@loaders.gl/pcd/dist/index.cjs.map

Framework-independent loader for the PCD format

{
  "version": 3,
  "sources": ["index.js", "lib/parse-pcd.js", "lib/decompress-lzf.js", "lib/get-pcd-schema.js", "pcd-loader.js"],
  "sourcesContent": ["// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright vis.gl contributors\nimport parsePCDSync from \"./lib/parse-pcd.js\";\nimport { PCDLoader as PCDWorkerLoader } from \"./pcd-loader.js\";\nexport { PCDWorkerLoader };\n/**\n * Loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n    ...PCDWorkerLoader,\n    parse: async (arrayBuffer) => parsePCDSync(arrayBuffer),\n    parseSync: parsePCDSync\n};\n", "// PCD Loader, adapted from THREE.js (MIT license)\n// Description: A loader for PCD ascii and binary files.\n// Limitations: Compressed binary files are not supported.\n//\n// Attributions per original THREE.js source file:\n// @author Filipe Caixeta / http://filipecaixeta.com.br\n// @author Mugen87 / https://github.com/Mugen87\nimport { getMeshBoundingBox } from '@loaders.gl/schema';\nimport { decompressLZF } from \"./decompress-lzf.js\";\nimport { getPCDSchema } from \"./get-pcd-schema.js\";\nconst LITTLE_ENDIAN = true;\n/**\n *\n * @param data\n * @returns\n */\nexport default function parsePCD(data) {\n    // parse header (always ascii format)\n    const textData = new TextDecoder().decode(data);\n    const pcdHeader = parsePCDHeader(textData);\n    let attributes = {};\n    // parse data\n    switch (pcdHeader.data) {\n        case 'ascii':\n            attributes = parsePCDASCII(pcdHeader, textData);\n            break;\n        case 'binary':\n            attributes = parsePCDBinary(pcdHeader, data);\n            break;\n        case 'binary_compressed':\n            attributes = parsePCDBinaryCompressed(pcdHeader, data);\n            break;\n        default:\n            throw new Error(`PCD: ${pcdHeader.data} files are not supported`);\n    }\n    attributes = getMeshAttributes(attributes);\n    const header = getMeshHeader(pcdHeader, attributes);\n    const metadata = Object.fromEntries([\n        ['mode', '0'],\n        ['boundingBox', JSON.stringify(header.boundingBox)]\n    ]);\n    const schema = getPCDSchema(pcdHeader, metadata);\n    return {\n        loader: 'pcd',\n        loaderData: pcdHeader,\n        header,\n        schema,\n        mode: 0, // POINTS\n        topology: 'point-list',\n        attributes\n    };\n}\n// Create a header that contains common data for PointCloud category loaders\nfunction getMeshHeader(pcdHeader, attributes) {\n    if (typeof pcdHeader.width === 'number' && typeof pcdHeader.height === 'number') {\n        const pointCount = pcdHeader.width * pcdHeader.height; // Supports \"organized\" point sets\n        return {\n            vertexCount: pointCount,\n            boundingBox: getMeshBoundingBox(attributes)\n        };\n    }\n    return {\n        vertexCount: pcdHeader.vertexCount,\n        boundingBox: pcdHeader.boundingBox\n    };\n}\n/**\n * @param attributes\n * @returns Normalized attributes\n */\nfunction getMeshAttributes(attributes) {\n    const normalizedAttributes = {\n        POSITION: {\n            // Binary PCD is only 32 bit\n            value: new Float32Array(attributes.position),\n            size: 3\n        }\n    };\n    if (attributes.normal && attributes.normal.length > 0) {\n        normalizedAttributes.NORMAL = {\n            value: new Float32Array(attributes.normal),\n            size: 3\n        };\n    }\n    if (attributes.color && attributes.color.length > 0) {\n        // TODO - RGBA\n        normalizedAttributes.COLOR_0 = {\n            value: new Uint8Array(attributes.color),\n            size: 3\n        };\n    }\n    if (attributes.intensity && attributes.intensity.length > 0) {\n        // TODO - RGBA\n        normalizedAttributes.COLOR_0 = {\n            value: new Uint8Array(attributes.color),\n            size: 3\n        };\n    }\n    if (attributes.label && attributes.label.length > 0) {\n        // TODO - RGBA\n        normalizedAttributes.COLOR_0 = {\n            value: new Uint8Array(attributes.label),\n            size: 3\n        };\n    }\n    return normalizedAttributes;\n}\n/**\n * Incoming data parsing\n * @param data\n * @returns Header\n */\n/* eslint-disable complexity, max-statements */\nfunction parsePCDHeader(data) {\n    const result1 = data.search(/[\\r\\n]DATA\\s(\\S*)\\s/i);\n    const result2 = /[\\r\\n]DATA\\s(\\S*)\\s/i.exec(data.substr(result1 - 1));\n    const pcdHeader = {};\n    pcdHeader.data = result2 && result2[1];\n    if (result2 !