@loaders.gl/pcd 4.2.0-alpha.4 → 4.2.0-alpha.6

package/dist/lib/parse-pcd.js

@@ -1,239 +1,280 @@
+// PCD Loader, adapted from THREE.js (MIT license)
+// Description: A loader for PCD ascii and binary files.
+// Limitations: Compressed binary files are not supported.
+//
+// Attributions per original THREE.js source file:
+// @author Filipe Caixeta / http://filipecaixeta.com.br
+// @author Mugen87 / https://github.com/Mugen87
 import { getMeshBoundingBox } from '@loaders.gl/schema';
 import { decompressLZF } from "./decompress-lzf.js";
 import { getPCDSchema } from "./get-pcd-schema.js";
 const LITTLE_ENDIAN = true;
+/**
+ *
+ * @param data
+ * @returns
+ */
 export default function parsePCD(data) {
-  const textData = new TextDecoder().decode(data);
-  const pcdHeader = parsePCDHeader(textData);
-  let attributes = {};
-  switch (pcdHeader.data) {
-    case 'ascii':
-      attributes = parsePCDASCII(pcdHeader, textData);
-      break;
-    case 'binary':
-      attributes = parsePCDBinary(pcdHeader, data);
-      break;
-    case 'binary_compressed':
-      attributes = parsePCDBinaryCompressed(pcdHeader, data);
-      break;
-    default:
-      throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
-  }
-  attributes = getMeshAttributes(attributes);
-  const header = getMeshHeader(pcdHeader, attributes);
-  const metadata = Object.fromEntries([['mode', '0'], ['boundingBox', JSON.stringify(header.boundingBox)]]);
-  const schema = getPCDSchema(pcdHeader, metadata);
-  return {
-    loader: 'pcd',
-    loaderData: pcdHeader,
-    header,
-    schema,
-    mode: 0,
-    topology: 'point-list',
-    attributes
-  };
+    // parse header (always ascii format)
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    let attributes = {};
+    // parse data
+    switch (pcdHeader.data) {
+        case 'ascii':
+            attributes = parsePCDASCII(pcdHeader, textData);
+            break;
+        case 'binary':
+            attributes = parsePCDBinary(pcdHeader, data);
+            break;
+        case 'binary_compressed':
+            attributes = parsePCDBinaryCompressed(pcdHeader, data);
+            break;
+        default:
+            throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
+    }
+    attributes = getMeshAttributes(attributes);
+    const header = getMeshHeader(pcdHeader, attributes);
+    const metadata = Object.fromEntries([
+        ['mode', '0'],
+        ['boundingBox', JSON.stringify(header.boundingBox)]
+    ]);
+    const schema = getPCDSchema(pcdHeader, metadata);
+    return {
+        loader: 'pcd',
+        loaderData: pcdHeader,
+        header,
+        schema,
+        mode: 0, // POINTS
+        topology: 'point-list',
+        attributes
+    };
 }
+// Create a header that contains common data for PointCloud category loaders
 function getMeshHeader(pcdHeader, attributes) {
-  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
-    const pointCount = pcdHeader.width * pcdHeader.height;
+    if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+        const pointCount = pcdHeader.width * pcdHeader.height; // Supports "organized" point sets
+        return {
+            vertexCount: pointCount,
+            boundingBox: getMeshBoundingBox(attributes)
+        };
+    }
     return {
-      vertexCount: pointCount,
-      boundingBox: getMeshBoundingBox(attributes)
+        vertexCount: pcdHeader.vertexCount,
+        boundingBox: pcdHeader.boundingBox
     };
-  }
-  return {
-    vertexCount: pcdHeader.vertexCount,
-    boundingBox: pcdHeader.boundingBox
-  };
 }
+/**
+ * @param attributes
+ * @returns Normalized attributes
+ */
 function getMeshAttributes(attributes) {
-  const normalizedAttributes = {
-    POSITION: {
-      value: new Float32Array(attributes.position),
-      size: 3
-    }
-  };
-  if (attributes.normal && attributes.normal.length > 0) {
-    normalizedAttributes.NORMAL = {
-      value: new Float32Array(attributes.normal),
-      size: 3
-    };
-  }
-  if (attributes.color && attributes.color.length > 0) {
-    normalizedAttributes.COLOR_0 = {
-      value: new Uint8Array(attributes.color),
-      size: 3
+    const normalizedAttributes = {
+        POSITION: {
+            // Binary PCD is only 32 bit
+            value: new Float32Array(attributes.position),
+            size: 3
+        }
     };
-  }
-  if (attributes.intensity && attributes.intensity.length > 0) {
-    normalizedAttributes.COLOR_0 = {
-      value: new Uint8Array(attributes.color),
-      size: 3
-    };
-  }
-  if (attributes.label && attributes.label.length > 0) {
-    normalizedAttributes.COLOR_0 = {
-      value: new Uint8Array(attributes.label),
-      size: 3
-    };
-  }
-  return normalizedAttributes;
+    if (attributes.normal && attributes.normal.length > 0) {
+        normalizedAttributes.NORMAL = {
+            value: new Float32Array(attributes.normal),
+            size: 3
+        };
+    }
+    if (attributes.color && attributes.color.length > 0) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = {
