@ptloader/pcd - npm Package Compare versions

Comparing version 3.3.24 to 3.3.26

dist/dist.min.js

@@ -561,8 +561,7 @@ (() => {
     if (offset.x !== void 0) {
-      if (offset.intersity !== void 0) {
-        fields.push(new Field("POSITION", new FixedSizeList(4, new Field("xyzi", new Float32())), false));
-      } else {
-        fields.push(new Field("POSITION", new FixedSizeList(3, new Field("xyz", new Float32())), false));
-      }
+      fields.push(new Field("POSITION", new FixedSizeList(3, new Field("xyz", new Float32())), false));
     }
+    if (offset.intensity !== void 0) {
+      fields.push(new Field("INTENSITY", new FixedSizeList(1, new Field("intensity", new Float32())), false));
+    }
     if (offset.normal_x !== void 0) {
@@ -647,2 +646,8 @@ fields.push(new Field("NORMAL", new FixedSizeList(3, new Field("xyz", new Float32())), false));
     }
+    if (attributes.intensity && attributes.intensity.length > 0) {
+      normalizedAttributes.INTENSITY = {
+        value: new Float32Array(attributes.intensity),
+        size: 1
+      };
+    }
     return normalizedAttributes;
@@ -725,2 +730,3 @@ }
     const color = [];
+    const intensity = [];
     const offset = pcdHeader.offset;
@@ -737,4 +743,9 @@ const pcdData = textData.substr(pcdHeader.headerLen);
         }
-        if (offset.intersity !== void 0) {
-          position.push(parseFloat(line[offset.intersity]));
+        if (offset.intensity !== void 0) {
+          if (pcdHeader.type[3] === "F") {
+            intensity.push(parseFloat(line[offset.intensity]));
+          }
+          if (pcdHeader.type[3] === "U") {
+            intensity.push(parseInt(line[offset.intensity]));
+          }
         }
@@ -756,3 +767,3 @@ if (offset.rgb !== void 0) {
     }
-    return { position, normal, color };
+    return { position, intensity, normal, color };
   }
@@ -763,2 +774,3 @@ function parsePCDBinary(pcdHeader, data) {
     const color = [];
+    const intensity = [];
     const dataview = new DataView(data, pcdHeader.headerLen);
@@ -772,4 +784,9 @@ const offset = pcdHeader.offset;
       }
-      if (offset.intersity !== void 0) {
-        dataview.getFloat32(row + offset.intersity, LITTLE_ENDIAN);
+      if (offset.intensity !== void 0) {
+        if (pcdHeader.type[3] === "F") {
+          intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+        }
+        if (pcdHeader.type[3] === "U") {
+          intensity.push(dataview.getUint32(row + offset.intensity, LITTLE_ENDIAN));
+        }
       }
@@ -787,3 +804,3 @@ if (offset.rgb !== void 0) {
     }
-    return { position, normal, color };
+    return { position, intensity, normal, color };
   }
@@ -794,2 +811,3 @@ function parsePCDBinaryCompressed(PCDheader, data) {
     const color = [];
+    const intensity = [];
     const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
@@ -807,4 +825,9 @@ const compressedSize = sizes[0];
       }
-      if (offset.intersity !== void 0) {
-        position.push(dataview.getFloat32(PCDheader.points * offset.intersity + PCDheader.size[2] * i, LITTLE_ENDIAN));
+      if (offset.intensity !== void 0) {
+        if (PCDheader.type[3] === "F") {
+          intensity.push(dataview.getFloat32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+        }
+        if (PCDheader.type[3] === "U") {
+          intensity.push(dataview.getUint32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+        }
       }
@@ -824,2 +847,3 @@ if (offset.rgb !== void 0) {
       position,
+      intensity,
       normal,
@@ -826,0 +850,0 @@ color

dist/es5/lib/get-pcd-schema.js

@@ -12,8 +12,7 @@ "use strict";
   if (offset.x !== undefined) {
-    if (offset.intersity !== undefined) {
-      fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(4, new _schema.Field('xyzi', new _schema.Float32())), false));
-    } else {
-      fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));
-    }
+    fields.push(new _schema.Field('POSITION', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));
   }
+  if (offset.intensity !== undefined) {
+    fields.push(new _schema.Field('INTENSITY', new _schema.FixedSizeList(1, new _schema.Field('intensity', new _schema.Float32())), false));
+  }
   if (offset.normal_x !== undefined) {
@@ -20,0 +19,0 @@ fields.push(new _schema.Field('NORMAL', new _schema.FixedSizeList(3, new _schema.Field('xyz', new _schema.Float32())), false));

