@loaders.gl/pcd 4.3.2 → 4.4.0-alpha.1

package/dist/dist.min.js

@@ -4,8 +4,17 @@
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footer(){return this._impl.isFile()?this._impl.footer:null}isSync(){return this._impl.isSync()}isAsync(){return this._impl.isAsync()}isFile(){return this._impl.isFile()}isStream(){return this._impl.isStream()}next(){return this._impl.next()}throw(t){return this._impl.throw(t)}return(t){return this._impl.return(t)}cancel(){return this._impl.cancel()}reset(t){return this._impl.reset(t),this._DOMStream=void 0,this._nodeStream=void 0,this}open(t){let e=this._impl.open(t);return ue(e)?e.then(()=>this):this}readRecordBatch(t){return this._impl.isFile()?this._impl.readRecordBatch(t):null}[Symbol.iterator](){return this._impl[Symbol.iterator]()}[Symbol.asyncIterator](){return this._impl[Symbol.asyncIterator]()}toDOMStream(){return pt.toDOMStream(this.isSync()?{[Symbol.iterator]:()=>this}:{[Symbol.asyncIterator]:()=>this})}toNodeStream(){return pt.toNodeStream(this.isSync()?{[Symbol.iterator]:()=>this}:{[Symbol.asyncIterator]:()=>this},{objectMode:!0})}static throughNode(t){throw new 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$(this.schema,n)}_loadDictionaryBatch(t,e){let{id:i,isDelta:n}=t,{dictionaries:s,schema:o}=this,a=s.get(i),c=o.dictionaries.get(i),l=this._loadVectors(t.data,e,[c]);return(a&&n?a.concat(new N(l)):new N(l)).memoize()}_loadVectors(t,e,i){return new zi(e,t.nodes,t.buffers,this.dictionaries,this.schema.metadataVersion).visitMany(i)}},vi=class extends Ls{constructor(t,e){super(e),this._reader=_n(t)?new dn(this._handle=t):new bi(this._handle=t)}isSync(){return!0}isStream(){return!0}[Symbol.iterator](){return this}cancel(){!this.closed&&(this.closed=!0)&&(this.reset()._reader.return(),this._reader=null,this.dictionaries=null)}open(t){return this.closed||(this.autoDestroy=Uc(this,t),this.schema||(this.schema=this._reader.readSchema())||this.cancel()),this}throw(t){return!this.closed&&this.autoDestroy&&(this.closed=!0)?this.reset()._reader.throw(t):H}return(t){return!this.closed&&this.autoDestroy&&(this.closed=!0)?this.reset()._reader.return(t):H}next(){if(this.closed)return H;let t,{_reader:e}=this;for(;t=this._readNextMessageAndValidate();)if(t.isSchema())this.reset(t.header());else if(t.isRecordBatch()){this._recordBatchIndex++;let i=t.header(),n=e.readMessageBody(t.bodyLength);return{done:!1,value:this._loadRecordBatch(i,n)}}else if(t.isDictionaryBatch()){this._dictionaryIndex++;let i=t.header(),n=e.readMessageBody(t.bodyLength),s=this._loadDictionaryBatch(i,n);this.dictionaries.set(i.id,s)}return this.schema&&this._recordBatchIndex===0?(this._recordBatchIndex++,{done:!1,value:new Mr(this.schema)}):this.return()}_readNextMessageAndValidate(t){return this._reader.readMessage(t)}},Ii=class extends Ls{constructor(t,e){super(e),this._reader=new un(this._handle=t)}isAsync(){return!0}isStream(){return!0}[Symbol.asyncIterator](){return this}cancel(){return m(this,void 0,void 0,function*(){!this.closed&&(this.closed=!0)&&(yield this.reset()._reader.return(),this._reader=null,this.dictionaries=null)})}open(t){return m(this,void 0,void 0,function*(){return 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Uint8Array(t),n=0,s=0,o,a,c;do