@loaders.gl/pcd 4.3.2 → 4.4.0-alpha.2

package/dist/index.cjs

@@ -20,13 +20,14 @@ var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: tru
 // dist/index.js
 var dist_exports = {};
 __export(dist_exports, {
-  PCDLoader: () => PCDLoader2,
-  PCDWorkerLoader: () => PCDLoader
+  PCDArrowLoader: () => PCDArrowLoader,
+  PCDLoader: () => PCDLoader,
+  PCDWorkerLoader: () => PCDWorkerLoader
 });
 module.exports = __toCommonJS(dist_exports);
 
 // dist/lib/parse-pcd.js
-var import_schema = require("@loaders.gl/schema");
+var import_schema_utils = require("@loaders.gl/schema-utils");
 
 // dist/lib/decompress-lzf.js
 function decompressLZF(inData, outLength) {
@@ -82,25 +83,38 @@ function decompressLZF(inData, outLength) {
 
 // dist/lib/get-pcd-schema.js
 function getPCDSchema(PCDheader, metadata) {
-  const offset = PCDheader.offset;
   const fields = [];
-  if (offset.x !== void 0) {
-    fields.push({
-      name: "POSITION",
-      type: { type: "fixed-size-list", listSize: 3, children: [{ name: "xyz", type: "float32" }] }
-    });
-  }
-  if (offset.normal_x !== void 0) {
-    fields.push({
-      name: "NORMAL",
-      type: { type: "fixed-size-list", listSize: 3, children: [{ name: "xyz", type: "float32" }] }
-    });
-  }
-  if (offset.rgb !== void 0) {
-    fields.push({
-      name: "COLOR_0",
-      type: { type: "fixed-size-list", listSize: 3, children: [{ name: "rgb", type: "uint8" }] }
-    });
+  for (const key of Object.keys(PCDheader.offset)) {
+    switch (key) {
+      case "x":
+        fields.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":
+        fields.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":
+        fields.push({
+          name: "COLOR_0",
+          type: { type: "fixed-size-list", listSize: 3, children: [{ name: "rgb", type: "uint8" }] },
+          metadata: { attribute: "COLOR" }
+        });
+        break;
+      default:
+    }
   }
   return { fields, metadata };
 }
@@ -126,19 +140,20 @@ function parsePCD(data) {
   }
   attributes = getMeshAttributes(attributes);
   const header = getMeshHeader(pcdHeader, attributes);
-  const metadata = Object.fromEntries([
+  const schemaMetadata = Object.fromEntries([
+    ["topology", "point-list"],
     ["mode", "0"],
     ["boundingBox", JSON.stringify(header.boundingBox)]
   ]);
-  const schema = getPCDSchema(pcdHeader, metadata);
+  const schema = getPCDSchema(pcdHeader, schemaMetadata);
   return {
     loader: "pcd",
     loaderData: pcdHeader,
     header,
     schema,
-    mode: 0,
-    // POINTS
     topology: "point-list",
+    mode: 0,
+    // POINTS (deprecated)
     attributes
   };
 }
@@ -147,7 +162,7 @@ function getMeshHeader(pcdHeader, attributes) {
     const pointCount = pcdHeader.width * pcdHeader.height;
     return {
       vertexCount: pointCount,
-      boundingBox: (0, import_schema.getMeshBoundingBox)(attributes)
+      boundingBox: (0, import_schema_utils.getMeshBoundingBox)(attributes)
     };
   }
   return {
@@ -379,29 +394,49 @@ function parsePCDBinaryCompressed(pcdHeader, data) {
   };
 }
 
