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

package/dist/pcd/lib/parse-pcd.js

@@ -0,0 +1,341 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+// PCD Loader, adapted from THREE.js (MIT license)
+// Description: A loader for PCD ascii and binary files.
+// Limitations: Compressed binary files are not supported.
+//
+// Attributions per original THREE.js source file:
+// @author Filipe Caixeta / http://filipecaixeta.com.br
+// @author Mugen87 / https://github.com/Mugen87
+import { convertColorArrayToFloat16 } from '@loaders.gl/core/schema';
+import { getMeshBoundingBox } from '@loaders.gl/core/schema-utils';
+import { decompressLZF } from "./decompress-lzf.js";
+import { getPCDSchema } from "./get-pcd-schema.js";
+const LITTLE_ENDIAN = true;
+/**
+ *
+ * @param data
+ * @returns
+ */
+export function parsePCD(data, options) {
+    // parse header (always ascii format)
+    const textData = new TextDecoder().decode(data);
+    const pcdHeader = parsePCDHeader(textData);
+    let attributes = {};
+    // parse data
+    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 = getPCDSchema(pcdHeader, schemaMetadata, options?.pcd?.colorFormat);
+    return {
+        loader: 'pcd',
+        loaderData: pcdHeader,
+        header,
+        schema,
+        topology: 'point-list',
+        mode: 0, // POINTS (deprecated)
+        attributes
+    };
+}
+// Create a header that contains common data for PointCloud category loaders
+function getMeshHeader(pcdHeader, attributes) {
+    if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {
+        const pointCount = pcdHeader.width * pcdHeader.height; // Supports "organized" point sets
+        const boundingBox = getMeshBoundingBox(attributes);
+        if (!boundingBox)
+            throw new Error('PCD point cloud is missing positions');
+        return {
+            vertexCount: pointCount,
+            boundingBox
+        };
+    }
+    return {
+        vertexCount: pcdHeader.vertexCount,
+        boundingBox: pcdHeader.boundingBox
+    };
+}
+/**
+ * @param attributes
+ * @returns Normalized attributes
+ */
+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) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.color, colorFormat);
+    }
+    if (attributes.intensity && attributes.intensity.length > 0) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.color, colorFormat);
+    }
+    if (!normalizedAttributes.COLOR_0 && attributes.label && attributes.label.length > 0) {
+        // TODO - RGBA
+        normalizedAttributes.COLOR_0 = makeColorAttribute(attributes.label, colorFormat);
+    }
+    return normalizedAttributes;
+}
+function makeColorAttribute(values, colorFormat) {
+    if (colorFormat === 'float16') {
+        return {
+            value: 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 };
+}
+/**
+ * Incoming data parsing
+ * @param data
+ * @returns Header
+ */
+/* eslint-disable complexity, max-statements */
+export 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);
+    // remove comments
+    pcdHeader.str = pcdHeader.str.replace(/\#.*/gi, '');
+    // parse
+    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);
+    // evaluate
+    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];
+        }
+    }
+    // for binary only
+    pcdHeader.rowSize = sizeSum;
+    return pcdHeader;
+}
+/**
+ * @param pcdHeader
+ * @param textData
+ * @returns [attributes]
+ */
+// eslint-enable-next-line complexity, max-statements
+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 !== undefined) {
+                position.push(parseFloat(line[offset.x]));
+                position.push(parseFloat(line[offset.y]));
+                position.push(parseFloat(line[offset.z]));
+            }
+            if (offset.rgb !== undefined) {
+                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));
+                // TODO - handle alpha channel / RGBA?
+            }
+            if (offset.normal_x !== undefined) {
+                normal.push(parseFloat(line[offset.normal_x]));
+                normal.push(parseFloat(line[offset.normal_y]));
+                normal.push(parseFloat(line[offset.normal_z]));
+            }
+            if (offset.intensity !== undefined) {
+                intensity.push(parseFloat(line[offset.intensity]));
+            }
+            if (offset.label !== undefined) {
+                label.push(parseInt(line[offset.label]));
+            }
+        }
+    }
+    return { position, normal, color };
+}
+/**
+ * @param pcdHeader
+ * @param data
+ * @returns [attributes]
+ */
+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 !== undefined) {
+            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 !== undefined) {
+            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 !== undefined) {
+            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 !== undefined) {
+            intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+        }
+        if (offset.label !== undefined) {
+            label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));
+        }
+    }
+    return { position, normal, color, intensity, label };
+}
+/** 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]
+ */
+// eslint-enable-next-line complexity, max-statements
+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 = 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 !== undefined) {
+            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 !== undefined) {
+            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 !== undefined) {
+            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 !== undefined) {
+            const intensityIndex = pcdHeader.fields.indexOf('intensity');
+            intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));
+        }
+        if (offset.label !== undefined) {
+            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
+    };
+}
+//# sourceMappingURL=parse-pcd.js.map