if(o=r[n++],o<1<<5){if(o++,s+o>t)throw new Error("Output buffer is not large enough");if(n+o>e)throw new Error("Invalid compressed data");do i[s++]=r[n++];while(--o)}else{if(a=o>>5,c=s-((o&31)<<8)-1,n>=e)throw new Error("Invalid compressed data");if(a===7&&(a+=r[n++],n>=e))throw new Error("Invalid compressed data");if(c-=r[n++],s+a+2>t)throw new Error("Output buffer is not large enough");if(c<0)throw new Error("Invalid compressed data");if(c>=s)throw new Error("Invalid compressed data");do i[s++]=i[c++];while(--a+2)}while(n<e);return i}function Wc(r,t){let e=[];for(let i of Object.keys(r.offset))switch(i){case"x":e.push({name:"POSITION",type:{type:"fixed-size-list",listSize:3,children:[{name:"xyz",type:"float32"}]},metadata:{attribute:"POSITION"}});break;case"y":case"z":break;case"normal_x":e.push({name:"NORMAL",type:{type:"fixed-size-list",listSize:3,children:[{name:"xyz",type:"float32"}]},metadata:{attribute:"NORMAL"}});break;case"normal_y":case"normal_z":break;case"rgb":e.push({name:"COLOR_0",type:{type:"fixed-size-list",listSize:3,children:[{name:"rgb",type:"uint8"}]},metadata:{attribute:"COLOR"}});break;default:}return{fields:e,metadata:t}}var It=!0;function fn(r){let t=new TextDecoder().decode(r),e=Ld(t),i={};switch(e.data){case"ascii":i=Ud(e,t);break;case"binary":i=Ed(e,r);break;case"binary_compressed":i=Rd(e,r);break;default:throw new Error(`PCD: ${e.data} files are not supported`)}i=Nd(i);let n=Md(e,i),s=Object.fromEntries([["topology","point-list"],["mode","0"],["boundingBox",JSON.stringify(n.boundingBox)]]),o=Wc(e,s);return{loader:"pcd",loaderData:e,header:n,schema:o,topology:"point-list",mode:0,attributes:i}}function Md(r,t){return typeof r.width=="number"&&typeof r.height=="number"?{vertexCount:r.width*r.height,boundingBox:jo(t)}:{vertexCount:r.vertexCount,boundingBox:r.boundingBox}}function Nd(r){let t={POSITION:{value:new Float32Array(r.position),size:3}};return r.normal&&r.normal.length>0&&(t.NORMAL={value:new Float32Array(r.normal),size:3}),r.color&&r.color.length>0&&(t.COLOR_0={value:new Uint8Array(r.color),size:3}),r.intensity&&r.intensity.length>0&&(t.COLOR_0={value:new Uint8Array(r.color),size:3}),r.label&&r.label.length>0&&(t.COLOR_0={value:new Uint8Array(r.label),size:3}),t}function Ld(r){let t=r.search(/[\r\n]DATA\s(\S*)\s/i),e=/[\r\n]DATA\s(\S*)\s/i.exec(r.substr(t-1)),i={};if(i.data=e&&e[1],e!==null&&(i.headerLen=(e&&e[0].length)+t),i.str=r.substr(0,i.headerLen),i.str=i.str.replace(/\#.*/gi,""),i.version=/VERSION (.*)/i.exec(i.str),i.fields=/FIELDS (.*)/i.exec(i.str),i.size=/SIZE (.*)/i.exec(i.str),i.type=/TYPE (.*)/i.exec(i.str),i.count=/COUNT (.*)/i.exec(i.str),i.width=/WIDTH (.*)/i.exec(i.str),i.height=/HEIGHT (.*)/i.exec(i.str),i.viewpoint=/VIEWPOINT (.*)/i.exec(i.str),i.points=/POINTS (.*)/i.exec(i.str),i.version!==null&&(i.version=parseFloat(i.version[1])),i.fields!==null&&(i.fields=i.fields[1].split(" ")),i.type!==null&&(i.type=i.type[1].split(" ")),i.width!==null&&(i.width=parseInt(i.width[1],10)),i.height!==null&&(i.height=parseInt(i.height[1],10)),i.viewpoint!==null&&(i.viewpoint=i.viewpoint[1]),i.points!==null&&(i.points=parseInt(i.points[1],10)),i.points===null&&typeof i.width=="number"&&typeof i.height=="number"&&(i.points=i.width*i.height),i.size!==null&&(i.size=i.size[1].split(" ").map(s=>parseInt(s,10))),i.count!==null)i.count=i.count[1].split(" ").map(s=>parseInt(s,10));else if(i.count=[],i.fields!==null)for(let s=0;s<i.fields.length;s++)i.count.push(1);i.offset={};let n=0;if(i.fields!==null&&i.size!==null)for(let s=0;s<i.fields.length;s++)i.data==="ascii"?i.offset[i.fields[s]]=s:(i.offset[i.fields[s]]=n,n+=i.size[s]);return i.rowSize=n,i}function Ud(r,t){let e=[],i=[],n=[],s=[],o=[],a=r.offset,l=t.substr(r.headerLen).split(`
