@loaders.gl/pointclouds 0.0.0-stage → 5.0.0-beta.1

package/dist/pcd/pcd-writer.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../src/pcd/pcd-writer.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport type {WriterOptions, WriterWithEncoder} from '@loaders.gl/core/loader-utils';\nimport type {Mesh, MeshArrowTable, MeshAttribute} from '@loaders.gl/core/schema';\nimport {convertMeshToTable, convertTableToMesh} from '@loaders.gl/core/schema-utils';\nimport {PCDFormat} from './pcd-format';\n\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof __VERSION__ !== 'undefined' ? __VERSION__ : 'latest';\n\n/** Options for `PCDWriter`. */\nexport type PCDWriterOptions = WriterOptions & {\n  /** Reserved for future PCD writer options. */\n  pcd?: Record<string, never>;\n};\n\n/**\n * Writer for the PCD point cloud format.\n */\nexport const PCDWriter = {\n  ...PCDFormat,\n  dataType: null as unknown as Mesh | MeshArrowTable,\n  batchType: null as never,\n  version: VERSION,\n  options: {\n    pcd: {}\n  },\n  text: true,\n  encode: async (data, options) => encodePCDSync(data, options),\n  encodeSync: encodePCDSync,\n  encodeTextSync: encodePCD\n} as const satisfies WriterWithEncoder<Mesh | MeshArrowTable, never, PCDWriterOptions>;\n\n/** Encode mesh category data as PCD bytes. */\nfunction encodePCDSync(data: Mesh | MeshArrowTable, options?: PCDWriterOptions): ArrayBuffer {\n  const text = encodePCD(data, options);\n  return new TextEncoder().encode(text).buffer;\n}\n\n/** Encode mesh category data as ASCII PCD text. */\nfunction encodePCD(data: Mesh | MeshArrowTable, options?: PCDWriterOptions): string {\n  const mesh = convertTableToMesh(normalizeMeshArrowTable(data));\n  const positionAttribute = getRequiredAttribute(mesh, 'POSITION');\n  const normalAttribute = mesh.attributes.NORMAL;\n  const colorAttribute = mesh.attributes.COLOR_0;\n  const vertexCount = positionAttribute.value.length / positionAttribute.size;\n  const fieldNames = ['x', 'y', 'z'];\n  const fieldSizes = ['4', '4', '4'];\n  const fieldTypes = ['F', 'F', 'F'];\n  const fieldCounts = ['1', '1', '1'];\n\n  if (normalAttribute) {\n    fieldNames.push('normal_x', 'normal_y', 'normal_z');\n    fieldSizes.push('4', '4', '4');\n    fieldTypes.push('F', 'F', 'F');\n    fieldCounts.push('1', '1', '1');\n  }\n\n  if (colorAttribute) {\n    fieldNames.push('rgb');\n    fieldSizes.push('4');\n    fieldTypes.push('F');\n    fieldCounts.push('1');\n  }\n\n  const lines = [\n    '# .PCD v0.7 - Point Cloud Data file generated by loaders.gl',\n    'VERSION 0.7',\n    `FIELDS ${fieldNames.join(' ')}`,\n    `SIZE ${fieldSizes.join(' ')}`,\n    `TYPE ${fieldTypes.join(' ')}`,\n    `COUNT ${fieldCounts.join(' ')}`,\n    `WIDTH ${vertexCount}`,\n    'HEIGHT 1',\n    'VIEWPOINT 0 0 0 1 0 0 0',\n    `POINTS ${vertexCount}`,\n    'DATA ascii'\n  ];\n\n  for (let vertexIndex = 0; vertexIndex < vertexCount; vertexIndex++) {\n    const row = [\n      getComponent(positionAttribute, vertexIndex, 0),\n      getComponent(positionAttribute, vertexIndex, 1),\n      getComponent(positionAttribute, vertexIndex, 2)\n    ];\n\n    if (normalAttribute) {\n      row.push(\n        getComponent(normalAttribute, vertexIndex, 0),\n        getComponent(normalAttribute, vertexIndex, 1),\n        getComponent(normalAttribute, vertexIndex, 2)\n      );\n    }\n\n    if (colorAttribute) {\n      row.push(getPackedRGB(colorAttribute, vertexIndex));\n    }\n\n    lines.push(row.join(' '));\n  }\n\n  return `${lines.join('\\n')}\\n`;\n}\n\n/** Return mesh data as a MeshArrowTable, converting plain Mesh data first. */\nfunction normalizeMeshArrowTable(data: Mesh | MeshArrowTable): MeshArrowTable {\n  if ('shape' in data && data.shape === 'arrow-table') {\n    return data;\n  }\n  return convertMeshToTable(data as Mesh, 'arrow-table');\n}\n\n/** Return a required mesh attribute or throw a format-specific error. */\nfunction getRequiredAttribute(mesh: Mesh, attributeName: string): MeshAttribute {\n  const attribute = mesh.attributes[attributeName];\n  if (!attribute) {\n    throw new Error(`PCDWriter: ${attributeName} attribute is required`);\n  }\n  return attribute;\n}\n\n/** Return a single attribute component with 0 as the missing component fallback. */\nfunction getComponent(\n  attribute: MeshAttribute,\n  vertexIndex: number,\n  componentIndex: number\n): number {\n  return attribute.value[vertexIndex * attribute.size + componentIndex] || 0;\n}\n\n/** Return an RGB value packed into the PCD float convention. */\nfunction getPackedRGB(attribute: MeshAttribute, vertexIndex: number): number {\n  const bytes = new Uint8Array(4);\n  bytes[0] = getColorByte(attribute, vertexIndex, 0);\n  bytes[1] = getColorByte(attribute, vertexIndex, 1);\n  bytes[2] = getColorByte(attribute, vertexIndex, 2);\n  return new DataView(bytes.buffer).getFloat32(0, true);\n}\n\n/** Return one color component as an unsigned byte. */\nfunction getColorByte(\n  attribute: MeshAttribute,\n  vertexIndex: number,\n  componentIndex: number\n): number {\n  const value = getComponent(attribute, vertexIndex, componentIndex);\n  const byteValue = attribute.normalized || value <= 1 ? value * 255 : value;\n  return Math.max(0, Math.min(255, Math.round(byteValue)));\n}\n"],
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+  "names": []
+}

