@loaders.gl/pointclouds 0.0.0-stage → 5.0.0-beta.2

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

@@ -0,0 +1,53 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+/**
+ * Gets schema from PCD header
+ * @param PCDheader
+ * @param metadata
+ * @returns Schema
+ */
+export function getPCDSchema(PCDheader, metadata, colorFormat = 'uint8norm') {
+    const fields = [];
+    for (const key of Object.keys(PCDheader.offset)) {
+        switch (key) {
+            case 'x':
+                fields.push({
+                    name: 'POSITION',
+                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] },
+                    metadata: { attribute: 'POSITION' }
+                });
+                break;
+            case 'y':
+            case 'z':
+                // ignore
+                break;
+            case 'normal_x':
+                fields.push({
+                    name: 'NORMAL',
+                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] },
+                    metadata: { attribute: 'NORMAL' }
+                });
+                break;
+            case 'normal_y':
+            case 'normal_z':
+                // ignore
+                break;
+            case 'rgb':
+                const colorType = colorFormat === 'float16' ? 'float16' : colorFormat === 'float32' ? 'float32' : 'uint8';
+                fields.push({
+                    name: 'COLOR_0',
+                    type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: colorType }] },
+                    metadata: {
+                        attribute: 'COLOR',
+                        ...(colorFormat === 'float16' ? { componentType: 'float16' } : {})
+                    }
+                });
+                break;
+            default:
+            // TODO - push fields
+        }
+    }
+    return { fields, metadata };
+}
+//# sourceMappingURL=get-pcd-schema.js.map

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

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

@@ -0,0 +1,354 @@
+"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/lib/parse-pcd.ts
+var parse_pcd_exports = {};
+__export(parse_pcd_exports, {
+  parsePCD: () => parsePCD,
+  parsePCDHeader: () => parsePCDHeader
+});
+module.exports = __toCommonJS(parse_pcd_exports);
+var import_schema = require("@loaders.gl/core/schema");
+var import_schema_utils = require("@loaders.gl/core/schema-utils");
+var import_decompress_lzf = require("./decompress-lzf.cjs");
+var import_get_pcd_schema = require("./get-pcd-schema.cjs");
+var LITTLE_ENDIAN = true;
+function parsePCD(data, options) {
+  const textData = new TextDecoder().decode(data);
+  const pcdHeader = parsePCDHeader(textData);
+  let attributes = {};
+  switch (pcdHeader.data) {
+    case "ascii":
+      attributes = parsePCDASCII(pcdHeader, textData);
+      break;
+    case "binary":
+      attributes = parsePCDBinary(pcdHeader, data);
+      break;
+    case "binary_compressed":
+      attributes = parsePCDBinaryCompressed(pcdHeader, data);
+      break;
+    default:
+      throw new Error(`PCD: ${pcdHeader.data} files are not supported`);
+  }
+  attributes = getMeshAttributes(attributes, options?.pcd?.colorFormat);
+  const header = getMeshHeader(pcdHeader, attributes);
+  const schemaMetadata = Object.fromEntries([
+    ["topology", "point-list"],
+    ["mode", "0"],
+    ["boundingBox", JSON.stringify(header.boundingBox)]
+  ]);
+  const schema = (0, import_get_pcd_schema.getPCDSchema)(pcdHeader, schemaMetadata, options?.pcd?.colorFormat);
+  return {
+    loader: "pcd",
+    loaderData: pcdHeader,
+    header,
+    schema,
+    topology: "point-list",
+    mode: 0,
+    // POINTS (deprecated)
+    attributes
+  };
+}
+function getMeshHeader(pcdHeader, attributes) {
+  if (typeof pcdHeader.width === "number" && typeof pcdHeader.height === "number") {
+    const pointCount = pcdHeader.width * pcdHeader.height;
+    const boundingBox = (0, import_schema_utils.getMeshBoundingBox)(attributes);
+    if (!boundingBox) throw new Error("PCD point cloud is missing positions");
+    return {
+      vertexCount: pointCount,
