@loaders.gl/pcd 4.2.0-alpha.5 → 4.2.0-beta.1
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/dist.dev.js +2 -0
- package/dist/dist.min.js +2 -2
- package/dist/index.cjs +3 -1
- package/dist/index.cjs.map +2 -2
- package/dist/index.d.ts +18 -2
- package/dist/index.d.ts.map +1 -1
- package/dist/index.js +3 -0
- package/dist/pcd-loader.d.ts +21 -2
- package/dist/pcd-loader.d.ts.map +1 -1
- package/dist/pcd-loader.js +3 -1
- package/dist/pcd-worker.js +6 -2
- package/package.json +4 -4
- package/src/index.ts +8 -2
- package/src/pcd-loader.ts +12 -2
package/dist/dist.dev.js
CHANGED
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@@ -474,6 +474,8 @@ var __exports__ = (() => {
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// src/pcd-loader.ts
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var VERSION = typeof __VERSION__ !== "undefined" ? __VERSION__ : "latest";
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var PCDLoader = {
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dataType: null,
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batchType: null,
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name: "PCD (Point Cloud Data)",
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id: "pcd",
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module: "pcd",
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package/dist/dist.min.js
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@@ -4,8 +4,8 @@
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else if (typeof define === 'function' && define.amd) define([], factory);
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else if (typeof exports === 'object') exports['loaders'] = factory();
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else root['loaders'] = factory();})(globalThis, function () {
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"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
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`);for(let f=0;f<
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"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 m=0;m<l;m+=3){let f=s[m],a=s[m+1],u=s[m+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,m=o.substr(t.headerLen).split(`
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`);for(let f=0;f<m.length;f++)if(m[f]!==""){let a=m[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]),c=new Float32Array([u]),g=new DataView(c.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 m=0,f=0;m<t.points;m++,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],m=s[1],f=S(new Uint8Array(o,t.headerLen+8,l),m),a=new DataView(f.buffer),u=t.offset;for(let c=0;c<t.points;c++){if(u.x!==void 0&&(n.push(a.getFloat32(t.points*u.x+t.size[0]*c,h)),n.push(a.getFloat32(t.points*u.y+t.size[1]*c,h)),n.push(a.getFloat32(t.points*u.z+t.size[2]*c,h))),u.rgb!==void 0&&(i.push(a.getUint8(t.points*u.rgb+t.size[3]*c+0)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*c+1)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*c+2)/255)),u.normal_x!==void 0&&(e.push(a.getFloat32(t.points*u.normal_x+t.size[4]*c,h)),e.push(a.getFloat32(t.points*u.normal_y+t.size[5]*c,h)),e.push(a.getFloat32(t.points*u.normal_z+t.size[6]*c,h))),u.intensity!==void 0){let g=t.fields.indexOf("intensity");r.push(a.getFloat32(t.points*u.intensity+t.size[g]*c,h))}if(u.label!==void 0){let g=t.fields.indexOf("label");p.push(a.getInt32(t.points*u.label+t.size[g]*c,h))}}return{position:n,normal:e,color:i,intensity:r,label:p}}var Y="4.2.0-alpha.6",T={dataType:null,batchType:null,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);})();
