@loaders.gl/pcd 4.4.0-alpha.1 → 4.4.0-alpha.2

package/dist/dist.min.js

@@ -14,7 +14,7 @@ return true;`)}function Ou(r){return typeof r!="bigint"?me(r):`${me(r)}n`}functi
   ${this.toArray().join(`,
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a=(s.children||[]).map(d=>F.encode(r,d)),c=nt.createChildrenVector(r,a),l=t.metadata&&t.metadata.size>0?nt.createCustomMetadataVector(r,[...t.metadata].map(([d,h])=>{let x=r.createString(`${d}`),g=r.createString(`${h}`);return Z.startKeyValue(r),Z.addKey(r,x),Z.addValue(r,g),Z.endKeyValue(r)})):-1;return t.name&&(e=r.createString(t.name)),nt.startField(r),nt.addType(r,i),nt.addTypeType(r,o),nt.addChildren(r,c),nt.addNullable(r,!!t.nullable),e!==-1&&nt.addName(r,e),n!==-1&&nt.addDictionary(r,n),l!==-1&&nt.addCustomMetadata(r,l),nt.endField(r)}function sd(r,t){let e=t.nodes||[],i=t.buffers||[];gt.startNodesVector(r,e.length);for(let o of e.slice().reverse())ce.encode(r,o);let n=r.endVector();gt.startBuffersVector(r,i.length);for(let o of i.slice().reverse())$t.encode(r,o);let s=r.endVector();return gt.startRecordBatch(r),gt.addLength(r,BigInt(t.length)),gt.addNodes(r,n),gt.addBuffers(r,s),gt.endRecordBatch(r)}function od(r,t){let e=yt.encode(r,t.data);return ee.startDictionaryBatch(r),ee.addId(r,BigInt(t.id)),ee.addIsDelta(r,t.isDelta),ee.addData(r,e),ee.endDictionaryBatch(r)}function ad(r,t){return kr.createFieldNode(r,BigInt(t.length),BigInt(t.nullCount))}function cd(r,t){return Pr.createBuffer(r,BigInt(t.offset),BigInt(t.length))}var ld=(()=>{let r=new ArrayBuffer(2);return new DataView(r).setInt16(0,256,!0),new Int16Array(r)[0]===256})();var Fo=r=>`Expected ${C[r]} Message in stream, but was null or length 0.`,Mo=r=>`Header pointer of flatbuffer-encoded ${C[r]} Message is null or length 0.`,Oc=(r,t)=>`Expected to read ${r} metadata bytes, but only read ${t}.`,Fc=(r,t)=>`Expected to read ${r} bytes for message body, but only read ${t}.`,bi=class{constructor(t){this.source=t instanceof Ve?t:new Ve(t)}[Symbol.iterator](){return this}next(){let t;return(t=this.readMetadataLength()).done?H:t.value===-1&&(t=this.readMetadataLength()).done?H:(t=this.readMetadata(t.value)).done?H:t}throw(t){return this.source.throw(t)}return(t){return 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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 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-`);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);})();
+`);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 $c={name:"PCD (Point Cloud Data)",id:"pcd",module:"pcd",extensions:["pcd"],mimeTypes:["text/plain"],category:"pointcloud",text:!0,binary:!0};var Cd="4.4.0-alpha.1",pn={...$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)

package/dist/index.cjs

@@ -407,7 +407,7 @@ var PCDFormat = {
 };
 
 // dist/pcd-loader.js
-var VERSION = true ? "4.4.0-alpha.0" : "latest";
+var VERSION = true ? "4.4.0-alpha.1" : "latest";
 var PCDWorkerLoader = {
   ...PCDFormat,
   dataType: null,

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-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.0\" !== 'undefined' ? \"4.4.0-alpha.0\" : '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"],
+  "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/pcd-loader.js

@@ -5,7 +5,7 @@ import { parsePCD } from "./lib/parse-pcd.js";
 import { PCDFormat } from "./pcd-format.js";
 // __VERSION__ is injected by babel-plugin-version-inline
 // @ts-ignore TS2304: Cannot find name '__VERSION__'.
-const VERSION = typeof "4.4.0-alpha.0" !== 'undefined' ? "4.4.0-alpha.0" : 'latest';
+const VERSION = typeof "4.4.0-alpha.1" !== 'undefined' ? "4.4.0-alpha.1" : 'latest';
 /**
  * Worker loader for PCD - Point Cloud Data
  */

package/dist/pcd-worker.js

@@ -644,7 +644,7 @@
   };
 
   // src/pcd-loader.ts
-  var VERSION = true ? "4.4.0-alpha.0" : "latest";
+  var VERSION = true ? "4.4.0-alpha.1" : "latest";
   var PCDWorkerLoader = {
     ...PCDFormat,
     dataType: null,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@loaders.gl/pcd",
-  "version": "4.4.0-alpha.1",
+  "version": "4.4.0-alpha.2",
   "description": "Framework-independent loader for the PCD format",
   "license": "MIT",
   "type": "module",
@@ -42,12 +42,12 @@
     "build-worker": "esbuild src/workers/pcd-worker.ts --bundle --outfile=dist/pcd-worker.js --define:__VERSION__=\\\"$npm_package_version\\\""
   },
   "dependencies": {
-    "@loaders.gl/loader-utils": "4.4.0-alpha.1",
-    "@loaders.gl/schema": "4.4.0-alpha.1",
-    "@loaders.gl/schema-utils": "4.4.0-alpha.1"
+    "@loaders.gl/loader-utils": "4.4.0-alpha.2",
+    "@loaders.gl/schema": "4.4.0-alpha.2",
+    "@loaders.gl/schema-utils": "4.4.0-alpha.2"
   },
   "peerDependencies": {
-    "@loaders.gl/core": "4.4.0-alpha.0"
+    "@loaders.gl/core": "4.4.0-alpha.1"
   },
-  "gitHead": "f1732de45907bd500bf4eedb4803beca8bf4bfb0"
+  "gitHead": "3d9fed050eabdc0812ddf2f4d5fb9914a34ee0c2"
 }