+      boundingBox
+    };
+  }
+  return {
+    vertexCount: pcdHeader.vertexCount,
+    boundingBox: pcdHeader.boundingBox
+  };
+}
+function getMeshAttributes(attributes, colorFormat = "uint8norm") {
+  const normalizedAttributes = {
+    POSITION: {
+      // Binary PCD is only 32 bit
+      value: new Float32Array(attributes.position),
+      size: 3
+    }
+  };
+  if (attributes.normal && attributes.normal.length > 0) {
+    normalizedAttributes.NORMAL = {
+      value: new Float32Array(attributes.normal),
+      size: 3
+    };
+  }
+  if (attributes.color && attributes.color.length > 0) {
+    normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.color, colorFormat);
+  }
+  if (attributes.intensity && attributes.intensity.length > 0) {
+    normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.color, colorFormat);
+  }
+  if (!normalizedAttributes.COLOR_0 && attributes.label && attributes.label.length > 0) {
+    normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.label, colorFormat);
+  }
+  return normalizedAttributes;
+}
+function makeColorAttribute(values, colorFormat) {
+  if (colorFormat === "float16") {
+    return {
+      value: (0, import_schema.convertColorArrayToFloat16)(values, 255),
+      size: 3,
+      componentType: "float16"
+    };
+  }
+  if (colorFormat === "float32") {
+    return { value: Float32Array.from(values, (value) => value / 255), size: 3 };
+  }
+  return { value: new Uint8Array(values), size: 3 };
+}
+function parsePCDHeader(data) {
+  const result1 = data.search(/[\r\n]DATA\s(\S*)\s/i);
+  const result2 = /[\r\n]DATA\s(\S*)\s/i.exec(data.substr(result1 - 1));
+  const pcdHeader = {};
+  pcdHeader.data = result2 && result2[1];
+  if (result2 !== null) {
+    pcdHeader.headerLen = (result2 && result2[0].length) + result1;
+  }
+  pcdHeader.str = data.substr(0, pcdHeader.headerLen);
+  pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, "");
+  pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);
+  pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);
+  pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);
+  pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);
+  pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);
+  pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);
+  pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);
+  pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);
+  pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);
+  if (pcdHeader.version !== null) {
+    pcdHeader.version = parseFloat(pcdHeader.version[1]);
+  }
+  if (pcdHeader.fields !== null) {
+    pcdHeader.fields = pcdHeader.fields[1].split(" ");
+  }
+  if (pcdHeader.type !== null) {
+    pcdHeader.type = pcdHeader.type[1].split(" ");
+  }
+  if (pcdHeader.width !== null) {
+    pcdHeader.width = parseInt(pcdHeader.width[1], 10);
+  }
+  if (pcdHeader.height !== null) {
+    pcdHeader.height = parseInt(pcdHeader.height[1], 10);
+  }
+  if (pcdHeader.viewpoint !== null) {
+    pcdHeader.viewpoint = pcdHeader.viewpoint[1];
+  }
+  if (pcdHeader.points !== null) {
+    pcdHeader.points = parseInt(pcdHeader.points[1], 10);
+  }
+  if (pcdHeader.points === null && typeof pcdHeader.width === "number" && typeof pcdHeader.height === "number") {
+    pcdHeader.points = pcdHeader.width * pcdHeader.height;
+  }
+  if (pcdHeader.size !== null) {
+    pcdHeader.size = pcdHeader.size[1].split(" ").map((x) => parseInt(x, 10));
+  }
+  if (pcdHeader.count !== null) {
+    pcdHeader.count = pcdHeader.count[1].split(" ").map((x) => parseInt(x, 10));
+  } else {
+    pcdHeader.count = [];
+    if (pcdHeader.fields !== null) {
+      for (let i = 0; i < pcdHeader.fields.length; i++) {
+        pcdHeader.count.push(1);
+      }
+    }
+  }
+  pcdHeader.offset = {};
+  let sizeSum = 0;
+  for (let i = 0, l = pcdHeader.fields.length; i < l; i++) {
+    if (pcdHeader.data === "ascii") {
+      pcdHeader.offset[pcdHeader.fields[i]] = i;
+    } else {
+      pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;
+      sizeSum += pcdHeader.size[i] * pcdHeader.count[i];
+    }
+  }
