@loaders.gl/pointclouds 0.0.0-stage → 5.0.0-beta.10

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

@@ -0,0 +1,82 @@
+import type { Table, RecordBatch } from 'apache-arrow';
+import type { LoaderOptions } from '@loaders.gl/core/loader-utils';
+import type { PCDMesh } from "./lib/pcd-types.js";
+import { serializeArrowWorkerTable } from '@loaders.gl/core/arrow-worker-transport';
+export type PCDLoaderOptions = LoaderOptions & {
+    pcd?: {
+        /** Output shape. Defaults to a Mesh Arrow table. */
+        shape?: 'mesh' | 'arrow';
+        /** Color storage format. Defaults to uint8norm for backwards compatibility. */
+        colorFormat?: 'uint8norm' | 'float16' | 'float32';
+        /** Override the URL to the worker bundle (by default loads from unpkg.com) */
+        workerUrl?: string;
+    };
+};
+/**
+ * Preloads the parser-bearing PCD loader implementation.
+ */
+declare function preload(): Promise<{
+    readonly dataType: Table<any> | PCDMesh;
+    readonly batchType: RecordBatch<any> | PCDMesh;
+    readonly parse: (input: ArrayBuffer, options?: PCDLoaderOptions) => Promise<Table<any> | PCDMesh>;
+    readonly parseSync: (input: ArrayBuffer, options?: PCDLoaderOptions) => Table<any> | PCDMesh;
+    readonly parseInBatches: (input: AsyncIterable<ArrayBufferLike | ArrayBufferView<ArrayBufferLike>> | Iterable<ArrayBufferLike | ArrayBufferView<ArrayBufferLike>>, options: PCDLoaderOptions | undefined) => AsyncGenerator<RecordBatch<any> | PCDMesh, void, unknown>;
+    readonly deserializeWorkerResult: (result: unknown, options?: PCDLoaderOptions) => Table<any> | PCDMesh;
+    readonly deserializeWorkerBatch: (result: unknown, options?: PCDLoaderOptions) => RecordBatch<any> | PCDMesh;
+    readonly serializeWorkerResult: typeof serializeArrowWorkerTable;
+    readonly serializeWorkerBatch: typeof serializeArrowWorkerTable;
+    readonly version: any;
+    readonly worker: true;
+    readonly workerInBatches: true;
+    readonly options: {
+        readonly pcd: {
+            readonly shape: "arrow";
+            readonly colorFormat: "uint8norm";
+        };
+    };
+    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 text: true;
+    readonly binary: true;
+    readonly defaultShape: "arrow";
+    readonly supportsNativeArrow: true;
+}>;
+/**
+ * Metadata-only worker loader for PCD - Point Cloud Data
+ */
+export declare const PCDLoader: {
+    readonly dataType: PCDMesh | Table;
+    readonly batchType: PCDMesh | RecordBatch;
+    readonly version: any;
+    readonly worker: true;
+    /** Enables the stateful input/output batch protocol on the built-in worker. */
+    readonly workerInBatches: true;
+    readonly serializeWorkerResult: typeof serializeArrowWorkerTable;
+    readonly options: {
+        readonly pcd: {
+            readonly shape: "arrow";
+            readonly colorFormat: "uint8norm";
+        };
+    };
+    readonly preload: typeof preload;
+    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 text: true;
+    readonly binary: true;
+    readonly defaultShape: "arrow";
+    readonly supportsNativeArrow: true;
+};
+export {};
+//# sourceMappingURL=pcd-loader-types.d.ts.map

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

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package/dist/pcd/pcd-loader-types.js

@@ -0,0 +1,35 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { PCDFormat } from "./pcd-format.js";
+import { serializeArrowWorkerTable } from '@loaders.gl/core/arrow-worker-transport';
+// __VERSION__ is injected by babel-plugin-version-inline
+// @ts-ignore TS2304: Cannot find name '__VERSION__'.
+const VERSION = typeof "5.0.0-beta.10" !== 'undefined' ? "5.0.0-beta.10" : 'latest';
+/**
+ * Preloads the parser-bearing PCD loader implementation.
+ */
+async function preload() {
+    const { PCDLoaderWithParser } = await import('@loaders.gl/pointclouds/pcd-loader');
+    return PCDLoaderWithParser;
+}
+/**
+ * Metadata-only worker loader for PCD - Point Cloud Data
+ */
+export const PCDLoader = {
+    defaultShape: 'arrow',
+    supportsNativeArrow: true,
+    ...PCDFormat,
+    dataType: null,
+    batchType: null,
+    version: VERSION,
+    worker: true,
+    /** Enables the stateful input/output batch protocol on the built-in worker. */
+    workerInBatches: true,
+    serializeWorkerResult: serializeArrowWorkerTable,
+    options: {
+        pcd: { shape: 'arrow', colorFormat: 'uint8norm' }
+    },
+    preload
+};
+//# sourceMappingURL=pcd-loader-types.js.map

package/dist/pcd/pcd-loader-types.js.map

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package/dist/pcd/pcd-loader.cjs