-// dist/pcd-loader.js
-var VERSION = true ? "4.3.1" : "latest";
-var PCDLoader = {
-  dataType: null,
-  batchType: null,
+// dist/pcd-format.js
+var PCDFormat = {
   name: "PCD (Point Cloud Data)",
   id: "pcd",
   module: "pcd",
-  version: VERSION,
-  worker: true,
   extensions: ["pcd"],
   mimeTypes: ["text/plain"],
+  category: "pointcloud",
+  text: true,
+  binary: true
+};
+
+// dist/pcd-loader.js
+var VERSION = true ? "4.4.0-alpha.1" : "latest";
+var PCDWorkerLoader = {
+  ...PCDFormat,
+  dataType: null,
+  batchType: null,
+  version: VERSION,
+  worker: true,
   options: {
     pcd: {}
   }
 };
-
-// dist/index.js
-var PCDLoader2 = {
-  ...PCDLoader,
+var PCDLoader = {
+  ...PCDWorkerLoader,
   parse: async (arrayBuffer) => parsePCD(arrayBuffer),
   parseSync: parsePCD
 };
+
+// dist/pcd-arrow-loader.js
+var import_schema_utils2 = require("@loaders.gl/schema-utils");
+var PCDArrowLoader = {
+  ...PCDWorkerLoader,
+  dataType: null,
+  batchType: null,
+  worker: false,
+  parse: async (arrayBuffer) => {
+    const mesh = parsePCD(arrayBuffer);
+    const arrowTable = (0, import_schema_utils2.convertMeshToTable)(mesh, "arrow-table");
+    return arrowTable;
+  }
+};
 /** 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)

package/dist/index.cjs.map

@@ -1,7 +1,7 @@
 {
   "version": 3,
-  "sources": ["index.js", "lib/parse-pcd.js", "lib/decompress-lzf.js", "lib/get-pcd-schema.js", "pcd-loader.js"],
-  "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 \"4.3.1\" !== 'undefined' ? \"4.3.1\" : '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"],
-  "mappings": 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-  "names": ["PCDLoader", "PCDLoader"]
+  "sources": ["index.js", "lib/parse-pcd.js", "lib/decompress-lzf.js", "lib/get-pcd-schema.js", "pcd-format.js", "pcd-loader.js", "pcd-arrow-loader.js"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright vis.gl contributors\nexport { PCDWorkerLoader, PCDLoader } from \"./pcd-loader.js\";\nexport { PCDArrowLoader } from \"./pcd-arrow-loader.js\";\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\nimport { getMeshBoundingBox } from '@loaders.gl/schema-utils';\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 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 schemaMetadata = Object.fromEntries([\n        ['topology', 'point-list'],\n        ['mode', '0'],\n        ['boundingBox', JSON.stringify(header.boundingBox)]\n    ]);\n    const schema = getPCDSchema(pcdHeader, schemaMetadata);\n    return {\n        loader: 'pcd',\n        loaderData: pcdHeader,\n        header,\n        schema,\n        topology: 'point-list',\n        mode: 0, // POINTS (deprecated)\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", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n// Forked from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n/* eslint-disable */\n/**\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", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader, metadata) {\n    const fields = [];\n    for (const key of Object.keys(PCDheader.offset)) {\n        switch (key) {\n            case 'x':\n                fields.push({\n                    name: 'POSITION',\n                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] },\n                    metadata: { attribute: 'POSITION' }\n                });\n                break;\n            case 'y':\n            case 'z':\n                // ignore\n                break;\n            case 'normal_x':\n                fields.push({\n                    name: 'NORMAL',\n                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] },\n                    metadata: { attribute: 'NORMAL' }\n                });\n                break;\n            case 'normal_y':\n            case 'normal_z':\n                // ignore\n                break;\n            case 'rgb':\n                fields.push({\n                    name: 'COLOR_0',\n                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: 'uint8' }] },\n                    metadata: { attribute: 'COLOR' }\n                });\n                break;\n            default:\n            // TODO - push fields\n        }\n    }\n    return { fields, metadata };\n}\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n/**\n * PCD (Point Cloud Data) file format\n */\nexport const PCDFormat = {\n    name: 'PCD (Point Cloud Data)',\n    id: 'pcd',\n    module: 'pcd',\n    extensions: ['pcd'],\n    mimeTypes: ['text/plain'],\n    category: 'pointcloud',\n    text: true,\n    binary: true\n};\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\nimport { parsePCD } from \"./lib/parse-pcd.js\";\nimport { PCDFormat } from \"./pcd-format.js\";\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof \"4.4.0-alpha.1\" !== 'undefined' ? \"4.4.0-alpha.1\" : 'latest';\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDWorkerLoader = {\n    ...PCDFormat,\n    dataType: null,\n    batchType: null,\n    version: VERSION,\n    worker: true,\n    options: {\n        pcd: {}\n    }\n};\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n    ...PCDWorkerLoader,\n    parse: async (arrayBuffer) => parsePCD(arrayBuffer),\n    parseSync: parsePCD\n};\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\nimport { PCDWorkerLoader } from \"./pcd-loader.js\";\nimport { convertMeshToTable } from '@loaders.gl/schema-utils';\nimport { parsePCD } from \"./lib/parse-pcd.js\";\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDArrowLoader = {\n    ...PCDWorkerLoader,\n    dataType: null,\n    batchType: null,\n    worker: false,\n    parse: async (arrayBuffer) => {\n        const mesh = parsePCD(arrayBuffer);\n        const arrowTable = convertMeshToTable(mesh, 'arrow-table');\n        return arrowTable;\n    }\n};\n"],
+  "mappings": 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+  "names": ["import_schema_utils"]
 }