package/dist/pcd/pcd-writer.d.ts

@@ -0,0 +1,37 @@
+import type { WriterOptions } from '@loaders.gl/core/loader-utils';
+import type { Mesh, MeshArrowTable } from '@loaders.gl/core/schema';
+/** Options for `PCDWriter`. */
+export type PCDWriterOptions = WriterOptions & {
+    /** Reserved for future PCD writer options. */
+    pcd?: Record<string, never>;
+};
+/**
+ * Writer for the PCD point cloud format.
+ */
+export declare const PCDWriter: {
+    readonly dataType: Mesh | MeshArrowTable;
+    readonly batchType: never;
+    readonly version: any;
+    readonly options: {
+        readonly pcd: {};
+    };
+    readonly text: true;
+    readonly encode: (data: Mesh | MeshArrowTable, options: PCDWriterOptions | undefined) => Promise<ArrayBuffer>;
+    readonly encodeSync: typeof encodePCDSync;
+    readonly encodeTextSync: typeof encodePCD;
+    readonly name: "PCD (Point Cloud Data)";
+    readonly id: "pcd";
+    readonly module: "pointclouds";
+    readonly encoding: "text";
+    readonly format: "pcd";
+    readonly extensions: ["pcd"];
+    readonly mimeTypes: ["text/plain"];
+    readonly category: "pointcloud";
+    readonly binary: true;
+};
+/** Encode mesh category data as PCD bytes. */
+declare function encodePCDSync(data: Mesh | MeshArrowTable, options?: PCDWriterOptions): ArrayBuffer;
+/** Encode mesh category data as ASCII PCD text. */
+declare function encodePCD(data: Mesh | MeshArrowTable, options?: PCDWriterOptions): string;
+export {};
+//# sourceMappingURL=pcd-writer.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/pcd/pcd-writer.js