@@ -0,0 +1,201 @@
+"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/pcd-loader.ts
+var pcd_loader_exports = {};
+__export(pcd_loader_exports, {
+  PCDColumnLoader: () => PCDColumnLoader,
+  PCDLoaderWithParser: () => PCDLoaderWithParser
+});
+module.exports = __toCommonJS(pcd_loader_exports);
+var import_schema_utils = require("@loaders.gl/core/schema-utils");
+var import_loader_utils = require("@loaders.gl/core/loader-utils");
+var import_arrow_worker_transport = require("@loaders.gl/core/arrow-worker-transport");
+var import_schema_utils2 = require("@loaders.gl/core/schema-utils");
+var import_parse_pcd = require("./lib/parse-pcd.cjs");
+var import_pcd_loader_types = require("./pcd-loader-types.cjs");
+var { preload: _PCDLoaderPreload, ...PCDLoaderMetadataWithoutPreload } = import_pcd_loader_types.PCDLoader;
+function convertPCDMesh(mesh, options) {
+  const table = (0, import_schema_utils2.convertMeshToArrowTableWrapper)(mesh);
+  return options?.pcd?.shape === "mesh" ? convertPCDTableToMesh(table, mesh) : { ...table, loader: mesh.loader, loaderData: mesh.loaderData };
+}
+var PCDColumnLoader = {
+  ...PCDLoaderMetadataWithoutPreload,
+  dataType: null,
+  batchType: null,
+  parse: async (arrayBuffer, options) => convertPCDMesh((0, import_parse_pcd.parsePCD)(arrayBuffer, options), options),
+  parseSync: (arrayBuffer, options) => convertPCDMesh((0, import_parse_pcd.parsePCD)(arrayBuffer, options), options),
+  parseInBatches: (input, options) => (0, import_schema_utils.refineArrowTableBatches)(parsePCDWithMetadataInBatches(input, options)),
+  serializeWorkerResult: import_arrow_worker_transport.serializeArrowWorkerTable,
+  deserializeWorkerResult: deserializePCDWorkerResult,
+  serializeWorkerBatch: import_arrow_worker_transport.serializeArrowWorkerTable,
+  deserializeWorkerBatch: deserializePCDWorkerBatch
+};
+function getNumericBatchSize(options) {
+  const batchSize = options?.core?.batchSize;
+  return typeof batchSize === "number" ? batchSize : void 0;
+}
+function* parsePCDASCIIInBatches(data, options, batchSize) {
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = (0, import_parse_pcd.parsePCDHeader)(textData);
+  const lines = textData.slice(pcdHeader.headerLen).split(/\r?\n/).filter((line) => line.trim().length > 0);
+  const normalizedBatchSize = batchSize || lines.length || 1;
+  for (let rowIndex = 0; rowIndex < lines.length; rowIndex += normalizedBatchSize) {
+    const batchLines = lines.slice(rowIndex, rowIndex + normalizedBatchSize);
+    const batchText = `${makePCDHeaderText(pcdHeader, batchLines.length)}${batchLines.join("\n")}
+`;
+    yield makePCDBatch((0, import_parse_pcd.parsePCD)(new TextEncoder().encode(batchText).buffer, options), options);
+  }
+}
+function* parsePCDBinaryInBatches(data, options, batchSize) {
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = (0, import_parse_pcd.parsePCDHeader)(textData);
+  const normalizedBatchSize = batchSize || pcdHeader.points || 1;
+  const dataBytes = new Uint8Array(data);
+  for (let pointIndex = 0; pointIndex < pcdHeader.points; pointIndex += normalizedBatchSize) {
+    const pointCount = Math.min(normalizedBatchSize, pcdHeader.points - pointIndex);
+    const headerBytes = new TextEncoder().encode(makePCDHeaderText(pcdHeader, pointCount));
+    const rowByteOffset = pcdHeader.headerLen + pointIndex * pcdHeader.rowSize;
+    const rowByteLength = pointCount * pcdHeader.rowSize;
+    const batchBytes = new Uint8Array(headerBytes.length + rowByteLength);
+    batchBytes.set(headerBytes, 0);
+    batchBytes.set(
+      dataBytes.subarray(rowByteOffset, rowByteOffset + rowByteLength),
+      headerBytes.length
+    );
+    yield makePCDBatch((0, import_parse_pcd.parsePCD)(batchBytes.buffer, options), options);
+  }
+}
+function makePCDBatch(mesh, options) {
+  const table = (0, import_schema_utils2.convertMeshToArrowTableWrapper)(mesh);
+  if (options?.pcd?.shape === "mesh") {
+    return convertPCDTableToMesh(table, mesh);
+  }
+  return (0, import_loader_utils.makeTableScanBatch)({
+    ...table,
+    loader: mesh.loader,