+`);for(let d=0;d<l.length;d++)if(l[d]!==""){let h=l[d].split(" ");if(a.x!==void 0&&(e.push(parseFloat(h[a.x])),e.push(parseFloat(h[a.y])),e.push(parseFloat(h[a.z]))),a.rgb!==void 0){let x=parseFloat(h[a.rgb]),g=new Float32Array([x]),Y=new DataView(g.buffer,0);n.push(Y.getUint8(0)),n.push(Y.getUint8(1)),n.push(Y.getUint8(2))}a.normal_x!==void 0&&(i.push(parseFloat(h[a.normal_x])),i.push(parseFloat(h[a.normal_y])),i.push(parseFloat(h[a.normal_z]))),a.intensity!==void 0&&s.push(parseFloat(h[a.intensity])),a.label!==void 0&&o.push(parseInt(h[a.label]))}return{position:e,normal:i,color:n}}function Ed(r,t){let e=[],i=[],n=[],s=[],o=[],a=new DataView(t,r.headerLen),c=r.offset;for(let l=0,d=0;l<r.points;l++,d+=r.rowSize)c.x!==void 0&&(e.push(a.getFloat32(d+c.x,It)),e.push(a.getFloat32(d+c.y,It)),e.push(a.getFloat32(d+c.z,It))),c.rgb!==void 0&&(n.push(a.getUint8(d+c.rgb+0)),n.push(a.getUint8(d+c.rgb+1)),n.push(a.getUint8(d+c.rgb+2))),c.normal_x!==void 0&&(i.push(a.getFloat32(d+c.normal_x,It)),i.push(a.getFloat32(d+c.normal_y,It)),i.push(a.getFloat32(d+c.normal_z,It))),c.intensity!==void 0&&s.push(a.getFloat32(d+c.intensity,It)),c.label!==void 0&&o.push(a.getInt32(d+c.label,It));return{position:e,normal:i,color:n,intensity:s,label:o}}function Rd(r,t){let e=[],i=[],n=[],s=[],o=[],a=new Uint32Array(t.slice(r.headerLen,r.headerLen+8)),c=a[0],l=a[1],d=jc(new Uint8Array(t,r.headerLen+8,c),l),h=new DataView(d.buffer),x=r.offset;for(let g=0;g<r.points;g++){if(x.x!==void 0&&(e.push(h.getFloat32(r.points*x.x+r.size[0]*g,It)),e.push(h.getFloat32(r.points*x.y+r.size[1]*g,It)),e.push(h.getFloat32(r.points*x.z+r.size[2]*g,It))),x.rgb!==void 0&&(n.push(h.getUint8(r.points*x.rgb+r.size[3]*g+0)/255),n.push(h.getUint8(r.points*x.rgb+r.size[3]*g+1)/255),n.push(h.getUint8(r.points*x.rgb+r.size[3]*g+2)/255)),x.normal_x!==void 0&&(i.push(h.getFloat32(r.points*x.normal_x+r.size[4]*g,It)),i.push(h.getFloat32(r.points*x.normal_y+r.size[5]*g,It)),i.push(h.getFloat32(r.points*x.normal_z+r.size[6]*g,It))),x.intensity!==void 0){let Y=r.fields.indexOf("intensity");s.push(h.getFloat32(r.points*x.intensity+r.size[Y]*g,It))}if(x.label!==void 0){let Y=r.fields.indexOf("label");o.push(h.getInt32(r.points*x.label+r.size[Y]*g,It))}}return{position:e,normal:i,color:n,intensity:s,label:o}}var $c={name:"PCD (Point Cloud Data)",id:"pcd",module:"pcd",extensions:["pcd"],mimeTypes:["text/plain"],category:"pointcloud",text:!0,binary:!0};var Cd="4.4.0-alpha.0",pn={...$c,dataType:null,batchType:null,version:Cd,worker:!0,options:{pcd:{}}},Yc={...pn,parse:async r=>fn(r),parseSync:fn};var Gc={...pn,dataType:null,batchType:null,worker:!1,parse:async r=>{let t=fn(r);return Wo(t,"arrow-table")}};return el(mn);})();
 /** 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)