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/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
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* from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js
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* @license MIT (http://opensource.org/licenses/MIT)
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package/dist/index.cjs
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@@ -380,8 +380,10 @@ function parsePCDBinaryCompressed(pcdHeader, data) {
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}
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// dist/pcd-loader.js
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var VERSION = true ? "4.2.0-alpha.6" : "latest";
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var PCDLoader = {
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name: "PCD (Point Cloud Data)",
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id: "pcd",
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module: "pcd",
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package/dist/index.cjs.map
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"sources": ["index.js", "lib/parse-pcd.js", "lib/decompress-lzf.js", "lib/get-pcd-schema.js", "pcd-loader.js"],
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"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; 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5
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"sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright vis.gl contributors\nimport 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.6\" !== 'undefined' ? \"4.2.0-alpha.6\" : 'latest';\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n dataType: null,\n batchType: null,\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"],
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|
|
6
6
|
"names": ["PCDLoader", "PCDLoader"]
|
|
7
7
|
}
|
package/dist/index.d.ts
CHANGED
|
@@ -1,9 +1,25 @@
|
|
|
1
|
-
import
|
|
1
|
+
import parsePCDSync from "./lib/parse-pcd.js";
|
|
2
2
|
import { PCDLoader as PCDWorkerLoader } from "./pcd-loader.js";
|
|
3
3
|
import { PCDMesh } from "./lib/pcd-types.js";
|
|
4
|
+
export type { PCDLoaderOptions } from "./pcd-loader.js";
|
|
4
5
|
export { PCDWorkerLoader };
|
|
5
6
|
/**
|
|
6
7
|
* Loader for PCD - Point Cloud Data
|
|
7
8
|
*/
|
|
8
|
-
export declare const PCDLoader:
|
|
9
|
+
export declare const PCDLoader: {
|
|
10
|
+
readonly parse: (arrayBuffer: ArrayBuffer) => Promise<PCDMesh>;
|
|
11
|
+
readonly parseSync: typeof parsePCDSync;
|
|
12
|
+
readonly dataType: PCDMesh;
|
|
13
|
+
readonly batchType: never;
|
|
14
|
+
readonly name: "PCD (Point Cloud Data)";
|
|
15
|
+
readonly id: "pcd";
|
|
16
|
+
readonly module: "pcd";
|
|
17
|
+
readonly version: any;
|
|
18
|
+
readonly worker: true;
|
|
19
|
+
readonly extensions: ["pcd"];
|
|
20
|
+
readonly mimeTypes: ["text/plain"];
|
|
21
|
+
readonly options: {
|
|
22
|
+
readonly pcd: {};
|
|
23
|
+
};
|
|
24
|
+
};
|
|
9
25
