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

Framework-independent loader for the PCD format

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