@@ -0,0 +1,115 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { convertMeshToTable, convertTableToMesh } from '@loaders.gl/core/schema-utils';
+import { PCDFormat } from "./pcd-format.js";
+// __VERSION__ is injected by babel-plugin-version-inline
+// @ts-ignore TS2304: Cannot find name '__VERSION__'.
+const VERSION = typeof "5.0.0-beta.1" !== 'undefined' ? "5.0.0-beta.1" : 'latest';
+/**
+ * Writer for the PCD point cloud format.
+ */
+export const PCDWriter = {
+    ...PCDFormat,
+    dataType: null,
+    batchType: null,
+    version: VERSION,
+    options: {
+        pcd: {}
+    },
+    text: true,
+    encode: async (data, options) => encodePCDSync(data, options),
+    encodeSync: encodePCDSync,
+    encodeTextSync: encodePCD
+};
+/** Encode mesh category data as PCD bytes. */
+function encodePCDSync(data, options) {
+    const text = encodePCD(data, options);
+    return new TextEncoder().encode(text).buffer;
+}
+/** Encode mesh category data as ASCII PCD text. */
+function encodePCD(data, options) {
+    const mesh = convertTableToMesh(normalizeMeshArrowTable(data));
+    const positionAttribute = getRequiredAttribute(mesh, 'POSITION');
+    const normalAttribute = mesh.attributes.NORMAL;
+    const colorAttribute = mesh.attributes.COLOR_0;
+    const vertexCount = positionAttribute.value.length / positionAttribute.size;
+    const fieldNames = ['x', 'y', 'z'];
+    const fieldSizes = ['4', '4', '4'];
+    const fieldTypes = ['F', 'F', 'F'];
+    const fieldCounts = ['1', '1', '1'];
+    if (normalAttribute) {
+        fieldNames.push('normal_x', 'normal_y', 'normal_z');
+        fieldSizes.push('4', '4', '4');
+        fieldTypes.push('F', 'F', 'F');
+        fieldCounts.push('1', '1', '1');
+    }
+    if (colorAttribute) {
+        fieldNames.push('rgb');
+        fieldSizes.push('4');
+        fieldTypes.push('F');
+        fieldCounts.push('1');
+    }
+    const lines = [
+        '# .PCD v0.7 - Point Cloud Data file generated by loaders.gl',
+        'VERSION 0.7',
+        `FIELDS ${fieldNames.join(' ')}`,
+        `SIZE ${fieldSizes.join(' ')}`,
+        `TYPE ${fieldTypes.join(' ')}`,
+        `COUNT ${fieldCounts.join(' ')}`,
+        `WIDTH ${vertexCount}`,
+        'HEIGHT 1',
+        'VIEWPOINT 0 0 0 1 0 0 0',
+        `POINTS ${vertexCount}`,
+        'DATA ascii'
+    ];
+    for (let vertexIndex = 0; vertexIndex < vertexCount; vertexIndex++) {
+        const row = [
+            getComponent(positionAttribute, vertexIndex, 0),
+            getComponent(positionAttribute, vertexIndex, 1),
+            getComponent(positionAttribute, vertexIndex, 2)
+        ];
+        if (normalAttribute) {
+            row.push(getComponent(normalAttribute, vertexIndex, 0), getComponent(normalAttribute, vertexIndex, 1), getComponent(normalAttribute, vertexIndex, 2));
+        }
+        if (colorAttribute) {
+            row.push(getPackedRGB(colorAttribute, vertexIndex));
+        }
+        lines.push(row.join(' '));
+    }
+    return `${lines.join('\n')}\n`;
+}
+/** Return mesh data as a MeshArrowTable, converting plain Mesh data first. */
+function normalizeMeshArrowTable(data) {
+    if ('shape' in data && data.shape === 'arrow-table') {
+        return data;
+    }
+    return convertMeshToTable(data, 'arrow-table');
+}
+/** Return a required mesh attribute or throw a format-specific error. */
+function getRequiredAttribute(mesh, attributeName) {
+    const attribute = mesh.attributes[attributeName];
+    if (!attribute) {
+        throw new Error(`PCDWriter: ${attributeName} attribute is required`);
+    }
+    return attribute;
+}
+/** Return a single attribute component with 0 as the missing component fallback. */
+function getComponent(attribute, vertexIndex, componentIndex) {
+    return attribute.value[vertexIndex * attribute.size + componentIndex] || 0;
+}
+/** Return an RGB value packed into the PCD float convention. */
+function getPackedRGB(attribute, vertexIndex) {
+    const bytes = new Uint8Array(4);
+    bytes[0] = getColorByte(attribute, vertexIndex, 0);
+    bytes[1] = getColorByte(attribute, vertexIndex, 1);
+    bytes[2] = getColorByte(attribute, vertexIndex, 2);
+    return new DataView(bytes.buffer).getFloat32(0, true);
+}
+/** Return one color component as an unsigned byte. */
+function getColorByte(attribute, vertexIndex, componentIndex) {
+    const value = getComponent(attribute, vertexIndex, componentIndex);
+    const byteValue = attribute.normalized || value <= 1 ? value * 255 : value;
+    return Math.max(0, Math.min(255, Math.round(byteValue)));
+}
+//# sourceMappingURL=pcd-writer.js.map