dist/es5/lib/parse-pcd.js

@@ -72,2 +72,8 @@ "use strict";
   }
+  if (attributes.intensity && attributes.intensity.length > 0) {
+    normalizedAttributes.INTENSITY = {
+      value: new Float32Array(attributes.intensity),
+      size: 1
+    };
+  }
   return normalizedAttributes;
@@ -154,2 +160,3 @@ }
   var color = [];
+  var intensity = [];
   var offset = pcdHeader.offset;
@@ -166,4 +173,9 @@ var pcdData = textData.substr(pcdHeader.headerLen);
       }
-      if (offset.intersity !== undefined) {
-        position.push(parseFloat(line[offset.intersity]));
+      if (offset.intensity !== undefined) {
+        if (pcdHeader.type[3] === 'F') {
+          intensity.push(parseFloat(line[offset.intensity]));
+        }
+        if (pcdHeader.type[3] === 'U') {
+          intensity.push(parseInt(line[offset.intensity]));
+        }
       }
@@ -187,2 +199,3 @@ if (offset.rgb !== undefined) {
     position: position,
+    intensity: intensity,
     normal: normal,
@@ -196,2 +209,3 @@ color: color
   var color = [];
+  var intensity = [];
   var dataview = new DataView(data, pcdHeader.headerLen);
@@ -205,4 +219,9 @@ var offset = pcdHeader.offset;
     }
-    if (offset.intersity !== undefined) {
-      dataview.getFloat32(row + offset.intersity, LITTLE_ENDIAN);
+    if (offset.intensity !== undefined) {
+      if (pcdHeader.type[3] === 'F') {
+        intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+      }
+      if (pcdHeader.type[3] === 'U') {
+        intensity.push(dataview.getUint32(row + offset.intensity, LITTLE_ENDIAN));
+      }
     }
@@ -222,2 +241,3 @@ if (offset.rgb !== undefined) {
     position: position,
+    intensity: intensity,
     normal: normal,
@@ -239,2 +259,3 @@ color: color
   var color = [];
+  var intensity = [];
   var sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
@@ -252,4 +273,9 @@ var compressedSize = sizes[0];
     }
-    if (offset.intersity !== undefined) {
-      position.push(dataview.getFloat32(PCDheader.points * offset.intersity + PCDheader.size[2] * i, LITTLE_ENDIAN));
+    if (offset.intensity !== undefined) {
+      if (PCDheader.type[3] === 'F') {
+        intensity.push(dataview.getFloat32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+      }
+      if (PCDheader.type[3] === 'U') {
+        intensity.push(dataview.getUint32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+      }
     }
@@ -269,2 +295,3 @@ if (offset.rgb !== undefined) {
     position: position,
+    intensity: intensity,
     normal: normal,
@@ -271,0 +298,0 @@ color: color

dist/es5/pcd-loader.js

@@ -7,3 +7,3 @@ "use strict";
 exports._typecheckPCDLoader = exports.PCDLoader = void 0;
-var VERSION = typeof "3.3.24" !== 'undefined' ? "3.3.24" : 'latest';
+var VERSION = typeof "3.3.26" !== 'undefined' ? "3.3.26" : 'latest';
 var PCDLoader = {
@@ -10,0 +10,0 @@ name: 'PCD (Point Cloud Data)',

dist/esm/lib/get-pcd-schema.js

@@ -6,8 +6,7 @@ import { Schema, Field, Float32, Uint8, FixedSizeList } from '@ptloader/schema';
   if (offset.x !== undefined) {
-    if (offset.intersity !== undefined) {
-      fields.push(new Field('POSITION', new FixedSizeList(4, new Field('xyzi', new Float32())), false));
-    } else {
-      fields.push(new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false));
-    }
+    fields.push(new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false));
   }
+  if (offset.intensity !== undefined) {
+    fields.push(new Field('INTENSITY', new FixedSizeList(1, new Field('intensity', new Float32())), false));
+  }
   if (offset.normal_x !== undefined) {
@@ -14,0 +13,0 @@ fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));