== null) {\n        pcdHeader.headerLen = (result2 && result2[0].length) + result1;\n    }\n    pcdHeader.str = data.substr(0, pcdHeader.headerLen);\n    // remove comments\n    pcdHeader.str = pcdHeader.str.replace(/\\#.*/gi, '');\n    // parse\n    pcdHeader.version = /VERSION (.*)/i.exec(pcdHeader.str);\n    pcdHeader.fields = /FIELDS (.*)/i.exec(pcdHeader.str);\n    pcdHeader.size = /SIZE (.*)/i.exec(pcdHeader.str);\n    pcdHeader.type = /TYPE (.*)/i.exec(pcdHeader.str);\n    pcdHeader.count = /COUNT (.*)/i.exec(pcdHeader.str);\n    pcdHeader.width = /WIDTH (.*)/i.exec(pcdHeader.str);\n    pcdHeader.height = /HEIGHT (.*)/i.exec(pcdHeader.str);\n    pcdHeader.viewpoint = /VIEWPOINT (.*)/i.exec(pcdHeader.str);\n    pcdHeader.points = /POINTS (.*)/i.exec(pcdHeader.str);\n    // evaluate\n    if (pcdHeader.version !== null) {\n        pcdHeader.version = parseFloat(pcdHeader.version[1]);\n    }\n    if (pcdHeader.fields !== null) {\n        pcdHeader.fields = pcdHeader.fields[1].split(' ');\n    }\n    if (pcdHeader.type !== null) {\n        pcdHeader.type = pcdHeader.type[1].split(' ');\n    }\n    if (pcdHeader.width !== null) {\n        pcdHeader.width = parseInt(pcdHeader.width[1], 10);\n    }\n    if (pcdHeader.height !== null) {\n        pcdHeader.height = parseInt(pcdHeader.height[1], 10);\n    }\n    if (pcdHeader.viewpoint !== null) {\n        pcdHeader.viewpoint = pcdHeader.viewpoint[1];\n    }\n    if (pcdHeader.points !== null) {\n        pcdHeader.points = parseInt(pcdHeader.points[1], 10);\n    }\n    if (pcdHeader.points === null &&\n        typeof pcdHeader.width === 'number' &&\n        typeof pcdHeader.height === 'number') {\n        pcdHeader.points = pcdHeader.width * pcdHeader.height;\n    }\n    if (pcdHeader.size !== null) {\n        pcdHeader.size = pcdHeader.size[1].split(' ').map((x) => parseInt(x, 10));\n    }\n    if (pcdHeader.count !== null) {\n        pcdHeader.count = pcdHeader.count[1].split(' ').map((x) => parseInt(x, 10));\n    }\n    else {\n        pcdHeader.count = [];\n        if (pcdHeader.fields !== null) {\n            for (let i = 0; i < pcdHeader.fields.length; i++) {\n                pcdHeader.count.push(1);\n            }\n        }\n    }\n    pcdHeader.offset = {};\n    let sizeSum = 0;\n    if (pcdHeader.fields !== null && pcdHeader.size !== null) {\n        for (let i = 0; i < pcdHeader.fields.length; i++) {\n            if (pcdHeader.data === 'ascii') {\n                pcdHeader.offset[pcdHeader.fields[i]] = i;\n            }\n            else {\n                pcdHeader.offset[pcdHeader.fields[i]] = sizeSum;\n                sizeSum += pcdHeader.size[i];\n            }\n        }\n    }\n    // for binary only\n    pcdHeader.rowSize = sizeSum;\n    return pcdHeader;\n}\n/**\n * @param pcdHeader\n * @param textData\n * @returns [attributes]\n */\n// eslint-enable-next-line complexity, max-statements\nfunction parsePCDASCII(pcdHeader, textData) {\n    const position = [];\n    const normal = [];\n    const color = [];\n    const intensity = [];\n    const label = [];\n    const offset = pcdHeader.offset;\n    const pcdData = textData.substr(pcdHeader.headerLen);\n    const lines = pcdData.split('\\n');\n    for (let i = 0; i < lines.length; i++) {\n        if (lines[i] !== '') {\n            const line = lines[i].split(' ');\n            if (offset.x !== undefined) {\n                position.push(parseFloat(line[offset.x]));\n                position.push(parseFloat(line[offset.y]));\n                position.push(parseFloat(line[offset.z]));\n            }\n            if (offset.rgb !== undefined) {\n                const floatValue = parseFloat(line[offset.rgb]);\n                const binaryColor = new Float32Array([floatValue]);\n                const dataview = new DataView(binaryColor.buffer, 0);\n                color.push(dataview.getUint8(0));\n                color.push(dataview.getUint8(1));\n                color.push(dataview.getUint8(2));\n                // TODO - handle alpha channel / RGBA?