+            value: new Uint8Array(attributes.color),
+            size: 3
+        };
+    }
+    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;
 }
+/**
+ * Incoming data parsing
+ * @param data
+ * @returns Header
+ */
+/* eslint-disable complexity, max-statements */
 function parsePCDHeader(data) {
-  const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
-  const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
-  const pcdHeader = {};
-  pcdHeader.data = result2 && result2[1];
-  if (result2 !== null) {
-    pcdHeader.headerLen = (result2 && result2[0].length) + result1;
-  }
-  pcdHeader.str = data.substr(0, pcdHeader.headerLen);
-  pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
-  pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
-  pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
-  pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
-  pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);
-  pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);
-  pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);
-  pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
-  pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
-  pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
-  if (pcdHeader.version !== null) {
-    pcdHeader.version = parseFloat(pcdHeader.version[1]);
-  }
-  if (pcdHeader.fields !== null) {
-    pcdHeader.fields = pcdHeader.fields[1].split(' ');
-  }
-  if (pcdHeader.type !== null) {
-    pcdHeader.type = pcdHeader.type[1].split(' ');
-  }
-  if (pcdHeader.width !== null) {
-    pcdHeader.width = parseInt(pcdHeader.width[1], 10);
-  }
-  if (pcdHeader.height !== null) {
-    pcdHeader.height = parseInt(pcdHeader.height[1], 10);
-  }
-  if (pcdHeader.viewpoint !== null) {
-    pcdHeader.viewpoint = pcdHeader.viewpoint[1];
-  }
-  if (pcdHeader.points !== null) {
-    pcdHeader.points = parseInt(pcdHeader.points[1], 10);
-  }
-  if (pcdHeader.points === null && typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
-    pcdHeader.points = pcdHeader.width * pcdHeader.height;
-  }
-  if (pcdHeader.size !== null) {
-    pcdHeader.size = pcdHeader.size[1].split(' ').map(x => parseInt(x, 10));
-  }
-  if (pcdHeader.count !== null) {
-    pcdHeader.count = pcdHeader.count[1].split(' ').map(x => parseInt(x, 10));
-  } else {
-    pcdHeader.count = [];
+    const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
+    const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
+    const pcdHeader = {};
+    pcdHeader.data = result2 && result2[1];
+    if (result2 !== null) {
+        pcdHeader.headerLen = (result2 && result2[0].length) + result1;
+    }
+    pcdHeader.str = data.substr(0, pcdHeader.headerLen);
+    // remove comments
+    pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
+    // parse
+    pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
+    pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
+    pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
+    pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);
+    pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);
+    pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);
+    pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
+    pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
+    pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
+    // evaluate
+    if (pcdHeader.version !== null) {
+        pcdHeader.version = parseFloat(pcdHeader.version[1]);
+    }
     if (pcdHeader.fields !== null) {
-      for (let i = 0; i < pcdHeader.fields.length; i++) {
-        pcdHeader.count.push(1);
-      }
+        pcdHeader.fields = pcdHeader.fields[1].split(' ');
     }
-  }
-  pcdHeader.offset = {};
-  let sizeSum = 0;
-  if (pcdHeader.fields !== null && pcdHeader.size !== null) {
-    for (let i = 0; i < pcdHeader.fields.length; i++) {
-      if (pcdHeader.data === 'ascii') {
-        pcdHeader.offset[pcdHeader.fields[i]] = i;
-      } else {
-        pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
-        sizeSum += pcdHeader.size[i];
-      }
+    if (pcdHeader.type !== null) {
+        pcdHeader.type = pcdHeader.type[1].split(' ');
     }
-  }
-  pcdHeader.rowSize = sizeSum;
-  return pcdHeader;
-}
-function parsePCDASCII(pcdHeader, textData) {
-  const position = [];
-  const normal = [];
-  const color = [];
-  const intensity = [];
-  const label = [];
-  const offset = pcdHeader.offset;
-  const pcdData = textData.substr(pcdHeader.headerLen);
-  const lines = pcdData.split('\n');
-  for (let i = 0; i < lines.length; i++) {
-    if (lines[i] !== '') {
-      const line = lines[i].split(' ');
-      if (offset.x !== undefined) {
-        position.push(parseFloat(line[offset.x]));
-        position.push(parseFloat(line[offset.y]));
-        position.push(parseFloat(line[offset.z]));
-      }
-      if (offset.rgb !== undefined) {
-        const floatValue = parseFloat(line[offset.rgb]);
-        const binaryColor = new Float32Array([floatValue]);
-        const dataview = new DataView(binaryColor.buffer, 0);