|
//# sourceMappingURL=index.d.ts.map
|
package/dist/index.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"
|
|
1
|
+
{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAKA,OAAO,YAAY,2BAAwB;AAC3C,OAAO,EAAC,SAAS,IAAI,eAAe,EAAC,wBAAqB;AAC1D,OAAO,EAAC,OAAO,EAAC,2BAAwB;AAExC,YAAY,EAAC,gBAAgB,EAAC,wBAAqB;AAEnD,OAAO,EAAC,eAAe,EAAC,CAAC;AAEzB;;GAEG;AACH,eAAO,MAAM,SAAS;;;;;;;;;;;;;;;CAI8C,CAAC"}
|
package/dist/index.js
CHANGED
package/dist/pcd-loader.d.ts
CHANGED
|
@@ -1,7 +1,26 @@
|
|
|
1
|
-
import type {
|
|
1
|
+
import type { LoaderOptions } from '@loaders.gl/loader-utils';
|
|
2
2
|
import { PCDMesh } from "./lib/pcd-types.js";
|
|
3
|
+
export type PCDLoaderOptions = LoaderOptions & {
|
|
4
|
+
pcd?: {
|
|
5
|
+
/** Override the URL to the worker bundle (by default loads from unpkg.com) */
|
|
6
|
+
workerUrl?: string;
|
|
7
|
+
};
|
|
8
|
+
};
|
|
3
9
|
/**
|
|
4
10
|
* Worker loader for PCD - Point Cloud Data
|
|
5
11
|
*/
|
|
6
|
-
export declare const PCDLoader:
|
|
12
|
+
export declare const PCDLoader: {
|
|
13
|
+
readonly dataType: PCDMesh;
|
|
14
|
+
readonly batchType: never;
|
|
15
|
+
readonly name: "PCD (Point Cloud Data)";
|
|
16
|
+
readonly id: "pcd";
|
|
17
|
+
readonly module: "pcd";
|
|
18
|
+
readonly version: any;
|
|
19
|
+
readonly worker: true;
|
|
20
|
+
readonly extensions: ["pcd"];
|
|
21
|
+
readonly mimeTypes: ["text/plain"];
|
|
22
|
+
readonly options: {
|
|
23
|
+
readonly pcd: {};
|
|
24
|
+
};
|
|
25
|
+
};
|
|
7
26
|
//# sourceMappingURL=pcd-loader.d.ts.map
|
package/dist/pcd-loader.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"pcd-loader.d.ts","sourceRoot":"","sources":["../src/pcd-loader.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,
|
|
1
|
+
{"version":3,"file":"pcd-loader.d.ts","sourceRoot":"","sources":["../src/pcd-loader.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAS,aAAa,EAAC,MAAM,0BAA0B,CAAC;AACpE,OAAO,EAAC,OAAO,EAAC,2BAAwB;AAMxC,MAAM,MAAM,gBAAgB,GAAG,aAAa,GAAG;IAC7C,GAAG,CAAC,EAAE;QACJ,8EAA8E;QAC9E,SAAS,CAAC,EAAE,MAAM,CAAC;KACpB,CAAC;CACH,CAAC;AAEF;;GAEG;AACH,eAAO,MAAM,SAAS;;;;;;;;;;;;;CAcuC,CAAC"}
|
package/dist/pcd-loader.js
CHANGED
|
@@ -3,11 +3,13 @@
|
|
|
3
3
|
// Copyright (c) vis.gl contributors
|
|
4
4
|
// __VERSION__ is injected by babel-plugin-version-inline
|
|
5
5
|
// @ts-ignore TS2304: Cannot find name '__VERSION__'.
|
|
6
|
-
const VERSION = typeof "4.2.0-alpha.
|
|
6
|
+
const VERSION = typeof "4.2.0-alpha.6" !== 'undefined' ? "4.2.0-alpha.6" : 'latest';
|
|
7
7
|
/**
|
|
8
8
|
* Worker loader for PCD - Point Cloud Data
|
|
9
9
|
*/
|
|
10
10
|
export const PCDLoader = {
|
|
11
|
+
dataType: null,
|
|
12
|
+
batchType: null,
|
|
11
13
|
name: 'PCD (Point Cloud Data)',
|
|
12
14
|
id: 'pcd',
|
|
13
15
|
module: 'pcd',
|
package/dist/pcd-worker.js
CHANGED
|
@@ -59,7 +59,9 @@
|
|
|
59
59
|
}
|
|
60
60
|
getParentPort().then((parentPort2) => {
|
|
61
61
|
if (parentPort2) {
|
|
62
|
-
parentPort2.on("message",
|
|
62
|
+
parentPort2.on("message", (message) => {
|
|
63
|
+
handleMessage(message);
|
|
64
|
+
});
|
|
63
65
|
parentPort2.on("exit", () => console.debug("Node worker closing"));
|
|
64
66
|
} else {
|
|
65
67
|
globalThis.onmessage = handleMessage;
|
|
@@ -616,8 +618,10 @@
|
|
|
616
618
|
}
|
|
617
619
|
|
|
618
620
|
// src/pcd-loader.ts
|
|
619
|
-
var VERSION = true ? "4.2.0-alpha.
