@loaders.gl/pcd 4.3.0-alpha.5 → 4.3.0-alpha.6

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Files changed (6) hide show
  1. package/dist/dist.min.js +1 -1
  2. package/dist/index.cjs +1 -1
  3. package/dist/index.cjs.map +1 -1
  4. package/dist/pcd-loader.js +1 -1
  5. package/dist/pcd-worker.js +1 -1
  6. package/package.json +4 -4
package/dist/dist.min.js CHANGED
@@ -5,7 +5,7 @@
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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 x=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)x(t,n,{get:o[n],enumerable:!0})},y=(t,o,n,e)=>{if(o&&typeof o=="object"||typeof o=="function")for(let i of v(o))!L.call(t,i)&&i!==n&&x(t,i,{get:()=>o[i],enumerable:!(e=C(o,i))||e.enumerable});return t},w=(t,o,n)=>(y(t,o,"default"),n&&y(n,o,"default")),E=(t,o,n)=>(n=t!=null?D(O(t)):{},y(o||!t||!t.__esModule?x(n,"default",{value:t,enumerable:!0}):n,t)),U=t=>y(x({},"__esModule",{value:!0}),t);var F=P((W,z)=>{z.exports=globalThis.loaders});var d={};B(d,{PCDLoader:()=>Z,PCDWorkerLoader:()=>I});w(d,E(F(),1));function T(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 m=!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:T(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(`
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- `);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]),h=new Float32Array([u]),g=new DataView(h.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,m)),n.push(s.getFloat32(f+l.y,m)),n.push(s.getFloat32(f+l.z,m))),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,m)),e.push(s.getFloat32(f+l.normal_y,m)),e.push(s.getFloat32(f+l.normal_z,m))),l.intensity!==void 0&&r.push(s.getFloat32(f+l.intensity,m)),l.label!==void 0&&p.push(s.getInt32(f+l.label,m));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 h=0;h<t.points;h++){if(u.x!==void 0&&(n.push(a.getFloat32(t.points*u.x+t.size[0]*h,m)),n.push(a.getFloat32(t.points*u.y+t.size[1]*h,m)),n.push(a.getFloat32(t.points*u.z+t.size[2]*h,m))),u.rgb!==void 0&&(i.push(a.getUint8(t.points*u.rgb+t.size[3]*h+0)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*h+1)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*h+2)/255)),u.normal_x!==void 0&&(e.push(a.getFloat32(t.points*u.normal_x+t.size[4]*h,m)),e.push(a.getFloat32(t.points*u.normal_y+t.size[5]*h,m)),e.push(a.getFloat32(t.points*u.normal_z+t.size[6]*h,m))),u.intensity!==void 0){let g=t.fields.indexOf("intensity");r.push(a.getFloat32(t.points*u.intensity+t.size[g]*h,m))}if(u.label!==void 0){let g=t.fields.indexOf("label");p.push(a.getInt32(t.points*u.label+t.size[g]*h,m))}}return{position:n,normal:e,color:i,intensity:r,label:p}}var Y="4.3.0-alpha.4",I={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={...I,parse:async t=>b(t),parseSync:b};return U(d);})();
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+ `);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]),h=new Float32Array([u]),g=new DataView(h.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,m)),n.push(s.getFloat32(f+l.y,m)),n.push(s.getFloat32(f+l.z,m))),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,m)),e.push(s.getFloat32(f+l.normal_y,m)),e.push(s.getFloat32(f+l.normal_z,m))),l.intensity!==void 0&&r.push(s.getFloat32(f+l.intensity,m)),l.label!==void 0&&p.push(s.getInt32(f+l.label,m));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 h=0;h<t.points;h++){if(u.x!==void 0&&(n.push(a.getFloat32(t.points*u.x+t.size[0]*h,m)),n.push(a.getFloat32(t.points*u.y+t.size[1]*h,m)),n.push(a.getFloat32(t.points*u.z+t.size[2]*h,m))),u.rgb!==void 0&&(i.push(a.getUint8(t.points*u.rgb+t.size[3]*h+0)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*h+1)/255),i.push(a.getUint8(t.points*u.rgb+t.size[3]*h+2)/255)),u.normal_x!==void 0&&(e.push(a.getFloat32(t.points*u.normal_x+t.size[4]*h,m)),e.push(a.getFloat32(t.points*u.normal_y+t.size[5]*h,m)),e.push(a.getFloat32(t.points*u.normal_z+t.size[6]*h,m))),u.intensity!==void 0){let g=t.fields.indexOf("intensity");r.push(a.getFloat32(t.points*u.intensity+t.size[g]*h,m))}if(u.label!==void 0){let g=t.fields.indexOf("label");p.push(a.getInt32(t.points*u.label+t.size[g]*h,m))}}return{position:n,normal:e,color:i,intensity:r,label:p}}var Y="4.3.0-alpha.5",I={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={...I,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)
package/dist/index.cjs CHANGED
@@ -380,7 +380,7 @@ function parsePCDBinaryCompressed(pcdHeader, data) {
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  }
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  // dist/pcd-loader.js
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- var VERSION = true ? "4.3.0-alpha.4" : "latest";
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+ var VERSION = true ? "4.3.0-alpha.5" : "latest";
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  var PCDLoader = {
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  dataType: null,
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  batchType: null,
package/dist/index.cjs.map CHANGED
@@ -1,7 +1,7 @@
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  {
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  "version": 3,
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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": ["// 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 \"4.3.0-alpha.4\" !== 'undefined' ? \"4.3.0-alpha.4\" : '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"],
4
+ "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; 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6
6
  "names": ["PCDLoader", "PCDLoader"]
7
7
  }
package/dist/pcd-loader.js CHANGED
@@ -3,7 +3,7 @@
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 "4.3.0-alpha.4" !== 'undefined' ? "4.3.0-alpha.4" : 'latest';
6
+ const VERSION = typeof "4.3.0-alpha.5" !== 'undefined' ? "4.3.0-alpha.5" : 'latest';
7
7
  /**
8
8
  * Worker loader for PCD - Point Cloud Data
9
9
  */
package/dist/pcd-worker.js CHANGED
@@ -618,7 +618,7 @@
618
618
  }
619
619
 
620
620
  // src/pcd-loader.ts
621
- var VERSION = true ? "4.3.0-alpha.4" : "latest";
621
+ var VERSION = true ? "4.3.0-alpha.5" : "latest";
622
622
  var PCDLoader = {
623
623
  dataType: null,
624
624
  batchType: null,
package/package.json CHANGED
@@ -1,6 +1,6 @@
1
1
  {
2
2
  "name": "@loaders.gl/pcd",
3
- "version": "4.3.0-alpha.5",
3
+ "version": "4.3.0-alpha.6",
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": "4.3.0-alpha.5",
46
- "@loaders.gl/schema": "4.3.0-alpha.5"
45
+ "@loaders.gl/loader-utils": "4.3.0-alpha.6",
46
+ "@loaders.gl/schema": "4.3.0-alpha.6"
47
47
  },
48
48
  "peerDependencies": {
49
49
  "@loaders.gl/core": "^4.0.0"
50
50
  },
51
- "gitHead": "b57553345b3cbf621c95ad9b22aa672217451f61"
51
+ "gitHead": "315f2e232fc4e6a477c41de800a54d3e3d957e8c"
52
52
  }