dist/esm/lib/parse-pcd.js

@@ -66,2 +66,8 @@ import { getMeshBoundingBox } from '@ptloader/schema';
   }
+  if (attributes.intensity && attributes.intensity.length > 0) {
+    normalizedAttributes.INTENSITY = {
+      value: new Float32Array(attributes.intensity),
+      size: 1
+    };
+  }
   return normalizedAttributes;
@@ -144,2 +150,3 @@ }
   const color = [];
+  const intensity = [];
   const offset = pcdHeader.offset;
@@ -156,4 +163,9 @@ const pcdData = textData.substr(pcdHeader.headerLen);
       }
-      if (offset.intersity !== undefined) {
-        position.push(parseFloat(line[offset.intersity]));
+      if (offset.intensity !== undefined) {
+        if (pcdHeader.type[3] === 'F') {
+          intensity.push(parseFloat(line[offset.intensity]));
+        }
+        if (pcdHeader.type[3] === 'U') {
+          intensity.push(parseInt(line[offset.intensity]));
+        }
       }
@@ -177,2 +189,3 @@ if (offset.rgb !== undefined) {
     position,
+    intensity,
     normal,
@@ -186,2 +199,3 @@ color
   const color = [];
+  const intensity = [];
   const dataview = new DataView(data, pcdHeader.headerLen);
@@ -195,4 +209,9 @@ const offset = pcdHeader.offset;
     }
-    if (offset.intersity !== undefined) {
-      dataview.getFloat32(row + offset.intersity, LITTLE_ENDIAN);
+    if (offset.intensity !== undefined) {
+      if (pcdHeader.type[3] === 'F') {
+        intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+      }
+      if (pcdHeader.type[3] === 'U') {
+        intensity.push(dataview.getUint32(row + offset.intensity, LITTLE_ENDIAN));
+      }
     }
@@ -212,2 +231,3 @@ if (offset.rgb !== undefined) {
     position,
+    intensity,
     normal,
@@ -229,2 +249,3 @@ color
   const color = [];
+  const intensity = [];
   const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
@@ -242,4 +263,9 @@ const compressedSize = sizes[0];
     }
-    if (offset.intersity !== undefined) {
-      position.push(dataview.getFloat32(PCDheader.points * offset.intersity + PCDheader.size[2] * i, LITTLE_ENDIAN));
+    if (offset.intensity !== undefined) {
+      if (PCDheader.type[3] === 'F') {
+        intensity.push(dataview.getFloat32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+      }
+      if (PCDheader.type[3] === 'U') {
+        intensity.push(dataview.getUint32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+      }
     }
@@ -259,2 +285,3 @@ if (offset.rgb !== undefined) {
     position,
+    intensity,
     normal,
@@ -261,0 +288,0 @@ color

dist/esm/pcd-loader.js

@@ -1,2 +0,2 @@
-const VERSION = typeof "3.3.24" !== 'undefined' ? "3.3.24" : 'latest';
+const VERSION = typeof "3.3.26" !== 'undefined' ? "3.3.26" : 'latest';
 export const PCDLoader = {
@@ -3,0 +3,0 @@ name: 'PCD (Point Cloud Data)',

dist/lib/get-pcd-schema.js

@@ -15,9 +15,7 @@ "use strict";
     if (offset.x !== undefined) {
-        if (offset.intersity !== undefined) {
-            fields.push(new schema_1.Field('POSITION', new schema_1.FixedSizeList(4, new schema_1.Field('xyzi', new schema_1.Float32())), false));
-        }
-        else {
-            fields.push(new schema_1.Field('POSITION', new schema_1.FixedSizeList(3, new schema_1.Field('xyz', new schema_1.Float32())), false));
-        }
+        fields.push(new schema_1.Field('POSITION', new schema_1.FixedSizeList(3, new schema_1.Field('xyz', new schema_1.Float32())), false));
     }
+    if (offset.intensity !== undefined) {
+        fields.push(new schema_1.Field('INTENSITY', new schema_1.FixedSizeList(1, new schema_1.Field('intensity', new schema_1.Float32())), false));
+    }
     if (offset.normal_x !== undefined) {
@@ -24,0 +22,0 @@ fields.push(new schema_1.Field('NORMAL', new schema_1.FixedSizeList(3, new schema_1.Field('xyz', new schema_1.Float32())), false));