|
|
621
|
+
var VERSION = true ? "4.2.0-alpha.6" : "latest";
|
|
620
622
|
var PCDLoader = {
|
|
623
|
+
dataType: null,
|
|
624
|
+
batchType: null,
|
|
621
625
|
name: "PCD (Point Cloud Data)",
|
|
622
626
|
id: "pcd",
|
|
623
627
|
module: "pcd",
|
package/package.json
CHANGED
|
@@ -1,6 +1,6 @@
|
|
|
1
1
|
{
|
|
2
2
|
"name": "@loaders.gl/pcd",
|
|
3
|
-
"version": "4.2.0-
|
|
3
|
+
"version": "4.2.0-beta.1",
|
|
4
4
|
"description": "Framework-independent loader for the PCD format",
|
|
5
5
|
"license": "MIT",
|
|
6
6
|
"type": "module",
|
|
@@ -42,11 +42,11 @@
|
|
|
42
42
|
"build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js --define:__VERSION__=\\\"$npm_package_version\\\""
|
|
43
43
|
},
|
|
44
44
|
"dependencies": {
|
|
45
|
-
"@loaders.gl/loader-utils": "4.2.0-
|
|
46
|
-
"@loaders.gl/schema": "4.2.0-
|
|
45
|
+
"@loaders.gl/loader-utils": "4.2.0-beta.1",
|
|
46
|
+
"@loaders.gl/schema": "4.2.0-beta.1"
|
|
47
47
|
},
|
|
48
48
|
"peerDependencies": {
|
|
49
49
|
"@loaders.gl/core": "^4.0.0"
|
|
50
50
|
},
|
|
51
|
-
"gitHead": "
|
|
51
|
+
"gitHead": "c386a9196516fe3ff24847b40e6c77be039cf905"
|
|
52
52
|
}
|
package/src/index.ts
CHANGED
|
@@ -1,15 +1,21 @@
|
|
|
1
|
+
// loaders.gl
|
|
2
|
+
// SPDX-License-Identifier: MIT
|
|
3
|
+
// Copyright vis.gl contributors
|
|
4
|
+
|
|
1
5
|
import type {LoaderOptions, LoaderWithParser} from '@loaders.gl/loader-utils';
|
|
2
6
|
import parsePCDSync from './lib/parse-pcd';
|
|
3
7
|
import {PCDLoader as PCDWorkerLoader} from './pcd-loader';
|
|
4
8
|
import {PCDMesh} from './lib/pcd-types';
|
|
5
9
|
|
|
10
|
+
export type {PCDLoaderOptions} from './pcd-loader';
|
|
11
|
+
|
|
6
12
|
export {PCDWorkerLoader};
|
|
7
13
|
|
|
8
14
|
/**
|
|
9
15
|
* Loader for PCD - Point Cloud Data
|
|
10
16
|
*/
|
|
11
|
-
export const PCDLoader
|
|
17
|
+
export const PCDLoader = {
|
|
12
18
|
...PCDWorkerLoader,
|
|
13
19
|
parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),
|
|
14
20
|
parseSync: parsePCDSync
|
|
15
|
-
}
|
|
21
|
+
} as const satisfies LoaderWithParser<PCDMesh, never, LoaderOptions>;
|
package/src/pcd-loader.ts
CHANGED
|
@@ -9,10 +9,20 @@ import {PCDMesh} from './lib/pcd-types';
|
|
|
9
9
|
// @ts-ignore TS2304: Cannot find name '__VERSION__'.
|
|
10
10
|
const VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';
|
|
11
11
|
|
|
12
|
+
export type PCDLoaderOptions = LoaderOptions & {
|
|
13
|
+
pcd?: {
|
|
14
|
+
/** Override the URL to the worker bundle (by default loads from unpkg.com) */
|
|
15
|
+
workerUrl?: string;
|
|
16
|
+
};
|
|
17
|
+
};
|
|
18
|
+
|
|
12
19
|
/**
|
|
13
20
|
* Worker loader for PCD - Point Cloud Data
|
|
14
21
|
*/
|
|
15
|
-
export const PCDLoader
|
|
22
|
+
export const PCDLoader = {
|
|
23
|
+
dataType: null as unknown as PCDMesh,
|
|
24
|
+
batchType: null as never,
|
|
25
|
+
|
|
16
26
|
name: 'PCD (Point Cloud Data)',
|
|
17
27
|
id: 'pcd',
|
|
18
28
|
module: 'pcd',
|
|
@@ -23,4 +33,4 @@ export const PCDLoader: Loader<PCDMesh, never, LoaderOptions> = {
|
|
|
23
33
|
options: {
|
|
24
34
|
pcd: {}
|
|
25
35
|
}
|
|
26
|
-
}
|
|
36
|
+
} as const satisfies Loader<PCDMesh, never, PCDLoaderOptions>;
|