package/dist/index.d.ts

@@ -1,25 +1,4 @@
-import parsePCDSync from "./lib/parse-pcd.js";
-import { PCDLoader as PCDWorkerLoader } from "./pcd-loader.js";
-import { PCDMesh } from "./lib/pcd-types.js";
 export type { PCDLoaderOptions } from "./pcd-loader.js";
-export { PCDWorkerLoader };
-/**
- * Loader for PCD - Point Cloud Data
- */
-export declare const PCDLoader: {
-    readonly parse: (arrayBuffer: ArrayBuffer) => Promise<PCDMesh>;
-    readonly parseSync: typeof parsePCDSync;
-    readonly dataType: PCDMesh;
-    readonly batchType: never;
-    readonly name: "PCD (Point Cloud Data)";
-    readonly id: "pcd";
-    readonly module: "pcd";
-    readonly version: any;
-    readonly worker: true;
-    readonly extensions: ["pcd"];
-    readonly mimeTypes: ["text/plain"];
-    readonly options: {
-        readonly pcd: {};
-    };
-};
+export { PCDWorkerLoader, PCDLoader } from "./pcd-loader.js";
+export { PCDArrowLoader } from "./pcd-arrow-loader.js";
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAIA,YAAY,EAAC,gBAAgB,EAAC,wBAAqB;AACnD,OAAO,EAAC,eAAe,EAAE,SAAS,EAAC,wBAAqB;AACxD,OAAO,EAAC,cAAc,EAAC,8BAA2B"}

package/dist/index.js

@@ -1,14 +1,5 @@
 // loaders.gl
 // SPDX-License-Identifier: MIT
 // Copyright vis.gl contributors
-import parsePCDSync from "./lib/parse-pcd.js";
-import { PCDLoader as PCDWorkerLoader } from "./pcd-loader.js";
-export { PCDWorkerLoader };
-/**
- * Loader for PCD - Point Cloud Data
- */
-export const PCDLoader = {
-    ...PCDWorkerLoader,
-    parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),
-    parseSync: parsePCDSync
-};
+export { PCDWorkerLoader, PCDLoader } from "./pcd-loader.js";
+export { PCDArrowLoader } from "./pcd-arrow-loader.js";

package/dist/lib/decompress-lzf.d.ts

@@ -1,5 +1,4 @@
 /**
- * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
  * @param inData
  * @param outLength
  * @returns