+    loaderData: mesh.loaderData
+  });
+}
+function convertPCDTableToMesh(table, sourceMesh) {
+  return {
+    ...(0, import_schema_utils2.convertTableToMesh)(table),
+    loader: sourceMesh.loader,
+    loaderData: sourceMesh.loaderData
+  };
+}
+function makePCDHeaderText(pcdHeader, pointCount) {
+  const lines = pcdHeader.str.split(/\r?\n/).filter((line) => line.trim().length > 0).map((line) => {
+    if (/^WIDTH\s+/i.test(line)) {
+      return `WIDTH ${pointCount}`;
+    }
+    if (/^HEIGHT\s+/i.test(line)) {
+      return "HEIGHT 1";
+    }
+    if (/^POINTS\s+/i.test(line)) {
+      return `POINTS ${pointCount}`;
+    }
+    return line;
+  });
+  if (!lines.some((line) => /^POINTS\s+/i.test(line))) {
+    const dataLineIndex = lines.findIndex((line) => /^DATA\s+/i.test(line));
+    lines.splice(dataLineIndex >= 0 ? dataLineIndex : lines.length, 0, `POINTS ${pointCount}`);
+  }
+  return `${lines.join("\n")}
+`;
+}
+function deserializePCDWorkerResult(result, options) {
+  const table = (0, import_arrow_worker_transport.deserializeArrowWorkerTable)(result);
+  return options?.pcd?.shape === "mesh" ? convertPCDTableToMesh(table, table) : table;
+}
+function deserializePCDWorkerBatch(result, options) {
+  return deserializePCDWorkerResult(result, options);
+}
+async function* parsePCDWithMetadataInBatches(arrayBuffer, options) {
+  const batchSize = getNumericBatchSize(options);
+  const data = await (0, import_loader_utils.concatenateArrayBuffersAsync)(arrayBuffer);
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = (0, import_parse_pcd.parsePCDHeader)(textData);
+  if (pcdHeader.data === "ascii") {
+    yield* parsePCDASCIIInBatches(data, options, batchSize);
+    return;
+  }
+  if (pcdHeader.data === "binary") {
+    yield* parsePCDBinaryInBatches(data, options, batchSize);
+    return;
+  }
+  yield makePCDBatch((0, import_parse_pcd.parsePCD)(data, options), options);
+}
+var PCDLoaderWithParser = {
+  ...PCDColumnLoader,
+  dataType: import_pcd_loader_types.PCDLoader.dataType,
+  batchType: import_pcd_loader_types.PCDLoader.batchType,
+  parse: async (input, options) => unwrapPCDTable(await PCDColumnLoader.parse(input, options)),
+  parseSync: (input, options) => unwrapPCDTable(PCDColumnLoader.parseSync(input, options)),
+  async *parseInBatches(input, options) {
+    for await (const batch of PCDColumnLoader.parseInBatches(input, options)) {
+      if (isColumnBatch(batch)) {
+        batch.data.schema.metadata.set(
+          "loaders.gl.pcd.header",
+          JSON.stringify(batch.loaderData)
+        );
+        for (const recordBatch of batch.data.batches) {
+          recordBatch.schema.metadata.set(
+            "loaders.gl.pcd.header",
+            batch.data.schema.metadata.get("loaders.gl.pcd.header")
+          );
+        }
+        if (batch.data.batches.length) yield* batch.data.batches;
+        else yield (0, import_schema_utils.makeArrowMetadataBatch)(batch.data.schema);
+      } else yield batch;
+    }
+  },
+  deserializeWorkerResult: (result, options) => unwrapPCDTable(PCDColumnLoader.deserializeWorkerResult(result, options)),
+  deserializeWorkerBatch(result, options) {
+    const batch = PCDColumnLoader.deserializeWorkerBatch(result, options);
+    if (isColumnBatch(batch)) {
+      const recordBatch = batch.data.batches[0] ?? (0, import_schema_utils.makeArrowMetadataBatch)(batch.data.schema);
+      recordBatch.schema.metadata.set(
+        "loaders.gl.pcd.header",
+        JSON.stringify(batch.loaderData)
+      );
+      return recordBatch;
+    }
+    return batch;
+  }
+};
+function unwrapPCDTable(result) {
+  if ("shape" in result && result.shape === "arrow-table") {
+    result.data.schema.metadata.set(
+      "loaders.gl.pcd.header",
+      JSON.stringify(result.loaderData)
+    );
+    return result.data;
+  }
+  return result;
+}
+function isColumnBatch(batch) {
+  return "shape" in batch && batch.shape === "arrow-table";
+}
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  PCDColumnLoader,
+  PCDLoaderWithParser
+});
+//# sourceMappingURL=pcd-loader.cjs.map