package/dist/pcd/pcd-writer.js.map

@@ -0,0 +1 @@
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package/dist/pcd/unbundled.cjs

@@ -0,0 +1,33 @@
+"use strict";
+var __defProp = Object.defineProperty;
+var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
+var __getOwnPropNames = Object.getOwnPropertyNames;
+var __hasOwnProp = Object.prototype.hasOwnProperty;
+var __export = (target, all) => {
+  for (var name in all)
+    __defProp(target, name, { get: all[name], enumerable: true });
+};
+var __copyProps = (to, from, except, desc) => {
+  if (from && typeof from === "object" || typeof from === "function") {
+    for (let key of __getOwnPropNames(from))
+      if (!__hasOwnProp.call(to, key) && key !== except)
+        __defProp(to, key, { get: () => from[key], enumerable: !(desc = __getOwnPropDesc(from, key)) || desc.enumerable });
+  }
+  return to;
+};
+var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
+
+// src/pcd/unbundled.ts
+var unbundled_exports = {};
+__export(unbundled_exports, {
+  PCDLoader: () => import_pcd_loader_types.PCDLoader,
+  PCDWorkerLoader: () => import_pcd_loader_types.PCDWorkerLoader
+});
+module.exports = __toCommonJS(unbundled_exports);
+var import_pcd_loader_types = require("./pcd-loader-types.cjs");
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  PCDLoader,
+  PCDWorkerLoader
+});
+//# sourceMappingURL=unbundled.cjs.map

package/dist/pcd/unbundled.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../src/pcd/unbundled.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright vis.gl contributors\n\nexport type {PCDLoaderOptions} from './pcd-loader-types';\nexport {PCDWorkerLoader, PCDLoader} from './pcd-loader-types';\n"],
+  "mappings": ";;;;;;;;;;;;;;;;;;;;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAKA,8BAAyC;",
+  "names": []
+}

package/dist/pcd/unbundled.d.ts

@@ -0,0 +1,3 @@
+export type { PCDLoaderOptions } from "./pcd-loader-types.js";
+export { PCDWorkerLoader, PCDLoader } from "./pcd-loader-types.js";
+//# sourceMappingURL=unbundled.d.ts.map

package/dist/pcd/unbundled.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"unbundled.d.ts","sourceRoot":"","sources":["../../src/pcd/unbundled.ts"],"names":[],"mappings":"AAIA,YAAY,EAAC,gBAAgB,EAAC,8BAA2B;AACzD,OAAO,EAAC,eAAe,EAAE,SAAS,EAAC,8BAA2B"}

package/dist/pcd/unbundled.js

@@ -0,0 +1,5 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright vis.gl contributors
+export { PCDWorkerLoader, PCDLoader } from "./pcd-loader-types.js";
+//# sourceMappingURL=unbundled.js.map

package/dist/pcd/unbundled.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"unbundled.js","sourceRoot":"","sources":["../../src/pcd/unbundled.ts"],"names":[],"mappings":"AAAA,aAAa;AACb,+BAA+B;AAC/B,gCAAgC;AAGhC,OAAO,EAAC,eAAe,EAAE,SAAS,EAAC,8BAA2B"}