+  pcdHeader.rowSize = sizeSum;
+  return pcdHeader;
+}
+function parsePCDASCII(pcdHeader, textData) {
+  const position = [];
+  const normal = [];
+  const color = [];
+  const intensity = [];
+  const label = [];
+  const offset = pcdHeader.offset;
+  const pcdData = textData.substr(pcdHeader.headerLen);
+  const lines = pcdData.split("\n");
+  for (let i = 0; i < lines.length; i++) {
+    if (lines[i] !== "") {
+      const line = lines[i].split(" ");
+      if (offset.x !== void 0) {
+        position.push(parseFloat(line[offset.x]));
+        position.push(parseFloat(line[offset.y]));
+        position.push(parseFloat(line[offset.z]));
+      }
+      if (offset.rgb !== void 0) {
+        const floatValue = parseFloat(line[offset.rgb]);
+        const binaryColor = new Float32Array([floatValue]);
+        const dataview = new DataView(binaryColor.buffer, 0);
+        color.push(dataview.getUint8(0));
+        color.push(dataview.getUint8(1));
+        color.push(dataview.getUint8(2));
+      }
+      if (offset.normal_x !== void 0) {
+        normal.push(parseFloat(line[offset.normal_x]));
+        normal.push(parseFloat(line[offset.normal_y]));
+        normal.push(parseFloat(line[offset.normal_z]));
+      }
+      if (offset.intensity !== void 0) {
+        intensity.push(parseFloat(line[offset.intensity]));
+      }
+      if (offset.label !== void 0) {
+        label.push(parseInt(line[offset.label]));
+      }
+    }
+  }
+  return { position, normal, color };
+}
+function parsePCDBinary(pcdHeader, data) {
+  const position = [];
+  const normal = [];
+  const color = [];
+  const intensity = [];
+  const label = [];
+  const dataview = new DataView(data, pcdHeader.headerLen);
+  const offset = pcdHeader.offset;
+  for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {
+    if (offset.x !== void 0) {
+      position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));
+      position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));
+      position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));
+    }
+    if (offset.rgb !== void 0) {
+      color.push(dataview.getUint8(row + offset.rgb + 0));
+      color.push(dataview.getUint8(row + offset.rgb + 1));
+      color.push(dataview.getUint8(row + offset.rgb + 2));
+    }
+    if (offset.normal_x !== void 0) {
+      normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));
+      normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));
+      normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));
+    }
+    if (offset.intensity !== void 0) {
+      intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+    }
+    if (offset.label !== void 0) {
+      label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
+    }
+  }
+  return { position, normal, color, intensity, label };
+}
+function parsePCDBinaryCompressed(pcdHeader, data) {
+  const position = [];
+  const normal = [];
+  const color = [];
+  const intensity = [];
+  const label = [];
+  const sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));
+  const compressedSize = sizes[0];
+  const decompressedSize = sizes[1];
+  const decompressed = (0, import_decompress_lzf.decompressLZF)(
+    new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize),
+    decompressedSize
+  );
+  const dataview = new DataView(decompressed.buffer);
+  const offset = pcdHeader.offset;
+  for (let i = 0; i < pcdHeader.points; i++) {
+    if (offset.x !== void 0) {
+      position.push(
+        dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN)
+      );
+      position.push(
+        dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN)
+      );
+      position.push(
+        dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN)
+      );
+    }
+    if (offset.rgb !== void 0) {
+      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0));
+      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1));
+      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2));
+    }
+    if (offset.normal_x !== void 0) {
+      normal.push(
+        dataview.getFloat32(
+          pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i,