package/dist/lib/decompress-lzf.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"decompress-lzf.d.ts","sourceRoot":"","sources":["../../src/lib/decompress-lzf.ts"],"names":[],"mappings":"AACA;;;;;GAKG;AACH,wBAAgB,aAAa,CAAC,MAAM,EAAE,UAAU,EAAE,SAAS,EAAE,MAAM,GAAG,UAAU,CAwD/E"}
+{"version":3,"file":"decompress-lzf.d.ts","sourceRoot":"","sources":["../../src/lib/decompress-lzf.ts"],"names":[],"mappings":"AAMA;;;;GAIG;AACH,wBAAgB,aAAa,CAAC,MAAM,EAAE,UAAU,EAAE,SAAS,EAAE,MAAM,GAAG,UAAU,CAwD/E"}

package/dist/lib/decompress-lzf.js

@@ -1,6 +1,9 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+// Forked from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
 /* eslint-disable */
 /**
- * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js
  * @param inData
  * @param outLength
  * @returns

package/dist/lib/get-pcd-schema.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"get-pcd-schema.d.ts","sourceRoot":"","sources":["../../src/lib/get-pcd-schema.ts"],"names":[],"mappings":"AAAA,OAAO,EAAC,MAAM,EAAQ,MAAM,oBAAoB,CAAC;AACjD,OAAO,KAAK,EAAC,SAAS,EAAC,uBAAoB;AAE3C;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,SAAS,EAAE,SAAS,EAAE,QAAQ,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,MAAM,CA2B3F"}
+{"version":3,"file":"get-pcd-schema.d.ts","sourceRoot":"","sources":["../../src/lib/get-pcd-schema.ts"],"names":[],"mappings":"AAIA,OAAO,EAAC,MAAM,EAAQ,MAAM,oBAAoB,CAAC;AACjD,OAAO,KAAK,EAAC,SAAS,EAAC,uBAAoB;AAE3C;;;;;GAKG;AACH,wBAAgB,YAAY,CAAC,SAAS,EAAE,SAAS,EAAE,QAAQ,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,GAAG,MAAM,CA2C3F"}

package/dist/lib/get-pcd-schema.js

@@ -1,3 +1,6 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
 /**
  * Gets schema from PCD header
  * @param PCDheader
@@ -5,25 +8,41 @@
  * @returns Schema
  */
 export function getPCDSchema(PCDheader, metadata) {
-    const offset = PCDheader.offset;
     const fields = [];
-    if (offset.x !== undefined) {
-        fields.push({
-            name: 'POSITION',
-            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }
-        });
-    }
-    if (offset.normal_x !== undefined) {
-        fields.push({
-            name: 'NORMAL',
-            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }
-        });
-    }
-    if (offset.rgb !== undefined) {
-        fields.push({
-            name: 'COLOR_0',
-            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: 'uint8' }] }
-        });
+    for (const key of Object.keys(PCDheader.offset)) {
+        switch (key) {
+            case 'x':
+                fields.push({
+                    name: 'POSITION',
+                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] },
+                    metadata: { attribute: 'POSITION' }
+                });
+                break;
+            case 'y':
+            case 'z':
+                // ignore
+                break;
+            case 'normal_x':
+                fields.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':
+                // ignore
+                break;
+            case 'rgb':
+                fields.push({
+                    name: 'COLOR_0',
+                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: 'uint8' }] },
+                    metadata: { attribute: 'COLOR' }
+                });
+                break;
+            default:
+            // TODO - push fields
+        }
     }
     return { fields, metadata };
 }

package/dist/lib/parse-pcd.d.ts

@@ -4,5 +4,5 @@ import type { PCDMesh } from "./pcd-types.js";
  * @param data
  * @returns
  */
-export default function parsePCD(data: ArrayBufferLike): PCDMesh;
+export declare function parsePCD(data: ArrayBufferLike): PCDMesh;
 //# sourceMappingURL=parse-pcd.d.ts.map

package/dist/lib/parse-pcd.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"parse-pcd.d.ts","sourceRoot":"","sources":["../../src/lib/parse-pcd.ts"],"names":[],"mappings":"AAWA,OAAO,KAAK,EAAY,OAAO,EAAC,uBAAoB;AA4BpD;;;;GAIG;AACH,MAAM,CAAC,OAAO,UAAU,QAAQ,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CA6C/D"}
+{"version":3,"file":"parse-pcd.d.ts","sourceRoot":"","sources":["../../src/lib/parse-pcd.ts"],"names":[],"mappings":"AAgBA,OAAO,KAAK,EAAY,OAAO,EAAC,uBAAoB;AA4BpD;;;;GAIG;AACH,wBAAgB,QAAQ,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CA8CvD"}