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

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package/dist/pcd/lib/pcd-types.cjs

@@ -0,0 +1,19 @@
+"use strict";
+var __defProp = Object.defineProperty;
+var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
+var __getOwnPropNames = Object.getOwnPropertyNames;
+var __hasOwnProp = Object.prototype.hasOwnProperty;
+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/pcd-types.ts
+var pcd_types_exports = {};
+module.exports = __toCommonJS(pcd_types_exports);
+//# sourceMappingURL=pcd-types.cjs.map

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

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../../src/pcd/lib/pcd-types.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport type {Mesh} from '@loaders.gl/core/schema';\n\ntype BoundingBox = [[number, number, number], [number, number, number]];\n\nexport type PCDHeader = {\n  data: any;\n  headerLen: number;\n  str: string;\n  version: number;\n  fields: string[];\n  size: number[];\n  type: null | string[];\n  count: null | number[];\n  width: number;\n  height: number;\n  viewpoint: null | string;\n  points: number;\n  offset: {[index: string]: number};\n  rowSize: number;\n  vertexCount: number;\n  boundingBox: BoundingBox;\n};\n\n/**  */\nexport type PCDMesh = Mesh & {\n  loader: 'pcd';\n  loaderData: PCDHeader;\n  topology: 'point-list';\n  mode: 0;\n};\n"],
+  "mappings": ";;;;;;;;;;;;;;;;AAAA;AAAA;",
+  "names": []
+}

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

@@ -0,0 +1,31 @@
+import type { Mesh } from '@loaders.gl/core/schema';
+type BoundingBox = [[number, number, number], [number, number, number]];
+export type PCDHeader = {
+    data: any;
+    headerLen: number;
+    str: string;
+    version: number;
+    fields: string[];
+    size: number[];
+    type: null | string[];
+    count: null | number[];
+    width: number;
+    height: number;
+    viewpoint: null | string;
+    points: number;
+    offset: {
+        [index: string]: number;
+    };
+    rowSize: number;
+    vertexCount: number;
+    boundingBox: BoundingBox;
+};
+/**  */
+export type PCDMesh = Mesh & {
+    loader: 'pcd';
+    loaderData: PCDHeader;
+    topology: 'point-list';
+    mode: 0;
+};
+export {};
+//# sourceMappingURL=pcd-types.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-types.d.ts","sourceRoot":"","sources":["../../../src/pcd/lib/pcd-types.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAC,IAAI,EAAC,MAAM,yBAAyB,CAAC;AAElD,KAAK,WAAW,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,EAAE,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC,CAAC;AAExE,MAAM,MAAM,SAAS,GAAG;IACtB,IAAI,EAAE,GAAG,CAAC;IACV,SAAS,EAAE,MAAM,CAAC;IAClB,GAAG,EAAE,MAAM,CAAC;IACZ,OAAO,EAAE,MAAM,CAAC;IAChB,MAAM,EAAE,MAAM,EAAE,CAAC;IACjB,IAAI,EAAE,MAAM,EAAE,CAAC;IACf,IAAI,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACtB,KAAK,EAAE,IAAI,GAAG,MAAM,EAAE,CAAC;IACvB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,SAAS,EAAE,IAAI,GAAG,MAAM,CAAC;IACzB,MAAM,EAAE,MAAM,CAAC;IACf,MAAM,EAAE;QAAC,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM,CAAA;KAAC,CAAC;IAClC,OAAO,EAAE,MAAM,CAAC;IAChB,WAAW,EAAE,MAAM,CAAC;IACpB,WAAW,EAAE,WAAW,CAAC;CAC1B,CAAC;AAEF,OAAO;AACP,MAAM,MAAM,OAAO,GAAG,IAAI,GAAG;IAC3B,MAAM,EAAE,KAAK,CAAC;IACd,UAAU,EAAE,SAAS,CAAC;IACtB,QAAQ,EAAE,YAAY,CAAC;IACvB,IAAI,EAAE,CAAC,CAAC;CACT,CAAC"}