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

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../src/pcd/pcd-loader.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport {refineArrowTableBatches, makeArrowMetadataBatch} from '@loaders.gl/core/schema-utils';\nimport type {Table, RecordBatch} from 'apache-arrow';\nimport type {PCDLoaderOptions} from './pcd-loader-types';\n\nimport {\n  concatenateArrayBuffersAsync,\n  makeTableScanBatch,\n  type LoaderWithParser\n} from '@loaders.gl/core/loader-utils';\nimport type {ArrowTableBatch, MeshArrowTable} from '@loaders.gl/core/schema';\nimport {\n  deserializeArrowWorkerTable,\n  serializeArrowWorkerTable\n} from '@loaders.gl/core/arrow-worker-transport';\nimport {convertMeshToArrowTableWrapper, convertTableToMesh} from '@loaders.gl/core/schema-utils';\nimport type {PCDMesh} from './lib/pcd-types';\nimport {parsePCD, parsePCDHeader} from './lib/parse-pcd';\nimport {PCDLoader as PCDLoaderMetadata} from './pcd-loader-types';\n\nconst {preload: _PCDLoaderPreload, ...PCDLoaderMetadataWithoutPreload} = PCDLoaderMetadata;\n\ntype PCDParsedBatch = PCDMesh | ArrowTableBatch;\n\nfunction convertPCDMesh(mesh: PCDMesh, options?: PCDLoaderOptions): PCDMesh | MeshArrowTable {\n  const table = convertMeshToArrowTableWrapper(mesh);\n  return options?.pcd?.shape === 'mesh'\n    ? convertPCDTableToMesh(table, mesh)\n    : {...table, loader: mesh.loader, loaderData: mesh.loaderData};\n}\n\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDColumnLoader = {\n  ...PCDLoaderMetadataWithoutPreload,\n  dataType: null as unknown as PCDMesh | MeshArrowTable,\n  batchType: null as unknown as PCDMesh | ArrowTableBatch,\n  parse: async (arrayBuffer, options) => convertPCDMesh(parsePCD(arrayBuffer, options), options),\n  parseSync: (arrayBuffer, options) => convertPCDMesh(parsePCD(arrayBuffer, options), options),\n  parseInBatches: (input, options) =>\n    refineArrowTableBatches(parsePCDWithMetadataInBatches(input, options)),\n  serializeWorkerResult: serializeArrowWorkerTable,\n  deserializeWorkerResult: deserializePCDWorkerResult,\n  serializeWorkerBatch: serializeArrowWorkerTable,\n  deserializeWorkerBatch: deserializePCDWorkerBatch\n} as const satisfies LoaderWithParser<PCDMesh | MeshArrowTable, PCDParsedBatch, PCDLoaderOptions>;\n\n/** Returns a numeric batch size when batching has an explicit row count. */\nfunction getNumericBatchSize(options?: PCDLoaderOptions): number | undefined {\n  const batchSize = options?.core?.batchSize;\n  return typeof batchSize === 'number' ? batchSize : undefined;\n}\n\nfunction* parsePCDASCIIInBatches(\n  data: ArrayBuffer,\n  options?: PCDLoaderOptions,\n  batchSize?: number\n): Iterable<PCDParsedBatch> {\n  const textData = new TextDecoder().decode(data);\n  const pcdHeader = parsePCDHeader(textData);\n  const lines = textData\n    .slice(pcdHeader.headerLen)\n    .split(/\\r?\\n/)\n    .filter(line => line.trim().length > 0);\n  const normalizedBatchSize = batchSize || lines.length || 1;\n\n  for (let rowIndex = 0; rowIndex < lines.length; rowIndex += normalizedBatchSize) {\n    const batchLines = lines.slice(rowIndex, rowIndex + normalizedBatchSize);\n    const batchText = `${makePCDHeaderText(pcdHeader, batchLines.length)}${batchLines.join('\\n')}\\n`;\n    yield makePCDBatch(parsePCD(new TextEncoder().encode(batchText).buffer, options), options);\n  }\n}\n\nfunction* parsePCDBinaryInBatches(\n  data: ArrayBuffer,\n  options?: PCDLoaderOptions,\n  batchSize?: number\n): Iterable<PCDParsedBatch> {\n  const textData = new TextDecoder().decode(data);\n  const pcdHeader = parsePCDHeader(textData);\n  const normalizedBatchSize = batchSize || pcdHeader.points || 1;\n  const dataBytes = new Uint8Array(data);\n\n  for (let pointIndex = 0; pointIndex < pcdHeader.points; pointIndex += normalizedBatchSize) {\n    const pointCount = Math.min(normalizedBatchSize, pcdHeader.points - pointIndex);\n    const headerBytes = new TextEncoder().encode(makePCDHeaderText(pcdHeader, pointCount));\n    const rowByteOffset = pcdHeader.headerLen + pointIndex * pcdHeader.rowSize;\n    const rowByteLength = pointCount * pcdHeader.rowSize;\n    const batchBytes = new Uint8Array(headerBytes.length + rowByteLength);\n    batchBytes.set(headerBytes, 0);\n    batchBytes.set(\n      dataBytes.subarray(rowByteOffset, rowByteOffset + rowByteLength),\n      headerBytes.length\n    );\n    yield makePCDBatch(parsePCD(batchBytes.buffer, options), options);\n  }\n}\n\nfunction makePCDBatch(mesh: PCDMesh, options?: PCDLoaderOptions): PCDParsedBatch {\n  const table = convertMeshToArrowTableWrapper(mesh);\n  if (options?.pcd?.shape === 'mesh') {\n    return convertPCDTableToMesh(table, mesh);\n  }\n\n  return makeTableScanBatch({\n    ...table,\n    loader: mesh.loader,\n    loaderData: mesh.loaderData\n  } as MeshArrowTable);\n}\n\n/** Convert the parser's Arrow table to legacy PCD mesh output. */\nfunction convertPCDTableToMesh(table: MeshArrowTable, sourceMesh: PCDMesh): PCDMesh {\n  return {\n    ...