@loaders.gl/pointclouds 5.0.0-beta.4 → 5.0.0-beta.6

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

@@ -1,7 +1,7 @@
 {
   "version": 3,
   "sources": ["../../src/pcd/pcd-loader.ts"],
-  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n\nimport 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 ? dataLineIndex : lines.length, 0, `POINTS ${pointCount}`);\n  }\n\n  return `${lines.join('\\n')}\\n`;\n}\n\n/** Hydrates worker columns before reconstructing legacy PCD meshes on the caller. */\nfunction deserializePCDWorkerResult(\n  result: unknown,\n  options?: PCDLoaderOptions\n): PCDMesh | MeshArrowTable {\n  const table = deserializeArrowWorkerTable(result);\n  return options?.pcd?.shape === 'mesh' ? convertPCDTableToMesh(table, table) : table;\n}\n\n/** Restores the existing PCD batch shape after caller-side hydration. */\nfunction deserializePCDWorkerBatch(result: unknown, options?: PCDLoaderOptions): PCDParsedBatch {\n  return deserializePCDWorkerResult(result, options) as PCDParsedBatch;\n}\n"],
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+  "sourcesContent": ["// 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/arrow-worker-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 ? dataLineIndex : lines.length, 0, `POINTS ${pointCount}`);\n  }\n\n  return `${lines.join('\\n')}\\n`;\n}\n\n/** Hydrates worker columns before reconstructing legacy PCD meshes on the caller. */\nfunction deserializePCDWorkerResult(\n  result: unknown,\n  options?: PCDLoaderOptions\n): PCDMesh | MeshArrowTable {\n  const table = deserializeArrowWorkerTable(result);\n  return options?.pcd?.shape === 'mesh' ? convertPCDTableToMesh(table, table) : table;\n}\n\n/** Restores the existing PCD batch shape after caller-side hydration. */\nfunction deserializePCDWorkerBatch(result: unknown, options?: PCDLoaderOptions): PCDParsedBatch {\n  return deserializePCDWorkerResult(result, options) as PCDParsedBatch;\n}\n"],
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 }

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

@@ -1,6 +1,6 @@
 import type { PCDLoaderOptions } from "./pcd-loader-types.js";
 import type { ArrowTableBatch, MeshArrowTable } from '@loaders.gl/core/schema';
-import { serializeArrowWorkerTable } from '@loaders.gl/core/schema-utils/arrow-transport';
+import { serializeArrowWorkerTable } from '@loaders.gl/core/arrow-worker-transport';
 import type { PCDMesh } from "./lib/pcd-types.js";
 type PCDParsedBatch = PCDMesh | ArrowTableBatch;
 /**

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

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package/dist/pcd/pcd-loader.js

@@ -2,7 +2,7 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) vis.gl contributors
 import { concatenateArrayBuffersAsync, makeTableScanBatch } from '@loaders.gl/core/loader-utils';
-import { deserializeArrowWorkerTable, serializeArrowWorkerTable } from '@loaders.gl/core/schema-utils/arrow-transport';
+import { deserializeArrowWorkerTable, serializeArrowWorkerTable } from '@loaders.gl/core/arrow-worker-transport';
 import { convertMeshToTable, convertTableToMesh } from '@loaders.gl/core/schema-utils';
 import { parsePCD, parsePCDHeader } from "./lib/parse-pcd.js";
 import { PCDLoader as PCDLoaderMetadata } from "./pcd-loader-types.js";

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

@@ -1 +1 @@
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package/dist/pcd/pcd-writer.cjs

@@ -25,7 +25,7 @@ __export(pcd_writer_exports, {
 module.exports = __toCommonJS(pcd_writer_exports);
 var import_schema_utils = require("@loaders.gl/core/schema-utils");
 var import_pcd_format = require("./pcd-format.cjs");
-var VERSION = true ? "5.0.0-beta.4" : "latest";
+var VERSION = true ? "5.0.0-beta.6" : "latest";
 var PCDWriter = {
   ...import_pcd_format.PCDFormat,
   dataType: null,

package/dist/pcd/pcd-writer.js

@@ -5,7 +5,7 @@ import { convertMeshToTable, convertTableToMesh } from '@loaders.gl/core/schema-
 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.4" !== 'undefined' ? "5.0.0-beta.4" : 'latest';
+const VERSION = typeof "5.0.0-beta.6" !== 'undefined' ? "5.0.0-beta.6" : 'latest';
 /**
  * Writer for the PCD point cloud format.
  */

package/dist/pcd-loader-types.cjs

@@ -37,8 +37,8 @@ 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.4" : "latest";
+var import_arrow_worker_transport = require("@loaders.gl/core/arrow-worker-transport");
+var VERSION = true ? "5.0.0-beta.6" : "latest";
 async function preload() {
   const { PCDLoaderWithParser } = await import("@loaders.gl/pointclouds/pcd-loader");
   return PCDLoaderWithParser;
@@ -51,7 +51,7 @@ var PCDLoader = {
   worker: true,
   /** Enables the stateful input/output batch protocol on the built-in worker. */
   workerInBatches: true,
-  serializeWorkerResult: import_arrow_transport.serializeArrowWorkerTable,
+  serializeWorkerResult: import_arrow_worker_transport.serializeArrowWorkerTable,
   options: {
     pcd: { shape: "arrow-table", colorFormat: "uint8norm" }
   },

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

@@ -1,7 +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"],
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+  "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/arrow-worker-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"],
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   "names": []
 }

package/dist/pcd-loader.cjs

@@ -26,7 +26,7 @@ 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_arrow_worker_transport = require("@loaders.gl/core/arrow-worker-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");
@@ -54,9 +54,9 @@ var PCDLoaderWithParser = {
     }
     yield makePCDBatch((0, import_parse_pcd.parsePCD)(data, options), options);
   },
-  serializeWorkerResult: import_arrow_transport.serializeArrowWorkerTable,
+  serializeWorkerResult: import_arrow_worker_transport.serializeArrowWorkerTable,
   deserializeWorkerResult: deserializePCDWorkerResult,
-  serializeWorkerBatch: import_arrow_transport.serializeArrowWorkerTable,
+  serializeWorkerBatch: import_arrow_worker_transport.serializeArrowWorkerTable,
   deserializeWorkerBatch: deserializePCDWorkerBatch
 };
 function getNumericBatchSize(options) {
@@ -133,7 +133,7 @@ function makePCDHeaderText(pcdHeader, pointCount) {
 `;
 }
 function deserializePCDWorkerResult(result, options) {
-  const table = (0, import_arrow_transport.deserializeArrowWorkerTable)(result);
+  const table = (0, import_arrow_worker_transport.deserializeArrowWorkerTable)(result);
   return options?.pcd?.shape === "mesh" ? convertPCDTableToMesh(table, table) : table;
 }
 function deserializePCDWorkerBatch(result, options) {

package/dist/pcd-loader.cjs.map

@@ -1,7 +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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+  "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/arrow-worker-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"]
 }