\n            }\n            if (offset.normal_x !== undefined) {\n                normal.push(parseFloat(line[offset.normal_x]));\n                normal.push(parseFloat(line[offset.normal_y]));\n                normal.push(parseFloat(line[offset.normal_z]));\n            }\n            if (offset.intensity !== undefined) {\n                intensity.push(parseFloat(line[offset.intensity]));\n            }\n            if (offset.label !== undefined) {\n                label.push(parseInt(line[offset.label]));\n            }\n        }\n    }\n    return { position, normal, color };\n}\n/**\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\nfunction parsePCDBinary(pcdHeader, data) {\n    const position = [];\n    const normal = [];\n    const color = [];\n    const intensity = [];\n    const label = [];\n    const dataview = new DataView(data, pcdHeader.headerLen);\n    const offset = pcdHeader.offset;\n    for (let i = 0, row = 0; i < pcdHeader.points; i++, row += pcdHeader.rowSize) {\n        if (offset.x !== undefined) {\n            position.push(dataview.getFloat32(row + offset.x, LITTLE_ENDIAN));\n            position.push(dataview.getFloat32(row + offset.y, LITTLE_ENDIAN));\n            position.push(dataview.getFloat32(row + offset.z, LITTLE_ENDIAN));\n        }\n        if (offset.rgb !== undefined) {\n            color.push(dataview.getUint8(row + offset.rgb + 0));\n            color.push(dataview.getUint8(row + offset.rgb + 1));\n            color.push(dataview.getUint8(row + offset.rgb + 2));\n        }\n        if (offset.normal_x !== undefined) {\n            normal.push(dataview.getFloat32(row + offset.normal_x, LITTLE_ENDIAN));\n            normal.push(dataview.getFloat32(row + offset.normal_y, LITTLE_ENDIAN));\n            normal.push(dataview.getFloat32(row + offset.normal_z, LITTLE_ENDIAN));\n        }\n        if (offset.intensity !== undefined) {\n            intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));\n        }\n        if (offset.label !== undefined) {\n            label.push(dataview.getInt32(row + offset.label, LITTLE_ENDIAN));\n        }\n    }\n    return { position, normal, color, intensity, label };\n}\n/** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)\n * from https://github.com/mrdoob/three.js/blob/master/examples/jsm/loaders/PCDLoader.js\n * @license MIT (http://opensource.org/licenses/MIT)\n * @param pcdHeader\n * @param data\n * @returns [attributes]\n */\n// eslint-enable-next-line complexity, max-statements\nfunction parsePCDBinaryCompressed(pcdHeader, data) {\n    const position = [];\n    const normal = [];\n    const color = [];\n    const intensity = [];\n    const label = [];\n    const sizes = new Uint32Array(data.slice(pcdHeader.headerLen, pcdHeader.headerLen + 8));\n    const compressedSize = sizes[0];\n    const decompressedSize = sizes[1];\n    const decompressed = decompressLZF(new Uint8Array(data, pcdHeader.headerLen + 8, compressedSize), decompressedSize);\n    const dataview = new DataView(decompressed.buffer);\n    const offset = pcdHeader.offset;\n    for (let i = 0; i < pcdHeader.points; i++) {\n        if (offset.x !== undefined) {\n            position.push(dataview.getFloat32(pcdHeader.points * offset.x + pcdHeader.size[0] * i, LITTLE_ENDIAN));\n            position.push(dataview.getFloat32(pcdHeader.points * offset.y + pcdHeader.size[1] * i, LITTLE_ENDIAN));\n            position.push(dataview.getFloat32(pcdHeader.points * offset.z + pcdHeader.size[2] * i, LITTLE_ENDIAN));\n        }\n        if (offset.rgb !== undefined) {\n            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 0) / 255.0);\n            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 1) / 255.0);\n            color.push(dataview.getUint8(pcdHeader.points * offset.rgb + pcdHeader.size[3] * i + 2) / 255.0);\n        }\n        if (offset.normal_x !