+          LITTLE_ENDIAN
+        )
+      );
+      normal.push(
+        dataview.getFloat32(
+          pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i,
+          LITTLE_ENDIAN
+        )
+      );
+      normal.push(
+        dataview.getFloat32(
+          pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i,
+          LITTLE_ENDIAN
+        )
+      );
+    }
+    if (offset.intensity !== void 0) {
+      const intensityIndex = pcdHeader.fields.indexOf("intensity");
+      intensity.push(
+        dataview.getFloat32(
+          pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i,
+          LITTLE_ENDIAN
+        )
+      );
+    }
+    if (offset.label !== void 0) {
+      const labelIndex = pcdHeader.fields.indexOf("label");
+      label.push(
+        dataview.getInt32(
+          pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i,
+          LITTLE_ENDIAN
+        )
+      );
+    }
+  }
+  return {
+    position,
+    normal,
+    color,
+    intensity,
+    label
+  };
+}
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  parsePCD,
+  parsePCDHeader
+});
+/** 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)
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+//# sourceMappingURL=parse-pcd.cjs.map

package/dist/pcd/lib/parse-pcd.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../../src/pcd/lib/parse-pcd.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\n// PCD Loader, adapted from THREE.js (MIT license)\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n//\n// Attributions per original THREE.js source file:\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\n\nimport {convertColorArrayToFloat16} from '@loaders.gl/core/schema';\nimport type {MeshAttribute, MeshAttributes} from '@loaders.gl/core/schema';\nimport {getMeshBoundingBox} from '@loaders.gl/core/schema-utils';\nimport {decompressLZF} from './decompress-lzf';\nimport {getPCDSchema} from './get-pcd-schema';\nimport type {PCDHeader, PCDMesh} from './pcd-types';\n\ntype MeshHeader = {\n  vertexCount: number;\n  boundingBox: [[number, number, number], [number, number, number]];\n};\n\ntype NormalizedAttributes = {\n  POSITION: {\n    value: Float32Array;\n    size: number;\n  };\n  NORMAL?: {\n    value: Float32Array;\n    size: number;\n  };\n  COLOR_0?: MeshAttribute;\n};\n\ntype ParsePCDOptions = {\n  pcd?: {colorFormat?: 'uint8norm' | 'float16' | 'float32'};\n};\n\ntype HeaderAttributes = {\n  [attributeName: string]: number[];\n};\n\nconst LITTLE_ENDIAN: boolean = true;\n\n/**\n *\n * @param data\n * @returns\n */\nexport function parsePCD(data: ArrayBufferLike, options?: ParsePCDOptions): PCDMesh {\n  // parse header (always ascii format)\n  const textData = new TextDecoder().decode(data);\n  const pcdHeader = parsePCDHeader(textData);\n\n  let attributes: any = {};\n\n  // parse data\n  switch (pcdHeader.data) {\n    case 'ascii':\n      attributes = parsePCDASCII(pcdHeader, textData);\n      break;\n\n    case 'binary':\n      attributes = parsePCDBinary(pcdHeader, data);\n      break;\n\n    case 'binary_compressed':\n      attributes = parsePCDBinaryCompressed(pcdHeader, data);\n      break;\n\n    default:\n      throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n  }\n\n  attributes = getMeshAttributes(attributes, options?.pcd?.colorFormat);\n\n  const header = getMeshHeader(pcdHeader, attributes);\n\n  const schemaMetadata = Object.fromEntries([\n    ['topology', 'point-list'],\n    ['mode', '0'],\n    ['boundingBox', JSON.stringify(header.boundingBox)]\n  ]);\n\n  const schema = getPCDSchema(pcdHeader, schemaMetadata, options?.pcd?.colorFormat);\n\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\n// Create a header that contains common data for PointCloud category loaders\nfunction getMeshHeader(pcdHeader: PCDHeader, attributes: NormalizedAttributes): MeshHeader {\n  if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {\n    const pointCount = pcdHeader.width * pcdHeader.height; // Supports \"organized\" point sets\n    const boundingBox = getMeshBoundingBox(attributes);\n    if (!boundingBox) throw new Error('PCD point cloud is missing positions');\n    return {\n      vertexCount: pointCount,\n      boundingBox\n    };\n  }\n  return {\n    vertexCount: pcdHeader.vertexCount,\n    boundingBox: pcdHeader.boundingBox\n  };\n}\n\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getMeshAttributes(\n  attributes: HeaderAttributes,\n  colorFormat: 'uint8norm' | 'float16' | 'float32' = 'uint8norm'\n): {[attributeName: string]: MeshAttribute} {\n  const normalizedAttributes: MeshAttributes = {\n    POSITION: {\n      // Binary PCD is only 32 bit\n      value: new Float32Array(attributes.position),\n      size: 3\n    }\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\n  if (attributes.color && attributes.color.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.color, colorFormat);\n  }\n\n  if (attributes.intensity && attributes.intensity.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.color, colorFormat);\n  }\n\n  if (!normalizedAttributes.COLOR_0 && attributes.label && attributes.label.length > 0) {\n    // TODO - RGBA\n    normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.label, colorFormat);\n  }\n\n  return normalizedAttributes;\n}\n\nfunction makeColorAttribute(\n  values: number[],\n  colorFormat: 'uint8norm' | 'float16' | 'float32'\n): MeshAttribute {\n  if (colorFormat === 'float16') {\n    return {\n      value: convertColorArrayToFloat16(values, 255),\n      size: 3,\n      componentType: 'float16'\n    };\n  }\n  if (colorFormat === 'float32') {\n    return {value: Float32Array.from(values, value => value / 255), size: 3};\n  }\n  return {value: new Uint8Array(values), size: 3};\n}\n\n/**\n * Incoming data parsing\n * @param data\n * @returns Header\n */\n/* eslint-disable complexity, max-statements */\nexport function parsePCDHeader(data: string): PCDHeader {\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\n  const pcdHeader: any = {};\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\n  // remove comments\n\n  pcdHeader.str = pcdHeader.str.replace(/\\#.*/gi, '');\n\n  // parse\n\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\n  // evaluate\n\n  if (pcdHeader.version !== null) {\n    pcdHeader.version = parseFloat(pcdHeader.version[1]);\n  }\n\n  if (pcdHeader.fields !== null) {\n    pcdHeader.fields = pcdHeader.fields[1].split(' ');\n  }\n\n  if (pcdHeader.type !== null) {\n    pcdHeader.type = pcdHeader.type[1].split(' ');\n  }\n\n  if (pcdHeader.width !== null) {\n    pcdHeader.width = parseInt(pcdHeader.width[1], 10);\n  }\n\n  if (pcdHeader.height !== null) {\n    pcdHeader.height = parseInt(pcdHeader.height[1], 10);\n  }\n\n  if (pcdHeader.viewpoint !== null) {\n    pcdHeader.viewpoint = pcdHeader.viewpoint[1];\n  }\n\n  if (pcdHeader.points !== null) {\n    pcdHeader.points = parseInt(pcdHeader.points[1], 10);\n  }\n\n  if (\n    pcdHeader.points === null &&\n    typeof pcdHeader.width === 'number' &&\n    typeof pcdHeader.height === 'number'\n  ) {\n    pcdHeader.points = pcdHeader.width * pcdHeader.height;\n  }\n\n  if (pcdHeader.size !== null) {\n    pcdHeader.size = pcdHeader.size[1].split(' ').map(x => parseInt(x, 10));\n  }\n\n  if (pcdHeader.count !== null) {\n    pcdHeader.count = pcdHeader.count[1].split(' ').map(x => parseInt(x, 10));\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\n  pcdHeader.offset = {};\n\n  let sizeSum = 0;\n  for (let i = 0, l = pcdHeader.fields.length; i < l; i++) {\n    if (pcdHeader.data === 'ascii') {\n      pcdHeader.offset[pcdHeader.fields[i]] = i;\n    } else {\n      pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;\n      sizeSum += pcdHeader.size[i] * pcdHeader.count[i];\n    }\n  }\n\n  // for binary only\n  pcdHeader.rowSize = sizeSum;\n  return pcdHeader;\n}\n\n/**\n * @param pcdHeader\n * @param textData\n * @returns [attributes]\n */\n// eslint-enable-next-line complexity, max-statements\nfunction parsePCDASCII(pcdHeader: PCDHeader, textData: string): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n  const intensity: number[] = [];\n  const label: number[] = [];\n\n  const offset = pcdHeader.offset;\n  const pcdData = textData.substr(pcdHeader.headerLen);\n  const lines = pcdData.split('\\n');\n\n  for (let i = 0; i < lines.length; i++) {\n    if (lines[i] !