dist/lib/parse-pcd.js

@@ -93,2 +93,8 @@ "use strict";
     }
+    if (attributes.intensity && attributes.intensity.length > 0) {
+        normalizedAttributes.INTENSITY = {
+            value: new Float32Array(attributes.intensity),
+            size: 1
+        };
+    }
     return normalizedAttributes;
@@ -192,2 +198,3 @@ }
     const color = [];
+    const intensity = [];
     const offset = pcdHeader.offset;
@@ -204,4 +211,9 @@ const pcdData = textData.substr(pcdHeader.headerLen);
             }
-            if (offset.intersity !== undefined) {
-                position.push(parseFloat(line[offset.intersity]));
+            if (offset.intensity !== undefined) {
+                if (pcdHeader.type[3] === 'F') {
+                    intensity.push(parseFloat(line[offset.intensity]));
+                }
+                if (pcdHeader.type[3] === 'U') {
+                    intensity.push(parseInt(line[offset.intensity]));
+                }
             }
@@ -224,3 +236,3 @@ if (offset.rgb !== undefined) {
     }
-    return { position, normal, color };
+    return { position, intensity, normal, color };
 }
@@ -236,2 +248,3 @@ /**
     const color = [];
+    const intensity = [];
     const dataview = new DataView(data, pcdHeader.headerLen);
@@ -245,4 +258,9 @@ const offset = pcdHeader.offset;
         }
-        if (offset.intersity !== undefined) {
-            dataview.getFloat32(row + offset.intersity, LITTLE_ENDIAN);
+        if (offset.intensity !== undefined) {
+            if (pcdHeader.type[3] === 'F') {
+                intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+            }
+            if (pcdHeader.type[3] === 'U') {
+                intensity.push(dataview.getUint32(row + offset.intensity, LITTLE_ENDIAN));
+            }
         }
@@ -260,3 +278,3 @@ if (offset.rgb !== undefined) {
     }
-    return { position, normal, color };
+    return { position, intensity, normal, color };
 }
@@ -270,2 +288,3 @@ /** Parse compressed PCD data in in binary_compressed form ( https://pointclouds.org/documentation/tutorials/pcd_file_format.html)
  */
+// eslint-disable-next-line max-statements
 function parsePCDBinaryCompressed(PCDheader, data) {
@@ -275,2 +294,3 @@ const position = [];
     const color = [];
+    const intensity = [];
     const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
@@ -288,4 +308,9 @@ const compressedSize = sizes[0];
         }
-        if (offset.intersity !== undefined) {
-            position.push(dataview.getFloat32(PCDheader.points * offset.intersity + PCDheader.size[2] * i, LITTLE_ENDIAN));
+        if (offset.intensity !== undefined) {
+            if (PCDheader.type[3] === 'F') {
+                intensity.push(dataview.getFloat32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+            }
+            if (PCDheader.type[3] === 'U') {
+                intensity.push(dataview.getUint32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+            }
         }
@@ -305,2 +330,3 @@ if (offset.rgb !== undefined) {
         position,
+        intensity,
         normal,
@@ -307,0 +333,0 @@ color

