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

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

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

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

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

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

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

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

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

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

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

package/dist/pcd/unbundled.cjs.map

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

package/dist/pcd/unbundled.d.ts

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

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

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package/dist/pcd/unbundled.js

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

package/dist/pcd/unbundled.js.map

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

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,66 @@
+"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-loader-types.ts
+var pcd_loader_types_exports = {};
+__export(pcd_loader_types_exports, {
+  PCDLoader: () => PCDLoader,
+  PCDWorkerLoader: () => PCDWorkerLoader
+});
+module.exports = __toCommonJS(pcd_loader_types_exports);
+
+// src/pcd/pcd-loader-types.ts
+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-loader-types.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../src/pcd-loader-types.ts", "../src/pcd/pcd-loader-types.ts"],
+  "sourcesContent": ["export * from './pcd/pcd-loader-types.js';\n", "// 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;;;ACOA,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": []
+}

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

@@ -0,0 +1,2 @@
+export * from './pcd/pcd-loader-types.js';
+//# sourceMappingURL=pcd-loader-types.d.ts.map

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

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+{"version":3,"file":"pcd-loader-types.d.ts","sourceRoot":"","sources":["../src/pcd-loader-types.ts"],"names":[],"mappings":"AAAA,cAAc,2BAA2B,CAAC"}

package/dist/pcd-loader-types.js

@@ -0,0 +1,2 @@
+export * from './pcd/pcd-loader-types.js';
+//# sourceMappingURL=pcd-loader-types.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"pcd-loader-types.js","sourceRoot":"","sources":["../src/pcd-loader-types.ts"],"names":[],"mappings":"AAAA,cAAc,2BAA2B,CAAC"}

package/dist/pcd-loader.cjs

@@ -0,0 +1,146 @@
+"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-loader.ts
+var pcd_loader_exports = {};
+__export(pcd_loader_exports, {
+  PCDLoaderWithParser: () => PCDLoaderWithParser
+});
+module.exports = __toCommonJS(pcd_loader_exports);
+
+// src/pcd/pcd-loader.ts
+var import_loader_utils = require("@loaders.gl/core/loader-utils");
+var import_arrow_transport = require("@loaders.gl/core/schema-utils/arrow-transport");
+var import_schema_utils = 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_utils.convertMeshToTable)(mesh, "arrow-table");
+  return options?.pcd?.shape === "mesh" ? convertPCDTableToMesh(table, mesh) : { ...table, loader: mesh.loader, loaderData: mesh.loaderData };
+}
+var PCDLoaderWithParser = {
+  ...PCDLoaderMetadataWithoutPreload,
+  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: async function* (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);
+  },
+  serializeWorkerResult: import_arrow_transport.serializeArrowWorkerTable,
+  deserializeWorkerResult: deserializePCDWorkerResult,
+  serializeWorkerBatch: import_arrow_transport.serializeArrowWorkerTable,
+  deserializeWorkerBatch: deserializePCDWorkerBatch
+};
+function getNumericBatchSize(options) {
+  const batchSize = options?.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_utils.convertMeshToTable)(mesh, "arrow-table");
+  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_utils.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_transport.deserializeArrowWorkerTable)(result);
+  return options?.pcd?.shape === "mesh" ? convertPCDTableToMesh(table, table) : table;
+}
+function deserializePCDWorkerBatch(result, options) {
+  return deserializePCDWorkerResult(result, options);
+}
+// Annotate the CommonJS export names for ESM import in node:
+0 && (module.exports = {
+  PCDLoaderWithParser
+});
+//# sourceMappingURL=pcd-loader.cjs.map

package/dist/pcd-loader.cjs.map

@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["../src/pcd-loader.ts", "../src/pcd/pcd-loader.ts"],
+  "sourcesContent": ["export * from './pcd/pcd-loader.js';\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\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/schema-utils/arrow-transport';\nimport {convertMeshToTable, 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 = convertMeshToTable(mesh, 'arrow-table');\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 PCDLoaderWithParser = {\n  ...PCDLoaderMetadataWithoutPreload,\n  parse: async (arrayBuffer, options) => convertPCDMesh(parsePCD(arrayBuffer, options), options),\n  parseSync: (arrayBuffer, options) => convertPCDMesh(parsePCD(arrayBuffer, options), options),\n  parseInBatches: async function* (\n    arrayBuffer:\n      | AsyncIterable<ArrayBufferLike | ArrayBufferView>\n      | Iterable<ArrayBufferLike | ArrayBufferView>,\n    options\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  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?.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 = convertMeshToTable(mesh, 'arrow-table');\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 ? 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+  "names": ["PCDLoaderMetadata"]
+}

package/dist/pcd-loader.d.ts

@@ -0,0 +1,2 @@
+export * from './pcd/pcd-loader.js';
+//# sourceMappingURL=pcd-loader.d.ts.map

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

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package/dist/pcd-loader.js

@@ -0,0 +1,2 @@
+export * from './pcd/pcd-loader.js';
+//# sourceMappingURL=pcd-loader.js.map

package/dist/pcd-loader.js.map

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