package/dist/lib/parse-pcd.js

@@ -1,11 +1,7 @@
-// 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';
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { getMeshBoundingBox } from '@loaders.gl/schema-utils';
 import { decompressLZF } from "./decompress-lzf.js";
 import { getPCDSchema } from "./get-pcd-schema.js";
 const LITTLE_ENDIAN = true;
@@ -14,7 +10,7 @@ const LITTLE_ENDIAN = true;
  * @param data
  * @returns
  */
-export default function parsePCD(data) {
+export function parsePCD(data) {
     // parse header (always ascii format)
     const textData = new TextDecoder().decode(data);
     const pcdHeader = parsePCDHeader(textData);
@@ -35,18 +31,19 @@ export default function parsePCD(data) {
     }
     attributes = getMeshAttributes(attributes);
     const header = getMeshHeader(pcdHeader, attributes);
-    const metadata = Object.fromEntries([
+    const schemaMetadata = Object.fromEntries([
+        ['topology', 'point-list'],
         ['mode', '0'],
         ['boundingBox', JSON.stringify(header.boundingBox)]
     ]);
-    const schema = getPCDSchema(pcdHeader, metadata);
+    const schema = getPCDSchema(pcdHeader, schemaMetadata);
     return {
         loader: 'pcd',
         loaderData: pcdHeader,
         header,
         schema,
-        mode: 0, // POINTS
         topology: 'point-list',
+        mode: 0, // POINTS (deprecated)
         attributes
     };
 }

package/dist/lib/pcd-types.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"pcd-types.d.ts","sourceRoot":"","sources":["../../src/lib/pcd-types.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAC,IAAI,EAAC,MAAM,oBAAoB,CAAC;AAE7C,KAAK,WAAW,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAExE,MAAM,MAAM,SAAS,GAAG;IACtB,IAAI,EAAE,GAAG,CAAC;IACV,SAAS,EAAE,MAAM,CAAC;IAClB,GAAG,EAAE,MAAM,CAAC;IACZ,OAAO,EAAE,MAAM,CAAC;IAChB,MAAM,EAAE,MAAM,EAAE,CAAC;IACjB,IAAI,EAAE,MAAM,EAAE,CAAC;IACf,IAAI,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACtB,KAAK,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACvB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,SAAS,EAAE,IAAI,GAAG,MAAM,CAAC;IACzB,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE;QAAC,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAAA;KAAC,CAAC;IAClC,OAAO,EAAE,MAAM,CAAC;IAChB,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE,WAAW,CAAC;CAC1B,CAAC;AAEF,OAAO;AACP,MAAM,MAAM,OAAO,GAAG,IAAI,GAAG;IAC3B,MAAM,EAAE,KAAK,CAAC;IACd,UAAU,EAAE,SAAS,CAAC;IACtB,QAAQ,EAAE,YAAY,CAAC;IACvB,IAAI,EAAE,CAAC,CAAC;CACT,CAAC"}
+{"version":3,"file":"pcd-types.d.ts","sourceRoot":"","sources":["../../src/lib/pcd-types.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAC,IAAI,EAAC,MAAM,oBAAoB,CAAC;AAE7C,KAAK,WAAW,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAExE,MAAM,MAAM,SAAS,GAAG;IACtB,IAAI,EAAE,GAAG,CAAC;IACV,SAAS,EAAE,MAAM,CAAC;IAClB,GAAG,EAAE,MAAM,CAAC;IACZ,OAAO,EAAE,MAAM,CAAC;IAChB,MAAM,EAAE,MAAM,EAAE,CAAC;IACjB,IAAI,EAAE,MAAM,EAAE,CAAC;IACf,IAAI,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACtB,KAAK,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACvB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,SAAS,EAAE,IAAI,GAAG,MAAM,CAAC;IACzB,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE;QAAC,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAAA;KAAC,CAAC;IAClC,OAAO,EAAE,MAAM,CAAC;IAChB,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE,WAAW,CAAC;CAC1B,CAAC;AAEF,OAAO;AACP,MAAM,MAAM,OAAO,GAAG,IAAI,GAAG;IAC3B,MAAM,EAAE,KAAK,CAAC;IACd,UAAU,EAAE,SAAS,CAAC;IACtB,QAAQ,EAAE,YAAY,CAAC;IACvB,IAAI,EAAE,CAAC,CAAC;CACT,CAAC"}