(convertTableToMesh(table) as PCDMesh),\n    loader: sourceMesh.loader,\n    loaderData: sourceMesh.loaderData\n  };\n}\n\nfunction makePCDHeaderText(pcdHeader: any, pointCount: number): string {\n  const lines = pcdHeader.str\n    .split(/\\r?\\n/)\n    .filter(line => line.trim().length > 0)\n    .map(line => {\n      if (/^WIDTH\\s+/i.test(line)) {\n        return `WIDTH ${pointCount}`;\n      }\n      if (/^HEIGHT\\s+/i.test(line)) {\n        return 'HEIGHT 1';\n      }\n      if (/^POINTS\\s+/i.test(line)) {\n        return `POINTS ${pointCount}`;\n      }\n      return line;\n    });\n\n  if (!lines.some(line => /^POINTS\\s+/i.test(line))) {\n    const dataLineIndex = lines.findIndex(line => /^DATA\\s+/i.test(line));\n    lines.splice(dataLineIndex >= 0 ? dataLineIndex : lines.length, 0, `POINTS ${pointCount}`);\n  }\n\n  return `${lines.join('\\n')}\\n`;\n}\n\n/** Hydrates worker columns before reconstructing legacy PCD meshes on the caller. */\nfunction deserializePCDWorkerResult(\n  result: unknown,\n  options?: PCDLoaderOptions\n): PCDMesh | MeshArrowTable {\n  const table = deserializeArrowWorkerTable(result);\n  return options?.pcd?.shape === 'mesh' ? convertPCDTableToMesh(table, table) : table;\n}\n\n/** Restores the existing PCD batch shape after caller-side hydration. */\nfunction deserializePCDWorkerBatch(result: unknown, options?: PCDLoaderOptions): PCDParsedBatch {\n  return deserializePCDWorkerResult(result, options) as PCDParsedBatch;\n}\n\n/** Parses PCD batches before shared cumulative metadata refinement. */\nasync function* parsePCDWithMetadataInBatches(\n  arrayBuffer:\n    | AsyncIterable<ArrayBufferLike | ArrayBufferView>\n    | Iterable<ArrayBufferLike | ArrayBufferView>,\n  options?: PCDLoaderOptions\n): AsyncIterable<PCDParsedBatch> {\n  const batchSize = getNumericBatchSize(options);\n  const data = await concatenateArrayBuffersAsync(arrayBuffer);\n  const textData = new TextDecoder().decode(data);\n  const pcdHeader = parsePCDHeader(textData);\n\n  if (pcdHeader.data === 'ascii') {\n    yield* parsePCDASCIIInBatches(data, options, batchSize);\n    return;\n  }\n\n  if (pcdHeader.data === 'binary') {\n    yield* parsePCDBinaryInBatches(data, options, batchSize);\n    return;\n  }\n\n  yield makePCDBatch(parsePCD(data, options), options);\n}\n\n/** Exposes native Arrow output while retaining the worker's column protocol. */\nexport const PCDLoaderWithParser = {\n  ...PCDColumnLoader,\n  dataType: PCDLoaderMetadata.dataType,\n  batchType: PCDLoaderMetadata.batchType,\n  parse: async (input: ArrayBuffer, options?: PCDLoaderOptions) =>\n    unwrapPCDTable(await PCDColumnLoader.parse(input, options)),\n  parseSync: (input: ArrayBuffer, options?: PCDLoaderOptions) =>\n    unwrapPCDTable(PCDColumnLoader.parseSync(input, options)),\n  async *parseInBatches(input, options) {\n    for await (const batch of PCDColumnLoader.parseInBatches(input, options)) {\n      if (isColumnBatch(batch)) {\n        batch.data.schema.metadata.set(\n          'loaders.gl.pcd.header',\n          JSON.stringify((batch as ArrowTableBatch & {loaderData?: unknown}).loaderData)\n        );\n        for (const recordBatch of batch.data.batches) {\n          recordBatch.schema.metadata.set(\n            'loaders.gl.pcd.header',\n            batch.data.schema.metadata.get('loaders.gl.pcd.header')!\n          );\n        }\n        if (batch.data.batches.length) yield* batch.data.batches;\n        else yield makeArrowMetadataBatch(batch.data.schema);\n      } else yield batch;\n    }\n  },\n  deserializeWorkerResult: (result: unknown, options?: PCDLoaderOptions) =>\n    unwrapPCDTable(PCDColumnLoader.deserializeWorkerResult(result, options)),\n  deserializeWorkerBatch(result: unknown, options?: PCDLoaderOptions) {\n    const batch = PCDColumnLoader.deserializeWorkerBatch(result, options);\n    if (isColumnBatch(batch)) {\n      const recordBatch = batch.data.batches[0] ?? makeArrowMetadataBatch(batch.data.schema);\n      recordBatch.schema.metadata.set(\n        'loaders.gl.pcd.header',\n        JSON.stringify((batch as ArrowTableBatch & {loaderData?: unknown}).loaderData)\n      );\n      return recordBatch;\n    }\n    return batch;\n  }\n} as const satisfies LoaderWithParser<PCDMesh | Table, PCDMesh | RecordBatch, PCDLoaderOptions>;\n\n/** Returns the Arrow table with its file metadata or the requested mesh. */\nfunction unwrapPCDTable(result: PCDMesh | MeshArrowTable): PCDMesh | Table {\n  if ('shape' in result && result.shape === 'arrow-table') {\n    result.data.schema.metadata.set(\n      'loaders.gl.pcd.header',\n      JSON.stringify((result as MeshArrowTable & {loaderData?: unknown}).loaderData)\n    );\n    return result.data;\n  }\n  return result as PCDMesh;\n}\n\n/** Identifies the private Arrow batch envelope. */\nfunction isColumnBatch(batch: PCDMesh | ArrowTableBatch): batch is ArrowTableBatch {\n  return 'shape' in batch && batch.shape === 'arrow-table';\n}\n"],
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+  "names": ["import_schema_utils", "PCDLoaderMetadata"]
+}