-        color.push(dataview.getUint8(0));
-        color.push(dataview.getUint8(1));
-        color.push(dataview.getUint8(2));
-      }
-      if (offset.normal_x !== undefined) {
-        normal.push(parseFloat(line[offset.normal_x]));
-        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]));
-      }
+    if (pcdHeader.width !== null) {
+        pcdHeader.width = parseInt(pcdHeader.width[1], 10);
     }
-  }
-  return {
-    position,
-    normal,
-    color
-  };
-}
-function parsePCDBinary(pcdHeader, data) {
-  const position = [];
-  const normal = [];
-  const color = [];
-  const intensity = [];
-  const label = [];
-  const dataview = new DataView(data, pcdHeader.headerLen);
-  const offset = pcdHeader.offset;
-  for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
-    if (offset.x !== undefined) {
-      position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
-      position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
-      position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));
+    if (pcdHeader.height !== null) {
+        pcdHeader.height = parseInt(pcdHeader.height[1], 10);
     }
-    if (offset.rgb !== undefined) {
-      color.push(dataview.getUint8(row + offset.rgb + 0));
-      color.push(dataview.getUint8(row + offset.rgb + 1));
-      color.push(dataview.getUint8(row + offset.rgb + 2));
+    if (pcdHeader.viewpoint !== null) {
+        pcdHeader.viewpoint = pcdHeader.viewpoint[1];
     }
-    if (offset.normal_x !== undefined) {
-      normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));
-      normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));
-      normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));
+    if (pcdHeader.points !== null) {
+        pcdHeader.points = parseInt(pcdHeader.points[1], 10);
     }
-    if (offset.intensity !== undefined) {
-      intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+    if (pcdHeader.points === null &&
+        typeof pcdHeader.width === 'number' &&
+        typeof pcdHeader.height === 'number') {
+        pcdHeader.points = pcdHeader.width * pcdHeader.height;
     }
-    if (offset.label !== undefined) {
-      label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
+    if (pcdHeader.size !== null) {
+        pcdHeader.size = pcdHeader.size[1].split(' ').map((x) => parseInt(x, 10));
     }
-  }
-  return {
-    position,
-    normal,
-    color,
-    intensity,
-    label
-  };
+    if (pcdHeader.count !== null) {
+        pcdHeader.count = pcdHeader.count[1].split(' ').map((x) => parseInt(x, 10));
+    }
+    else {
+        pcdHeader.count = [];
+        if (pcdHeader.fields !== null) {
+            for (let i = 0; i < pcdHeader.fields.length; i++) {
+                pcdHeader.count.push(1);
+            }
+        }
+    }
+    pcdHeader.offset = {};
+    let sizeSum = 0;
+    if (pcdHeader.fields !== null && pcdHeader.size !== null) {
+        for (let i = 0; i < pcdHeader.fields.length; i++) {
+            if (pcdHeader.data === 'ascii') {
+                pcdHeader.offset[pcdHeader.fields[i]] = i;
+            }
+            else {
+                pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
+                sizeSum += pcdHeader.size[i];
+            }
+        }
+    }
+    // for binary only
+    pcdHeader.rowSize = sizeSum;
+    return pcdHeader;
+}
+/**
+ * @param pcdHeader
+ * @param textData
+ * @returns [attributes]
+ */
+// eslint-enable-next-line complexity, max-statements
+function parsePCDASCII(pcdHeader, textData) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const intensity = [];
+    const label = [];
+    const offset = pcdHeader.offset;
+    const pcdData = textData.substr(pcdHeader.headerLen);
+    const lines = pcdData.split('\n');
+    for (let i = 0; i < lines.length; i++) {
+        if (lines[i] !== '') {
+            const line = lines[i].split(' ');
+            if (offset.x !== undefined) {
+                position.push(parseFloat(line[offset.x]));
+                position.push(parseFloat(line[offset.y]));
+                position.push(parseFloat(line[offset.z]));
+            }
+            if (offset.rgb !== undefined) {
+                const floatValue = parseFloat(line[offset.rgb]);
+                const binaryColor = new Float32Array([floatValue]);
+                const dataview = new DataView(binaryColor.buffer, 0);
+                color.push(dataview.getUint8(0));
+                color.push(dataview.getUint8(1));
+                color.push(dataview.getUint8(2));
+                // TODO - handle alpha channel / RGBA?
+            }
+            if (offset.normal_x !== undefined) {
+                normal.push(parseFloat(line[offset.normal_x]));
+                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]));
+            }
+        }
+    }
+    return { position, normal, color };
+}
+/**
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+function parsePCDBinary(pcdHeader, data) {
+    const position = [];
+    const normal = [];