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

@@ -0,0 +1,5 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+export {};
+//# sourceMappingURL=pcd-types.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-types.js","sourceRoot":"","sources":["../../../src/pcd/lib/pcd-types.ts"],"names":[],"mappings":"AAAA,aAAa;AACb,+BAA+B;AAC/B,oCAAoC"}

package/dist/pcd/pcd-format.cjs

@@ -0,0 +1,42 @@
+"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-format.ts
+var pcd_format_exports = {};
+__export(pcd_format_exports, {
+  PCDFormat: () => PCDFormat
+});
+module.exports = __toCommonJS(pcd_format_exports);
+var PCDFormat = {
+  name: "PCD (Point Cloud Data)",
+  id: "pcd",
+  module: "pointclouds",
+  encoding: "text",
+  format: "pcd",
+  extensions: ["pcd"],
+  mimeTypes: ["text/plain"],
+  category: "pointcloud",
+  text: true,
+  binary: true
+};
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  PCDFormat
+});
+//# sourceMappingURL=pcd-format.cjs.map

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

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../src/pcd/pcd-format.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport type {Format} from '@loaders.gl/core/loader-utils';\n\n/**\n * PCD (Point Cloud Data) file format\n */\nexport const PCDFormat = {\n  name: 'PCD (Point Cloud Data)',\n  id: 'pcd',\n  module: 'pointclouds',\n  encoding: 'text',\n  format: 'pcd',\n  extensions: ['pcd'],\n  mimeTypes: ['text/plain'],\n  category: 'pointcloud',\n  text: true,\n  binary: true\n} as const satisfies Format;\n"],
+  "mappings": ";;;;;;;;;;;;;;;;;;;;AAAA;AAAA;AAAA;AAAA;AAAA;AASO,IAAM,YAAY;AAAA,EACvB,MAAM;AAAA,EACN,IAAI;AAAA,EACJ,QAAQ;AAAA,EACR,UAAU;AAAA,EACV,QAAQ;AAAA,EACR,YAAY,CAAC,KAAK;AAAA,EAClB,WAAW,CAAC,YAAY;AAAA,EACxB,UAAU;AAAA,EACV,MAAM;AAAA,EACN,QAAQ;AACV;",
+  "names": []
+}

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

@@ -0,0 +1,16 @@
+/**
+ * PCD (Point Cloud Data) file format
+ */
+export declare const PCDFormat: {
+    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;
+};
+//# sourceMappingURL=pcd-format.d.ts.map

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

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

package/dist/pcd/pcd-format.js

@@ -0,0 +1,19 @@
+// loaders.gl
+// SPDX-License-Identifier: MIT
+// Copyright (c) vis.gl contributors
+/**
+ * PCD (Point Cloud Data) file format
+ */
+export const PCDFormat = {
+    name: 'PCD (Point Cloud Data)',
+    id: 'pcd',
+    module: 'pointclouds',
+    encoding: 'text',
+    format: 'pcd',
+    extensions: ['pcd'],
+    mimeTypes: ['text/plain'],
+    category: 'pointcloud',
+    text: true,
+    binary: true
+};
+//# sourceMappingURL=pcd-format.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-format.js","sourceRoot":"","sources":["../../src/pcd/pcd-format.ts"],"names":[],"mappings":"AAAA,aAAa;AACb,+BAA+B;AAC/B,oCAAoC;AAIpC;;GAEG;AACH,MAAM,CAAC,MAAM,SAAS,GAAG;IACvB,IAAI,EAAE,wBAAwB;IAC9B,EAAE,EAAE,KAAK;IACT,MAAM,EAAE,aAAa;IACrB,QAAQ,EAAE,MAAM;IAChB,MAAM,EAAE,KAAK;IACb,UAAU,EAAE,CAAC,KAAK,CAAC;IACnB,SAAS,EAAE,CAAC,YAAY,CAAC;IACzB,QAAQ,EAAE,YAAY;IACtB,IAAI,EAAE,IAAI;IACV,MAAM,EAAE,IAAI;CACa,CAAC"}