dist/pcd-worker.js

@@ -701,8 +701,7 @@ (() => {
     if (offset.x !== void 0) {
-      if (offset.intersity !== void 0) {
-        fields.push(new Field("POSITION", new FixedSizeList(4, new Field("xyzi", new Float32())), false));
-      } else {
-        fields.push(new Field("POSITION", new FixedSizeList(3, new Field("xyz", new Float32())), false));
-      }
+      fields.push(new Field("POSITION", new FixedSizeList(3, new Field("xyz", new Float32())), false));
     }
+    if (offset.intensity !== void 0) {
+      fields.push(new Field("INTENSITY", new FixedSizeList(1, new Field("intensity", new Float32())), false));
+    }
     if (offset.normal_x !== void 0) {
@@ -783,2 +782,8 @@ fields.push(new Field("NORMAL", new FixedSizeList(3, new Field("xyz", new Float32())), false));
     }
+    if (attributes.intensity && attributes.intensity.length > 0) {
+      normalizedAttributes.INTENSITY = {
+        value: new Float32Array(attributes.intensity),
+        size: 1
+      };
+    }
     return normalizedAttributes;
@@ -861,2 +866,3 @@ }
     const color = [];
+    const intensity = [];
     const offset = pcdHeader.offset;
@@ -873,4 +879,9 @@ const pcdData = textData.substr(pcdHeader.headerLen);
         }
-        if (offset.intersity !== void 0) {
-          position.push(parseFloat(line[offset.intersity]));
+        if (offset.intensity !== void 0) {
+          if (pcdHeader.type[3] === "F") {
+            intensity.push(parseFloat(line[offset.intensity]));
+          }
+          if (pcdHeader.type[3] === "U") {
+            intensity.push(parseInt(line[offset.intensity]));
+          }
         }
@@ -892,3 +903,3 @@ if (offset.rgb !== void 0) {
     }
-    return { position, normal, color };
+    return { position, intensity, normal, color };
   }
@@ -899,2 +910,3 @@ function parsePCDBinary(pcdHeader, data) {
     const color = [];
+    const intensity = [];
     const dataview = new DataView(data, pcdHeader.headerLen);
@@ -908,4 +920,9 @@ const offset = pcdHeader.offset;
       }
-      if (offset.intersity !== void 0) {
-        dataview.getFloat32(row + offset.intersity, LITTLE_ENDIAN);
+      if (offset.intensity !== void 0) {
+        if (pcdHeader.type[3] === "F") {
+          intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+        }
+        if (pcdHeader.type[3] === "U") {
+          intensity.push(dataview.getUint32(row + offset.intensity, LITTLE_ENDIAN));
+        }
       }
@@ -923,3 +940,3 @@ if (offset.rgb !== void 0) {
     }
-    return { position, normal, color };
+    return { position, intensity, normal, color };
   }
@@ -930,2 +947,3 @@ function parsePCDBinaryCompressed(PCDheader, data) {
     const color = [];
+    const intensity = [];
     const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
@@ -943,4 +961,9 @@ const compressedSize = sizes[0];
       }
-      if (offset.intersity !== void 0) {
-        position.push(dataview.getFloat32(PCDheader.points * offset.intersity + PCDheader.size[2] * i, LITTLE_ENDIAN));
+      if (offset.intensity !== void 0) {
+        if (PCDheader.type[3] === "F") {
+          intensity.push(dataview.getFloat32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+        }
+        if (PCDheader.type[3] === "U") {
+          intensity.push(dataview.getUint32(PCDheader.points * offset.intensity + PCDheader.size[3] * i, LITTLE_ENDIAN));
+        }
       }
@@ -960,2 +983,3 @@ if (offset.rgb !== void 0) {
       position,
+      intensity,
       normal,
@@ -967,3 +991,3 @@ color
   // src/pcd-loader.ts
-  var VERSION = true ? "3.3.24" : "latest";
+  var VERSION = true ? "3.3.26" : "latest";
   var PCDLoader = {
@@ -970,0 +994,0 @@ name: "PCD (Point Cloud Data)",

package.json

 {
   "name": "@ptloader/pcd",
-  "version": "3.3.24",
+  "version": "3.3.26",
   "description": "Framework-independent loader for the PCD format",
@@ -36,6 +36,6 @@ "license": "MIT",
   "dependencies": {
-    "@ptloader/loader-utils": "3.3.24",
-    "@ptloader/schema": "3.3.24"
+    "@ptloader/loader-utils": "3.3.26",
+    "@ptloader/schema": "3.3.26"
   },
-  "gitHead": "9e30455abfb5961ac76568178b1cdcde2e420abb"
+  "gitHead": "b76d9d795edef0fc909391176d9f320498bd2a80"
 }

src/lib/get-pcd-schema.ts

@@ -18,13 +18,13 @@ import {Schema, Field, Float32, Uint8, FixedSizeList} from '@ptloader/schema';
   if (offset.x !== undefined) {
-    if (offset.intersity !== undefined) {
-      fields.push(
-        new Field('POSITION', new FixedSizeList(4, new Field('xyzi', new Float32())), false)
-      );
-    } else {
-      fields.push(
-        new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)
-      );
-    }
+    fields.push(
+      new Field('POSITION', new FixedSizeList(3, new Field('xyz', new Float32())), false)
+    );
   }
 
+  if (offset.intensity !== undefined) {
+    fields.push(
+      new Field('INTENSITY', new FixedSizeList(1, new Field('intensity', new Float32())), false)
+    );
+  }
+
   if (offset.normal_x !== undefined) {
@@ -31,0 +31,0 @@ fields.push(new Field('NORMAL', new FixedSizeList(3, new Field('xyz', new Float32())), false));

src/lib/parse-pcd.ts

@@ -129,2 +129,9 @@ // PCD Loader, adapted from THREE.js (MIT license)
 