== undefined) {\n            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_x + pcdHeader.size[4] * i, LITTLE_ENDIAN));\n            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_y + pcdHeader.size[5] * i, LITTLE_ENDIAN));\n            normal.push(dataview.getFloat32(pcdHeader.points * offset.normal_z + pcdHeader.size[6] * i, LITTLE_ENDIAN));\n        }\n        if (offset.intensity !== undefined) {\n            const intensityIndex = pcdHeader.fields.indexOf('intensity');\n            intensity.push(dataview.getFloat32(pcdHeader.points * offset.intensity + pcdHeader.size[intensityIndex] * i, LITTLE_ENDIAN));\n        }\n        if (offset.label !== undefined) {\n            const labelIndex = pcdHeader.fields.indexOf('label');\n            label.push(dataview.getInt32(pcdHeader.points * offset.label + pcdHeader.size[labelIndex] * i, LITTLE_ENDIAN));\n        }\n    }\n    return {\n        position,\n        normal,\n        color,\n        intensity,\n        label\n    };\n}\n", "/* eslint-disable */\n/**\n * from https://gitlab.com/taketwo/three-pcd-loader/blob/master/decompress-lzf.js\n * @param inData\n * @param outLength\n * @returns\n */\nexport function decompressLZF(inData, outLength) {\n    const inLength = inData.length;\n    const outData = new Uint8Array(outLength);\n    let inPtr = 0;\n    let outPtr = 0;\n    let ctrl;\n    let len;\n    let ref;\n    do {\n        ctrl = inData[inPtr++];\n        if (ctrl < 1 << 5) {\n            ctrl++;\n            if (outPtr + ctrl > outLength) {\n                throw new Error('Output buffer is not large enough');\n            }\n            if (inPtr + ctrl > inLength) {\n                throw new Error('Invalid compressed data');\n            }\n            do {\n                outData[outPtr++] = inData[inPtr++];\n            } while (--ctrl);\n        }\n        else {\n            len = ctrl >> 5;\n            ref = outPtr - ((ctrl & 0x1f) << 8) - 1;\n            if (inPtr >= inLength) {\n                throw new Error('Invalid compressed data');\n            }\n            if (len === 7) {\n                len += inData[inPtr++];\n                if (inPtr >= inLength) {\n                    throw new Error('Invalid compressed data');\n                }\n            }\n            ref -= inData[inPtr++];\n            if (outPtr + len + 2 > outLength) {\n                throw new Error('Output buffer is not large enough');\n            }\n            if (ref < 0) {\n                throw new Error('Invalid compressed data');\n            }\n            if (ref >= outPtr) {\n                throw new Error('Invalid compressed data');\n            }\n            do {\n                outData[outPtr++] = outData[ref++];\n            } while (--len + 2);\n        }\n    } while (inPtr < inLength);\n    return outData;\n}\n", "/**\n * Gets schema from PCD header\n * @param PCDheader\n * @param metadata\n * @returns Schema\n */\nexport function getPCDSchema(PCDheader, metadata) {\n    const offset = PCDheader.offset;\n    const fields = [];\n    if (offset.x !== undefined) {\n        fields.push({\n            name: 'POSITION',\n            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }\n        });\n    }\n    if (offset.normal_x !== undefined) {\n        fields.push({\n            name: 'NORMAL',\n            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'xyz', type: 'float32' }] }\n        });\n    }\n    if (offset.rgb !== undefined) {\n        fields.push({\n            name: 'COLOR_0',\n            type: { type: 'fixed-size-list', listSize: 3, children: [{ name: 'rgb', type: 'uint8' }] }\n        });\n    }\n    return { fields, metadata };\n}\n", "// loaders.gl\n// SPDX-License-Identifier: MIT\n// Copyright (c) vis.gl contributors\n// __VERSION__ is injected by babel-plugin-version-inline\n// @ts-ignore TS2304: Cannot find name '__VERSION__'.\nconst VERSION = typeof \"4.3.3\" !== 'undefined' ? \"4.3.3\" : 'latest';\n/**\n * Worker loader for PCD - Point Cloud Data\n */\nexport const PCDLoader = {\n    dataType: null,\n    batchType: null,\n    name: 'PCD (Point Cloud Data)',\n    id: 'pcd',\n    module: 'pcd',\n    version: VERSION,\n    worker: true,\n    extensions: ['pcd'],\n    mimeTypes: ['text/plain'],\n    options: {\n        pcd: {}\n    }\n};\n"],
  "mappings": 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}