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

@@ -0,0 +1,64 @@
+"use strict";
+var __create = Object.create;
+var __defProp = Object.defineProperty;
+var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
+var __getOwnPropNames = Object.getOwnPropertyNames;
+var __getProtoOf = Object.getPrototypeOf;
+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 __toESM = (mod, isNodeMode, target) => (target = mod != null ? __create(__getProtoOf(mod)) : {}, __copyProps(
+  // If the importer is in node compatibility mode or this is not an ESM
+  // file that has been converted to a CommonJS file using a Babel-
+  // compatible transform (i.e. "__esModule" has not been set), then set
+  // "default" to the CommonJS "module.exports" for node compatibility.
+  isNodeMode || !mod || !mod.__esModule ? __defProp(target, "default", { value: mod, enumerable: true }) : target,
+  mod
+));
+var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
+
+// src/pcd/pcd-loader-types.ts
+var pcd_loader_types_exports = {};
+__export(pcd_loader_types_exports, {
+  PCDLoader: () => PCDLoader,
+  PCDWorkerLoader: () => PCDWorkerLoader
+});
+module.exports = __toCommonJS(pcd_loader_types_exports);
+var import_pcd_format = require("./pcd-format.cjs");
+var import_arrow_transport = require("@loaders.gl/core/schema-utils/arrow-transport");
+var VERSION = true ? "5.0.0-beta.2" : "latest";
+async function preload() {
+  const { PCDLoaderWithParser } = await import("@loaders.gl/pointclouds/pcd-loader");
+  return PCDLoaderWithParser;
+}
+var PCDLoader = {
+  ...import_pcd_format.PCDFormat,
+  dataType: null,
+  batchType: null,
+  version: VERSION,
+  worker: true,
+  /** Enables the stateful input/output batch protocol on the built-in worker. */
+  workerInBatches: true,
+  serializeWorkerResult: import_arrow_transport.serializeArrowWorkerTable,
+  options: {
+    pcd: { shape: "arrow-table", colorFormat: "uint8norm" }
+  },
+  preload
+};
+var PCDWorkerLoader = PCDLoader;
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  PCDLoader,
+  PCDWorkerLoader
+});
+//# sourceMappingURL=pcd-loader-types.cjs.map

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

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../../src/pcd/pcd-loader-types.ts"],
+  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport type {Loader, LoaderOptions} from '@loaders.gl/core/loader-utils';\nimport type {MeshArrowTable, ArrowTableBatch} from '@loaders.gl/core/schema';\nimport type {PCDMesh} from './lib/pcd-types';\nimport {PCDFormat} from './pcd-format';\nimport {serializeArrowWorkerTable} from '@loaders.gl/core/schema-utils/arrow-transport';\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\nexport type PCDLoaderOptions = LoaderOptions & {\n  pcd?: {\n    /** Output shape. Defaults to a Mesh Arrow table. */\n    shape?: 'mesh' | 'arrow-table';\n    /** Color storage format. Defaults to uint8norm for backwards compatibility. */\n    colorFormat?: 'uint8norm' | 'float16' | 'float32';\n    /** Override the URL to the worker bundle (by default loads from unpkg.com) */\n    workerUrl?: string;\n  };\n};\n\n/**\n * Preloads the parser-bearing PCD loader implementation.\n */\nasync function preload() {\n  const {PCDLoaderWithParser} = await import('@loaders.gl/pointclouds/pcd-loader');\n  return PCDLoaderWithParser;\n}\n\n/**\n * Metadata-only worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n  ...PCDFormat,\n  dataType: null as unknown as PCDMesh | MeshArrowTable,\n  batchType: null as unknown as PCDMesh | ArrowTableBatch,\n  version: VERSION,\n  worker: true,\n  /** Enables the stateful input/output batch protocol on the built-in worker. */\n  workerInBatches: true,\n  serializeWorkerResult: serializeArrowWorkerTable,\n  options: {\n    pcd: {shape: 'arrow-table', colorFormat: 'uint8norm'}\n  },\n  preload\n} as const satisfies Loader<PCDMesh | MeshArrowTable, PCDMesh | ArrowTableBatch, PCDLoaderOptions>;\n\n/** @deprecated Use PCDLoader. */\nexport const PCDWorkerLoader = PCDLoader;\n"],
+  "mappings": ";;;;;;;;;;;;;;;;;;;;;;;;;;;;;;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAOA,wBAAwB;AACxB,6BAAwC;AAIxC,IAAM,UAAU,OAAqC,iBAAc;AAgBnE,eAAe,UAAU;AACvB,QAAM,EAAC,oBAAmB,IAAI,MAAM,OAAO,oCAAoC;AAC/E,SAAO;AACT;AAKO,IAAM,YAAY;AAAA,EACvB,GAAG;AAAA,EACH,UAAU;AAAA,EACV,WAAW;AAAA,EACX,SAAS;AAAA,EACT,QAAQ;AAAA;AAAA,EAER,iBAAiB;AAAA,EACjB,uBAAuB;AAAA,EACvB,SAAS;AAAA,IACP,KAAK,EAAC,OAAO,eAAe,aAAa,YAAW;AAAA,EACtD;AAAA,EACA;AACF;AAGO,IAAM,kBAAkB;",
+  "names": []
+}