+    const color = [];
+    const intensity = [];
+    const label = [];
+    const dataview = new DataView(data, pcdHeader.headerLen);
+    const offset = pcdHeader.offset;
+    for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
+        if (offset.x !== undefined) {
+            position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
+            position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
+            position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));
+        }
+        if (offset.rgb !== undefined) {
+            color.push(dataview.getUint8(row + offset.rgb + 0));
+            color.push(dataview.getUint8(row + offset.rgb + 1));
+            color.push(dataview.getUint8(row + offset.rgb + 2));
+        }
+        if (offset.normal_x !== undefined) {
+            normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));
+            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, intensity, label };
 }
-
 /** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
  * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
  * @license MIT (http://opensource.org/licenses/MIT)
@@ -241,49 +282,49 @@ function parsePCDBinary(pcdHeader, data) {
  * @param data
  * @returns [attributes]
  */
+// eslint-enable-next-line complexity, max-statements
 function parsePCDBinaryCompressed(pcdHeader, data) {
-  const position = [];
-  const normal = [];
-  const color = [];
-  const intensity = [];
-  const label = [];
-  const sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));
-  const compressedSize = sizes[0];
-  const decompressedSize = sizes[1];
-  const decompressed = decompressLZF(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);
-  const dataview = new DataView(decompressed.buffer);
-  const offset = pcdHeader.offset;
-  for (let i = 0; i < pcdHeader.points; i++) {
-    if (offset.x !== undefined) {
-      position.push(dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN));
-      position.push(dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN));
-      position.push(dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN));
-    }
-    if (offset.rgb !== undefined) {
-      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0);
-      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0);
-      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0);
+    const position = [];
+    const normal = [];
+    const color = [];
+    const intensity = [];
+    const label = [];
+    const sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));
+    const compressedSize = sizes[0];
+    const decompressedSize = sizes[1];
+    const decompressed = decompressLZF(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);
+    const dataview = new DataView(decompressed.buffer);
+    const offset = pcdHeader.offset;
+    for (let i = 0; i < pcdHeader.points; i++) {
+        if (offset.x !== undefined) {
+            position.push(dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN));
+            position.push(dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN));
+            position.push(dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN));
+        }
+        if (offset.rgb !== undefined) {
+            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0);
+            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0);
+            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0);
+        }
+        if (offset.normal_x !== undefined) {
+            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i, LITTLE_ENDIAN));
+            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i, LITTLE_ENDIAN));
+            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i, LITTLE_ENDIAN));
+        }
+        if (offset.intensity !== undefined) {
+            const intensityIndex = pcdHeader.fields.indexOf('intensity');
+            intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
+        }
+        if (offset.label !== undefined) {
+            const labelIndex = pcdHeader.fields.indexOf('label');
+            label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
+        }
     }
-    if (offset.normal_x !== undefined) {
-      normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i, LITTLE_ENDIAN));
-      normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i, LITTLE_ENDIAN));
-      normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i, LITTLE_ENDIAN));
-    }
-    if (offset.intensity !== undefined) {
-      const intensityIndex = pcdHeader.fields.indexOf('intensity');
-      intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
-    }
-    if (offset.label !== undefined) {
-      const labelIndex = pcdHeader.fields.indexOf('label');
-      label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));
-    }
-  }
-  return {
-    position,
-    normal,
-    color,
-    intensity,
-    label
-  };
+    return {
+        position,
+        normal,
+        color,
+        intensity,
+        label
+    };
 }
-//# sourceMappingURL=parse-pcd.js.map