package/dist/lib/pcd-types.js

@@ -1 +1,4 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
 export {};

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

@@ -0,0 +1,23 @@
+import type { ArrowTable } from '@loaders.gl/schema';
+/**
+ * Worker loader for PCD - Point Cloud Data
+ */
+export declare const PCDArrowLoader: {
+    readonly dataType: ArrowTable;
+    readonly batchType: never;
+    readonly worker: false;
+    readonly parse: (arrayBuffer: ArrayBuffer) => Promise<ArrowTable>;
+    readonly version: any;
+    readonly options: {
+        readonly pcd: {};
+    };
+    readonly name: "PCD (Point Cloud Data)";
+    readonly id: "pcd";
+    readonly module: "pcd";
+    readonly extensions: ["pcd"];
+    readonly mimeTypes: ["text/plain"];
+    readonly category: "pointcloud";
+    readonly text: true;
+    readonly binary: true;
+};
+//# sourceMappingURL=pcd-arrow-loader.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-arrow-loader.d.ts","sourceRoot":"","sources":["../src/pcd-arrow-loader.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAAC,UAAU,EAAC,MAAM,oBAAoB,CAAC;AAMnD;;GAEG;AACH,eAAO,MAAM,cAAc;uBAEI,UAAU;wBACpB,KAAK;;kCAEG,WAAW;;;;;;;;;;;;;CAKkC,CAAC"}

package/dist/pcd-arrow-loader.js

@@ -0,0 +1,20 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { PCDWorkerLoader } from "./pcd-loader.js";
+import { convertMeshToTable } from '@loaders.gl/schema-utils';
+import { parsePCD } from "./lib/parse-pcd.js";
+/**
+ * Worker loader for PCD - Point Cloud Data
+ */
+export const PCDArrowLoader = {
+    ...PCDWorkerLoader,
+    dataType: null,
+    batchType: null,
+    worker: false,
+    parse: async (arrayBuffer) => {
+        const mesh = parsePCD(arrayBuffer);
+        const arrowTable = convertMeshToTable(mesh, 'arrow-table');
+        return arrowTable;
+    }
+};

package/dist/pcd-format.d.ts

@@ -0,0 +1,14 @@
+/**
+ * PCD (Point Cloud Data) file format
+ */
+export declare const PCDFormat: {
+    readonly name: "PCD (Point Cloud Data)";
+    readonly id: "pcd";
+    readonly module: "pcd";
+    readonly extensions: ["pcd"];
+    readonly mimeTypes: ["text/plain"];
+    readonly category: "pointcloud";
+    readonly text: true;
+    readonly binary: true;
+};
+//# sourceMappingURL=pcd-format.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-format.d.ts","sourceRoot":"","sources":["../src/pcd-format.ts"],"names":[],"mappings":"AAMA;;GAEG;AACH,eAAO,MAAM,SAAS;;;;;;;;;CASK,CAAC"}

package/dist/pcd-format.js

@@ -0,0 +1,16 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+/**
+ * PCD (Point Cloud Data) file format
+ */
+export const PCDFormat = {
+    name: 'PCD (Point Cloud Data)',
+    id: 'pcd',
+    module: 'pcd',
+    extensions: ['pcd'],
+    mimeTypes: ['text/plain'],
+    category: 'pointcloud',
+    text: true,
+    binary: true
+};