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

@@ -0,0 +1,80 @@
+import type { Table, RecordBatch } from 'apache-arrow';
+import type { PCDLoaderOptions } from "./pcd-loader-types.js";
+import type { ArrowTableBatch, MeshArrowTable } from '@loaders.gl/core/schema';
+import { serializeArrowWorkerTable } from '@loaders.gl/core/arrow-worker-transport';
+import type { PCDMesh } from "./lib/pcd-types.js";
+type PCDParsedBatch = PCDMesh | ArrowTableBatch;
+/**
+ * Loader for PCD - Point Cloud Data
+ */
+export declare const PCDColumnLoader: {
+    readonly dataType: PCDMesh | MeshArrowTable;
+    readonly batchType: PCDMesh | ArrowTableBatch;
+    readonly parse: (arrayBuffer: ArrayBuffer, options: PCDLoaderOptions | undefined) => Promise<MeshArrowTable | PCDMesh>;
+    readonly parseSync: (arrayBuffer: ArrayBuffer, options: PCDLoaderOptions | undefined) => MeshArrowTable | PCDMesh;
+    readonly parseInBatches: (input: AsyncIterable<ArrayBufferLike | ArrayBufferView<ArrayBufferLike>> | Iterable<ArrayBufferLike | ArrayBufferView<ArrayBufferLike>>, options: PCDLoaderOptions | undefined) => AsyncIterable<PCDParsedBatch>;
+    readonly serializeWorkerResult: typeof serializeArrowWorkerTable;
+    readonly deserializeWorkerResult: typeof deserializePCDWorkerResult;
+    readonly serializeWorkerBatch: typeof serializeArrowWorkerTable;
+    readonly deserializeWorkerBatch: typeof deserializePCDWorkerBatch;
+    readonly version: any;
+    readonly worker: true;
+    readonly workerInBatches: true;
+    readonly options: {
+        readonly pcd: {
+            readonly shape: "arrow";
+            readonly colorFormat: "uint8norm";
+        };
+    };
+    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 text: true;
+    readonly binary: true;
+    readonly defaultShape: "arrow";
+    readonly supportsNativeArrow: true;
+};
+/** Hydrates worker columns before reconstructing legacy PCD meshes on the caller. */
+declare function deserializePCDWorkerResult(result: unknown, options?: PCDLoaderOptions): PCDMesh | MeshArrowTable;
+/** Restores the existing PCD batch shape after caller-side hydration. */
+declare function deserializePCDWorkerBatch(result: unknown, options?: PCDLoaderOptions): PCDParsedBatch;
+/** Exposes native Arrow output while retaining the worker's column protocol. */
+export declare const PCDLoaderWithParser: {
+    readonly dataType: Table<any> | PCDMesh;
+    readonly batchType: RecordBatch<any> | PCDMesh;
+    readonly parse: (input: ArrayBuffer, options?: PCDLoaderOptions) => Promise<Table<any> | PCDMesh>;
+    readonly parseSync: (input: ArrayBuffer, options?: PCDLoaderOptions) => Table<any> | PCDMesh;
+    readonly parseInBatches: (input: AsyncIterable<ArrayBufferLike | ArrayBufferView<ArrayBufferLike>> | Iterable<ArrayBufferLike | ArrayBufferView<ArrayBufferLike>>, options: PCDLoaderOptions | undefined) => AsyncGenerator<RecordBatch<any> | PCDMesh, void, unknown>;
+    readonly deserializeWorkerResult: (result: unknown, options?: PCDLoaderOptions) => Table<any> | PCDMesh;
+    readonly deserializeWorkerBatch: (result: unknown, options?: PCDLoaderOptions) => RecordBatch<any> | PCDMesh;
+    readonly serializeWorkerResult: typeof serializeArrowWorkerTable;
+    readonly serializeWorkerBatch: typeof serializeArrowWorkerTable;
+    readonly version: any;
+    readonly worker: true;
+    readonly workerInBatches: true;
+    readonly options: {
+        readonly pcd: {
+            readonly shape: "arrow";
+            readonly colorFormat: "uint8norm";
+        };
+    };
+    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 text: true;
+    readonly binary: true;
+    readonly defaultShape: "arrow";
+    readonly supportsNativeArrow: true;
+};
+export {};
+//# sourceMappingURL=pcd-loader.d.ts.map