package/dist/lib/pcd-types.js

@@ -1,2 +1 @@
 export {};
-//# sourceMappingURL=pcd-types.js.map

package/dist/pcd-loader.d.ts

@@ -1,5 +1,5 @@
 import type { Loader, LoaderOptions } from '@loaders.gl/loader-utils';
-import { PCDMesh } from './lib/pcd-types';
+import { PCDMesh } from "./lib/pcd-types.js";
 /**
  * Worker loader for PCD - Point Cloud Data
  */

package/dist/pcd-loader.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"pcd-loader.d.ts","sourceRoot":"","sources":["../src/pcd-loader.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAC,MAAM,EAAE,aAAa,EAAC,MAAM,0BAA0B,CAAC;AACpE,OAAO,EAAC,OAAO,EAAC,MAAM,iBAAiB,CAAC;AAMxC;;GAEG;AACH,eAAO,MAAM,SAAS,EAAE,MAAM,CAAC,OAAO,EAAE,KAAK,EAAE,aAAa,CAW3D,CAAC"}
+{"version":3,"file":"pcd-loader.d.ts","sourceRoot":"","sources":["../src/pcd-loader.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAC,MAAM,EAAE,aAAa,EAAC,MAAM,0BAA0B,CAAC;AACpE,OAAO,EAAC,OAAO,EAAC,2BAAwB;AAMxC;;GAEG;AACH,eAAO,MAAM,SAAS,EAAE,MAAM,CAAC,OAAO,EAAE,KAAK,EAAE,aAAa,CAW3D,CAAC"}

package/dist/pcd-loader.js

@@ -1,14 +1,21 @@
-const VERSION = typeof "4.2.0-alpha.4" !== 'undefined' ? "4.2.0-alpha.4" : 'latest';
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+// __VERSION__ is injected by babel-plugin-version-inline
+// @ts-ignore TS2304: Cannot find name '__VERSION__'.
+const VERSION = typeof "4.2.0-alpha.5" !== 'undefined' ? "4.2.0-alpha.5" : 'latest';
+/**
+ * Worker loader for PCD - Point Cloud Data
+ */
 export const PCDLoader = {
-  name: 'PCD (Point Cloud Data)',
-  id: 'pcd',
-  module: 'pcd',
-  version: VERSION,
-  worker: true,
-  extensions: ['pcd'],
-  mimeTypes: ['text/plain'],
-  options: {
-    pcd: {}
-  }
+    name: 'PCD (Point Cloud Data)',
+    id: 'pcd',
+    module: 'pcd',
+    version: VERSION,
+    worker: true,
+    extensions: ['pcd'],
+    mimeTypes: ['text/plain'],
+    options: {
+        pcd: {}
+    }
 };
-//# sourceMappingURL=pcd-loader.js.map

package/dist/pcd-worker.js

@@ -59,7 +59,9 @@
       }
       getParentPort().then((parentPort2) => {
         if (parentPort2) {
-          parentPort2.on("message", handleMessage);
+          parentPort2.on("message", (message) => {
+            handleMessage(message);
+          });
           parentPort2.on("exit", () => console.debug("Node worker closing"));
         } else {
           globalThis.onmessage = handleMessage;
@@ -616,7 +618,7 @@
   }
 
   // src/pcd-loader.ts
-  var VERSION = true ? "4.2.0-alpha.4" : "latest";
+  var VERSION = true ? "4.2.0-alpha.5" : "latest";
   var PCDLoader = {
     name: "PCD (Point Cloud Data)",
     id: "pcd",

package/dist/workers/pcd-worker.js

@@ -1,4 +1,3 @@
 import { createLoaderWorker } from '@loaders.gl/loader-utils';
 import { PCDLoader } from "../index.js";
 createLoaderWorker(PCDLoader);
-//# sourceMappingURL=pcd-worker.js.map