package/dist/pcd/workers/pcd-worker.cjs

@@ -0,0 +1,23 @@
+"use strict";
+
+// src/pcd/workers/pcd-worker.ts
+var import_loader_utils = require("@loaders.gl/core/loader-utils");
+var import_pcd_loader = require("../pcd-loader.cjs");
+(0, import_loader_utils.createLoaderWorker)({
+  ...import_pcd_loader.PCDLoaderWithParser,
+  /** Always returns columnar data; legacy mesh conversion runs on the caller. */
+  parse(input, options) {
+    return import_pcd_loader.PCDLoaderWithParser.parse(input, {
+      ...options,
+      pcd: { ...options?.pcd, shape: "arrow-table" }
+    });
+  },
+  /** Keeps one columnar parser alive for the entire worker input stream. */
+  parseInBatches(input, options) {
+    return import_pcd_loader.PCDLoaderWithParser.parseInBatches(input, {
+      ...options,
+      pcd: { ...options?.pcd, shape: "arrow-table" }
+    });
+  }
+});
+//# sourceMappingURL=pcd-worker.cjs.map

package/dist/pcd/workers/pcd-worker.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../../src/pcd/workers/pcd-worker.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport {createLoaderWorker} from '@loaders.gl/core/loader-utils';\nimport {PCDLoaderWithParser} from '../pcd-loader';\n\ncreateLoaderWorker({\n  ...PCDLoaderWithParser,\n  /** Always returns columnar data; legacy mesh conversion runs on the caller. */\n  parse(input, options) {\n    return PCDLoaderWithParser.parse(input, {\n      ...options,\n      pcd: {...options?.pcd, shape: 'arrow-table'}\n    });\n  },\n  /** Keeps one columnar parser alive for the entire worker input stream. */\n  parseInBatches(input, options) {\n    return PCDLoaderWithParser.parseInBatches(input, {\n      ...options,\n      pcd: {...options?.pcd, shape: 'arrow-table'}\n    });\n  }\n});\n"],
+  "mappings": ";;;AAIA,0BAAiC;AACjC,wBAAkC;AAAA,IAElC,wCAAmB;AAAA,EACjB,GAAG;AAAA;AAAA,EAEH,MAAM,OAAO,SAAS;AACpB,WAAO,sCAAoB,MAAM,OAAO;AAAA,MACtC,GAAG;AAAA,MACH,KAAK,EAAC,GAAG,SAAS,KAAK,OAAO,cAAa;AAAA,IAC7C,CAAC;AAAA,EACH;AAAA;AAAA,EAEA,eAAe,OAAO,SAAS;AAC7B,WAAO,sCAAoB,eAAe,OAAO;AAAA,MAC/C,GAAG;AAAA,MACH,KAAK,EAAC,GAAG,SAAS,KAAK,OAAO,cAAa;AAAA,IAC7C,CAAC;AAAA,EACH;AACF,CAAC;",
+  "names": []
+}

package/dist/pcd/workers/pcd-worker.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=pcd-worker.d.ts.map

package/dist/pcd/workers/pcd-worker.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-worker.d.ts","sourceRoot":"","sources":["../../../src/pcd/workers/pcd-worker.ts"],"names":[],"mappings":""}

package/dist/pcd/workers/pcd-worker.js

@@ -0,0 +1,23 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { createLoaderWorker } from '@loaders.gl/core/loader-utils';
+import { PCDLoaderWithParser } from "../pcd-loader.js";
+createLoaderWorker({
+    ...PCDLoaderWithParser,
+    /** Always returns columnar data; legacy mesh conversion runs on the caller. */
+    parse(input, options) {
+        return PCDLoaderWithParser.parse(input, {
+            ...options,
+            pcd: { ...options?.pcd, shape: 'arrow-table' }
+        });
+    },
+    /** Keeps one columnar parser alive for the entire worker input stream. */
+    parseInBatches(input, options) {
+        return PCDLoaderWithParser.parseInBatches(input, {
+            ...options,
+            pcd: { ...options?.pcd, shape: 'arrow-table' }
+        });
+    }
+});
+//# sourceMappingURL=pcd-worker.js.map

package/dist/pcd/workers/pcd-worker.js.map

@@ -0,0 +1 @@
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