+  if (attributes.intensity && attributes.intensity.length > 0) {
+    normalizedAttributes.INTENSITY = {
+      value: new Float32Array(attributes.intensity),
+      size: 1
+    };
+  }
+
   return normalizedAttributes;
@@ -250,2 +257,3 @@ }
   const color: number[] = [];
+  const intensity: number[] = [];
 
@@ -266,4 +274,9 @@ const offset = pcdHeader.offset;
 
-      if (offset.intersity !== undefined) {
-        position.push(parseFloat(line[offset.intersity]))
+      if (offset.intensity !== undefined) {
+        if((pcdHeader.type as string[])[3] === 'F') {
+          intensity.push(parseFloat(line[offset.intensity]));
+        }
+        if((pcdHeader.type as string[])[3] === 'U') {
+          intensity.push(parseInt(line[offset.intensity]));
+        }
       }
@@ -289,3 +302,3 @@
 
-  return {position, normal, color};
+  return {position, intensity, normal, color};
 }
@@ -302,2 +315,3 @@
   const color: number[] = [];
+  const intensity: number[] = [];
 
@@ -314,4 +328,9 @@ const dataview = new DataView(data, pcdHeader.headerLen);
 
-    if (offset.intersity !== undefined) {
-      dataview.getFloat32(row + offset.intersity, LITTLE_ENDIAN);
+    if (offset.intensity !== undefined) {
+      if ((pcdHeader.type as string[])[3] === 'F') {
+        intensity.push(dataview.getFloat32(row + offset.intensity, LITTLE_ENDIAN));
+      }
+      if ((pcdHeader.type as string[])[3] === 'U') {
+        intensity.push(dataview.getUint32(row + offset.intensity, LITTLE_ENDIAN));
+      }
     }
@@ -332,3 +351,3 @@
 
-  return {position, normal, color};
+  return {position, intensity, normal, color};
 }
@@ -343,2 +362,3 @@
  */
+// eslint-disable-next-line max-statements
 function parsePCDBinaryCompressed(PCDheader: PCDHeader, data: ArrayBufferLike): HeaderAttributes {
@@ -348,2 +368,3 @@ const position: number[] = [];
   const color: number[] = [];
+  const intensity: number[] = [];
 
@@ -358,3 +379,2 @@ const sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8));
   const dataview = new DataView(decompressed.buffer);
-
   const offset = PCDheader.offset;
@@ -384,9 +404,19 @@
 
-    if (offset.intersity !== undefined) {
-      position.push(
-        dataview.getFloat32(
-          (PCDheader.points as number) * offset.intersity + (PCDheader.size as number[])[2] * i,
-          LITTLE_ENDIAN
-        )
-      );
+    if (offset.intensity !== undefined) {
+      if ((PCDheader.type as string[])[3] === 'F') {
+        intensity.push(
+          dataview.getFloat32(
+            (PCDheader.points as number) * offset.intensity + (PCDheader.size as number[])[3] * i,
+            LITTLE_ENDIAN
+          )
+        );
+      }
+      if ((PCDheader.type as string[])[3] === 'U') {
+        intensity.push(
+          dataview.getUint32(
+            (PCDheader.points as number) * offset.intensity + (PCDheader.size as number[])[3] * i,
+            LITTLE_ENDIAN
+          )
+        );
+      }
     }
@@ -436,2 +466,3 @@
     position,
+    intensity,
     normal,
@@ -438,0 +469,0 @@ color

src/lib/pcd-types.ts

@@ -24,3 +24,2 @@ import type {Mesh} from '@ptloader/schema';
 
-
 /**  */
@@ -27,0 +26,0 @@ export type PCDMesh = Mesh & {

New alerts

License Policy Violation

License

This package is not allowed per your license policy. Review the package's license to ensure compliance.

Found 1 instance in 1 package

Fixed alerts

License Policy Violation

License

This package is not allowed per your license policy. Review the package's license to ensure compliance.

Found 1 instance in 1 package

Improved metrics

Total package byte prevSize

212366

increased by5.02%

Lines of code

3783

increased by4.24%

Dependency changes

• + Added@ptloader/loader-utils@3.3.26(transitive)

• + Added@ptloader/schema@3.3.26(transitive)

• + Added@ptloader/worker-utils@3.3.26(transitive)

• - Removed@ptloader/loader-utils@3.3.24(transitive)

• - Removed@ptloader/schema@3.3.24(transitive)

• - Removed@ptloader/worker-utils@3.3.24(transitive)

• Updated@ptloader/loader-utils@3.3.26

• Updated@ptloader/schema@3.3.26