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

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package/dist/pcd/pcd-loader.js

@@ -0,0 +1,179 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+import { refineArrowTableBatches, makeArrowMetadataBatch } from '@loaders.gl/core/schema-utils';
+import { concatenateArrayBuffersAsync, makeTableScanBatch } from '@loaders.gl/core/loader-utils';
+import { deserializeArrowWorkerTable, serializeArrowWorkerTable } from '@loaders.gl/core/arrow-worker-transport';
+import { convertMeshToArrowTableWrapper, convertTableToMesh } from '@loaders.gl/core/schema-utils';
+import { parsePCD, parsePCDHeader } from "./lib/parse-pcd.js";
+import { PCDLoader as PCDLoaderMetadata } from "./pcd-loader-types.js";
+const { preload: _PCDLoaderPreload, ...PCDLoaderMetadataWithoutPreload } = PCDLoaderMetadata;
+function convertPCDMesh(mesh, options) {
+    const table = convertMeshToArrowTableWrapper(mesh);
+    return options?.pcd?.shape === 'mesh'
+        ? convertPCDTableToMesh(table, mesh)
+        : { ...table, loader: mesh.loader, loaderData: mesh.loaderData };
+}
+/**
+ * Loader for PCD - Point Cloud Data
+ */
+export const PCDColumnLoader = {
+    ...PCDLoaderMetadataWithoutPreload,
+    dataType: null,
+    batchType: null,
+    parse: async (arrayBuffer, options) => convertPCDMesh(parsePCD(arrayBuffer, options), options),
+    parseSync: (arrayBuffer, options) => convertPCDMesh(parsePCD(arrayBuffer, options), options),
+    parseInBatches: (input, options) => refineArrowTableBatches(parsePCDWithMetadataInBatches(input, options)),
+    serializeWorkerResult: serializeArrowWorkerTable,
+    deserializeWorkerResult: deserializePCDWorkerResult,
+    serializeWorkerBatch: serializeArrowWorkerTable,
+    deserializeWorkerBatch: deserializePCDWorkerBatch
+};
+/** Returns a numeric batch size when batching has an explicit row count. */
+function getNumericBatchSize(options) {
+    const batchSize = options?.core?.batchSize;
+    return typeof batchSize === 'number' ? batchSize : undefined;
+}
+function* parsePCDASCIIInBatches(data, options, batchSize) {
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    const lines = textData
+        .slice(pcdHeader.headerLen)
+        .split(/\r?\n/)
+        .filter(line => line.trim().length > 0);
+    const normalizedBatchSize = batchSize || lines.length || 1;
+    for (let rowIndex = 0; rowIndex < lines.length; rowIndex += normalizedBatchSize) {
+        const batchLines = lines.slice(rowIndex, rowIndex + normalizedBatchSize);
+        const batchText = `${makePCDHeaderText(pcdHeader, batchLines.length)}${batchLines.join('\n')}\n`;
+        yield makePCDBatch(parsePCD(new TextEncoder().encode(batchText).buffer, options), options);
+    }
+}
+function* parsePCDBinaryInBatches(data, options, batchSize) {
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    const normalizedBatchSize = batchSize || pcdHeader.points || 1;
+    const dataBytes = new Uint8Array(data);
+    for (let pointIndex = 0; pointIndex < pcdHeader.points; pointIndex += normalizedBatchSize) {
+        const pointCount = Math.min(normalizedBatchSize, pcdHeader.points - pointIndex);
+        const headerBytes = new TextEncoder().encode(makePCDHeaderText(pcdHeader, pointCount));
+        const rowByteOffset = pcdHeader.headerLen + pointIndex * pcdHeader.rowSize;
+        const rowByteLength = pointCount * pcdHeader.rowSize;
+        const batchBytes = new Uint8Array(headerBytes.length + rowByteLength);
+        batchBytes.set(headerBytes, 0);
+        batchBytes.set(dataBytes.subarray(rowByteOffset, rowByteOffset + rowByteLength), headerBytes.length);
+        yield makePCDBatch(parsePCD(batchBytes.buffer, options), options);
+    }
+}
+function makePCDBatch(mesh, options) {
+    const table = convertMeshToArrowTableWrapper(mesh);
+    if (options?.pcd?.shape === 'mesh') {
+        return convertPCDTableToMesh(table, mesh);
+    }
+    return makeTableScanBatch({
+        ...table,
+        loader: mesh.loader,
+        loaderData: mesh.loaderData
+    });
+}
+/** Convert the parser's Arrow table to legacy PCD mesh output. */
+function convertPCDTableToMesh(table, sourceMesh) {
+    return {
+        ...convertTableToMesh(table),
+        loader: sourceMesh.loader,
+        loaderData: sourceMesh.loaderData
