 bit\n            value: new Float32Array(attributes.position),\n            size: 3\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    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    if (attributes.intensity && attributes.intensity.length > 0) {\n        // TODO - RGBA\n        normalizedAttributes.COLOR_0 = {\n            value: new Uint8Array(attributes.color),\n            size: 3\n        };\n    }\n    if (attributes.label && attributes.label.length > 0) {\n        // TODO - RGBA\n        normalizedAttributes.COLOR_0 = {\n            value: new Uint8Array(attributes.label),\n            size: 3\n        };\n    }\n    return normalizedAttributes;\n}\n/**\n * Incoming data parsing\n * @param data\n * @returns Header\n */\n/* eslint-disable complexity, max-statements */\nfunction parsePCDHeader(data) {\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    const pcdHeader = {};\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    // remove comments\n    pcdHeader.str = pcdHeader.str.replace(/\\#.*/gi, '');\n    // parse\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    // evaluate\n    if (pcdHeader.version !== null) {\n        pcdHeader.version = parseFloat(pcdHeader.version[1]);\n    }\n    if (pcdHeader.fields !== null) {\n        pcdHeader.fields = pcdHeader.fields[1].split(' ');\n    }\n    if (pcdHeader.type !== null) {\n        pcdHeader.type = pcdHeader.type[1].split(' ');\n    }\n    if (pcdHeader.width !== null) {\n        pcdHeader.width = parseInt(pcdHeader.width[1], 10);\n    }\n    if (pcdHeader.height !== null) {\n        pcdHeader.height = parseInt(pcdHeader.height[1], 10);\n    }\n    if (pcdHeader.viewpoint !== null) {\n        pcdHeader.viewpoint = pcdHeader.viewpoint[1];\n    }\n    if (pcdHeader.points !== null) {\n        pcdHeader.points = parseInt(pcdHeader.points[1], 10);\n    }\n    if (pcdHeader.points === null &&\n        typeof pcdHeader.width === 'number' &&\n        typeof pcdHeader.height === 'number') {\n        pcdHeader.points = pcdHeader.width * pcdHeader.height;\n    }\n    if (pcdHeader.size !== null) {\n        pcdHeader.size = pcdHeader.size[1].split(' ').map((x) => parseInt(x, 10));\n    }\n    if (pcdHeader.count !== null) {\n        pcdHeader.count = pcdHeader.count[1].split(' ').map((x) => parseInt(x, 10));\n    }\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    pcdHeader.offset = {};\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            }\n            else {\n                pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;\n                sizeSum += pcdHeader.size[i];\n            }\n        }\n    }\n    // for binary only\n    pcdHeader.rowSize = sizeSum;\n    return pcdHeader;\n}\n/**\n * @param pcdHeader\n * @param textData\n * @returns [attributes]\n */\n// eslint-enable-next-line complexity, max-statements\nfunction parsePCDASCII(pcdHeader, textData) {\n    const position = [];\n    const normal = [];\n    const color = [];\n    const intensity = [];\n    const label = [];\n    const offset = pcdHeader.offset;\n    const pcdData = textData.substr(pcdHeader.headerLen);\n    const lines = pcdData.split('\\n');\n    for (let i = 0; i < lines.length; i++) {\n        if (lines[i] !== '') {\n            const line = lines[i].split(' ');\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            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            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            if (offset.intensity !== undefined) {\n                intensity.push(parseFloat(line[offset.intensity]));\n            }\n            if (offset.label !== undefined) {\n                label.push(parseInt(line[offset.label]));\n            }\n        }\n    }\n    return { position, normal, color };\n}\n/**\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinary(pcdHeader, data) {\n    const position = [];\n    const normal = [];\n    const color = [];\n    const intensity = [];\n    const label = [];\n    const dataview = new DataView(data, pcdHeader.headerLen);\n    const offset = pcdHeader.offset;\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        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        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        if (offset.intensity !== undefined) {\n            intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));\n        }\n        if (offset.label !== undefined) {\n            label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));\n        }\n    }\n    return { position, normal, color, intensity, label };\n}\n/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)\n * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js\n * @license MIT (http://opensource.org/licenses/MIT)\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\n// eslint-enable-next-line complexity, max-statements\nfunction parsePCDBinaryCompressed(pcdHeader, data) {\n    const position = [];\n    const normal = [];\n    const color = [];\n    const intensity = [];\n    const label = [];\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(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);\n    const dataview = new DataView(decompressed.buffer);\n    const offset = pcdHeader.offset;\n    for (let i = 0; i < pcdHeader.points; i++) {\n        if (offset.x !== undefined) {\n            position.push(dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN));\n            position.push(dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN));\n            position.push(dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN));\n        }\n        if (offset.rgb !== undefined) {\n            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0);\n            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0);\n            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0);\n        }\n        if (offset.normal_x !== undefined) {\n            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i, LITTLE_ENDIAN));\n            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i, LITTLE_ENDIAN));\n            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i, LITTLE_ENDIAN));\n        }\n        if (offset.intensity !== undefined) {\n            const intensityIndex = pcdHeader.fields.indexOf('intensity');\n            intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));\n        }\n        if (offset.label !== undefined) {\n            const labelIndex = pcdHeader.fields.indexOf('label');\n            label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));\n        }\n    }\n    return {\n        position,\n        normal,\n        color,\n        intensity,\n        label\n    };\n}\n", "/* 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, outLength) {\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    do {\n        ctrl = inData[inPtr++];\n        if (ctrl < 1 << 5) {\n            ctrl++;\n            if (outPtr + ctrl > outLength) {\n                throw new Error('Output buffer is not large enough');\n            }\n            if (inPtr + ctrl > inLength) {\n                throw new Error('Invalid compressed data');\n            }\n            do {\n                outData[outPtr++] = inData[inPtr++];\n            } while (--ctrl);\n        }\n        else {\n            len = ctrl >> 5;\n            ref = outPtr - ((ctrl & 0x1f) << 8) - 1;\n            if (inPtr >= inLength) {\n                throw new Error('Invalid compressed data');\n            }\n            if (len === 7) {\n                len += inData[inPtr++];\n                if (inPtr >= inLength) {\n                    throw new Error('Invalid compressed data');\n                }\n            }\n            ref -= inData[inPtr++];\n            if (outPtr + len + 2 > outLength) {\n                throw new Error('Output buffer is not large enough');\n            }\n            if (ref < 0) {\n                throw new Error('Invalid compressed data');\n            }\n            if (ref >= outPtr) {\n                throw new Error('Invalid compressed data');\n            }\n            do {\n                outData[outPtr++] = outData[ref++];\n            } while (--len + 2);\n        }\n    } while (inPtr < inLength);\n    return outData;\n}\n", "/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader, metadata) {\n    const offset = PCDheader.offset;\n    const fields = [];\n    if (offset.x !== undefined) {\n        fields.push({\n            name: 'POSITION',\n            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }\n        });\n    }\n    if (offset.normal_x !== undefined) {\n        fields.push({\n            name: 'NORMAL',\n            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }\n        });\n    }\n    if (offset.rgb !== undefined) {\n        fields.push({\n            name: 'COLOR_0',\n            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: 'uint8' }] }\n        });\n    }\n    return { fields, metadata };\n}\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof \"4.2.0-alpha.4\" !== 'undefined' ? \"4.2.0-alpha.4\" : 'latest';\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"],
+  "mappings": 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+  "names": ["PCDLoader", "PCDLoader"]
+}