== '') {\n      const line = lines[i].split(' ');\n\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\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\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\n      if (offset.intensity !== undefined) {\n        intensity.push(parseFloat(line[offset.intensity]));\n      }\n\n      if (offset.label !== undefined) {\n        label.push(parseInt(line[offset.label]));\n      }\n    }\n  }\n\n  return {position, normal, color};\n}\n\n/**\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinary(pcdHeader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n  const intensity: number[] = [];\n  const label: number[] = [];\n\n  const dataview = new DataView(data, pcdHeader.headerLen);\n  const offset = pcdHeader.offset;\n\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\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\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\n    if (offset.intensity !== undefined) {\n      intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));\n    }\n\n    if (offset.label !== undefined) {\n      label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));\n    }\n  }\n\n  return {position, normal, color, intensity, label};\n}\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: PCDHeader, data: ArrayBufferLike): HeaderAttributes {\n  const position: number[] = [];\n  const normal: number[] = [];\n  const color: number[] = [];\n  const intensity: number[] = [];\n  const label: number[] = [];\n\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(\n    new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize),\n    decompressedSize\n  );\n  const dataview = new DataView(decompressed.buffer);\n\n  const offset = pcdHeader.offset;\n\n  for (let i = 0; i < pcdHeader.points; i++) {\n    if (offset.x !== undefined) {\n      position.push(\n        dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN)\n      );\n      position.push(\n        dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN)\n      );\n      position.push(\n        dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN)\n      );\n    }\n\n    if (offset.rgb !== undefined) {\n      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0));\n      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1));\n      color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2));\n    }\n\n    if (offset.normal_x !== undefined) {\n      normal.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i,\n          LITTLE_ENDIAN\n        )\n      );\n      normal.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.intensity !== undefined) {\n      const intensityIndex = pcdHeader.fields.indexOf('intensity');\n      intensity.push(\n        dataview.getFloat32(\n          pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n\n    if (offset.label !== undefined) {\n      const labelIndex = pcdHeader.fields.indexOf('label');\n      label.push(\n        dataview.getInt32(\n          pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i,\n          LITTLE_ENDIAN\n        )\n      );\n    }\n  }\n\n  return {\n    position,\n    normal,\n    color,\n    intensity,\n    label\n  };\n}\n"],
+  "mappings": 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+  "names": []
+}

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

@@ -0,0 +1,20 @@
+import type { PCDHeader, PCDMesh } from "./pcd-types.js";
+type ParsePCDOptions = {
+    pcd?: {
+        colorFormat?: 'uint8norm' | 'float16' | 'float32';
+    };
+};
+/**
+ *
+ * @param data
+ * @returns
+ */
+export declare function parsePCD(data: ArrayBufferLike, options?: ParsePCDOptions): PCDMesh;
+/**
+ * Incoming data parsing
+ * @param data
+ * @returns Header
+ */
+export declare function parsePCDHeader(data: string): PCDHeader;
+export {};
+//# sourceMappingURL=parse-pcd.d.ts.map

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

@@ -0,0 +1 @@
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