+    };
+}
+function makePCDHeaderText(pcdHeader, pointCount) {
+    const lines = pcdHeader.str
+        .split(/\r?\n/)
+        .filter(line => line.trim().length > 0)
+        .map(line => {
+        if (/^WIDTH\s+/i.test(line)) {
+            return `WIDTH ${pointCount}`;
+        }
+        if (/^HEIGHT\s+/i.test(line)) {
+            return 'HEIGHT 1';
+        }
+        if (/^POINTS\s+/i.test(line)) {
+            return `POINTS ${pointCount}`;
+        }
+        return line;
+    });
+    if (!lines.some(line => /^POINTS\s+/i.test(line))) {
+        const dataLineIndex = lines.findIndex(line => /^DATA\s+/i.test(line));
+        lines.splice(dataLineIndex >= 0 ? dataLineIndex : lines.length, 0, `POINTS ${pointCount}`);
+    }
+    return `${lines.join('\n')}\n`;
+}
+/** Hydrates worker columns before reconstructing legacy PCD meshes on the caller. */
+function deserializePCDWorkerResult(result, options) {
+    const table = deserializeArrowWorkerTable(result);
+    return options?.pcd?.shape === 'mesh' ? convertPCDTableToMesh(table, table) : table;
+}
+/** Restores the existing PCD batch shape after caller-side hydration. */
+function deserializePCDWorkerBatch(result, options) {
+    return deserializePCDWorkerResult(result, options);
+}
+/** Parses PCD batches before shared cumulative metadata refinement. */
+async function* parsePCDWithMetadataInBatches(arrayBuffer, options) {
+    const batchSize = getNumericBatchSize(options);
+    const data = await concatenateArrayBuffersAsync(arrayBuffer);
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    if (pcdHeader.data === 'ascii') {
+        yield* parsePCDASCIIInBatches(data, options, batchSize);
+        return;
+    }
+    if (pcdHeader.data === 'binary') {
+        yield* parsePCDBinaryInBatches(data, options, batchSize);
+        return;
+    }
+    yield makePCDBatch(parsePCD(data, options), options);
+}
+/** Exposes native Arrow output while retaining the worker's column protocol. */
+export const PCDLoaderWithParser = {
+    ...PCDColumnLoader,
+    dataType: PCDLoaderMetadata.dataType,
+    batchType: PCDLoaderMetadata.batchType,
+    parse: async (input, options) => unwrapPCDTable(await PCDColumnLoader.parse(input, options)),
+    parseSync: (input, options) => unwrapPCDTable(PCDColumnLoader.parseSync(input, options)),
+    async *parseInBatches(input, options) {
+        for await (const batch of PCDColumnLoader.parseInBatches(input, options)) {
+            if (isColumnBatch(batch)) {
+                batch.data.schema.metadata.set('loaders.gl.pcd.header', JSON.stringify(batch.loaderData));
+                for (const recordBatch of batch.data.batches) {
+                    recordBatch.schema.metadata.set('loaders.gl.pcd.header', batch.data.schema.metadata.get('loaders.gl.pcd.header'));
+                }
+                if (batch.data.batches.length)
+                    yield* batch.data.batches;
+                else
+                    yield makeArrowMetadataBatch(batch.data.schema);
+            }
+            else
+                yield batch;
+        }
+    },
+    deserializeWorkerResult: (result, options) => unwrapPCDTable(PCDColumnLoader.deserializeWorkerResult(result, options)),
+    deserializeWorkerBatch(result, options) {
+        const batch = PCDColumnLoader.deserializeWorkerBatch(result, options);
+        if (isColumnBatch(batch)) {
+            const recordBatch = batch.data.batches[0] ?? makeArrowMetadataBatch(batch.data.schema);
+            recordBatch.schema.metadata.set('loaders.gl.pcd.header', JSON.stringify(batch.loaderData));
+            return recordBatch;
+        }
+        return batch;
+    }
+};
+/** Returns the Arrow table with its file metadata or the requested mesh. */
+function unwrapPCDTable(result) {
+    if ('shape' in result && result.shape === 'arrow-table') {
+        result.data.schema.metadata.set('loaders.gl.pcd.header', JSON.stringify(result.loaderData));
+        return result.data;
+    }
+    return result;
+}
+/** Identifies the private Arrow batch envelope. */
+function isColumnBatch(batch) {
+    return 'shape' in batch && batch.shape === 'arrow-table';
+}
+//# sourceMappingURL=pcd-loader.js.map

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

@@ -0,0 +1 @@
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