package/dist/index.d.ts

@@ -1,6 +1,6 @@
 import type { LoaderOptions, LoaderWithParser } from '@loaders.gl/loader-utils';
-import { PCDLoader as PCDWorkerLoader } from './pcd-loader';
-import { PCDMesh } from './lib/pcd-types';
+import { PCDLoader as PCDWorkerLoader } from "./pcd-loader.js";
+import { PCDMesh } from "./lib/pcd-types.js";
 export { PCDWorkerLoader };
 /**
  * Loader for PCD - Point Cloud Data

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,aAAa,EAAE,gBAAgB,EAAC,MAAM,0BAA0B,CAAC;AAE9E,OAAO,EAAC,SAAS,IAAI,eAAe,EAAC,wBAAqB;AAC1D,OAAO,EAAC,OAAO,EAAC,2BAAwB;AAExC,OAAO,EAAC,eAAe,EAAC,CAAC;AAEzB;;GAEG;AACH,eAAO,MAAM,SAAS,EAAE,gBAAgB,CAAC,OAAO,EAAE,KAAK,EAAE,aAAa,CAIrE,CAAC"}

package/dist/index.js

@@ -1,9 +1,11 @@
 import parsePCDSync from "./lib/parse-pcd.js";
 import { PCDLoader as PCDWorkerLoader } from "./pcd-loader.js";
 export { PCDWorkerLoader };
+/**
+ * Loader for PCD - Point Cloud Data
+ */
 export const PCDLoader = {
-  ...PCDWorkerLoader,
-  parse: async arrayBuffer => parsePCDSync(arrayBuffer),
-  parseSync: parsePCDSync
+    ...PCDWorkerLoader,
+    parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),
+    parseSync: parsePCDSync
 };
-//# sourceMappingURL=index.js.map