feat: export Apis at the top level

README-zh_CN.md

@@ -107,7 +107,7 @@ import * as PCL from 'pcl.js';
 
 async function main() {
   // 初始化
-  const pcl = await PCL.init({
+  await PCL.init({
     /**
      * 推荐，可选配置，自定义 WebAssembly 文件链接
      * @default js 文件所在目录 + pcl-core.wasm
@@ -127,7 +127,7 @@ main();
 <script>
 async function main() {
   // 初始化，PCL 是全局对象
-  const pcl = await PCL.init();
+  await PCL.init();
   // ...
 }
 
@@ -143,25 +143,25 @@ main();
 import * as PCL from 'pcl.js';
 
 async function main() {
-  const pcl = await PCL.init({
+  await PCL.init({
     url: 'https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl-core.wasm',
   });
 
   // 获取 PCD 文件
   const data = await fetch('https://cdn.jsdelivr.net/gh/luoxuhai/pcl.js@master/data/rops_tutorial/points.pcd').then(res => res.arrayBuffer());
   // 加载 PCD 数据，返回点云对象
-  const cloud = pcl.io.loadPCDData<PCL.PointXYZ>(data, PCL.PointXYZ);
+  const cloud = PCL.loadPCDData<PCL.PointXYZ>(data, PCL.PointXYZ);
 
   // 使用 PassThrough 过滤器过滤点云
   // 参考: https://pcl.readthedocs.io/projects/tutorials/en/master/passthrough.html#passthrough
-  const pass = new pcl.filters.PassThrough<PCL.PointXYZ>(PCL.PointXYZ);
+  const pass = new PCL.PassThrough<PCL.PointXYZ>(PCL.PointXYZ);
   pass.setInputCloud(cloud);
   pass.setFilterFieldName('z');
   pass.setFilterLimits(0.0, 1.0);
   const cloudFiltered = pass.filter();
 
   // 将过滤后的点云对象保存为 PCD 文件, 内容为 ArrayBuffer
-  const cloudFilteredData = pcl.io.savePCDDataASCII(cloudFiltered);
+  const cloudFilteredData = PCL.savePCDDataASCII(cloudFiltered);
 }
 
 main();

README.md

@@ -129,7 +129,7 @@ main();
 <script>
 async function main() {
   // Initialization, PCL is a global object.
-  const pcl = await PCL.init();
+  await PCL.init();
   // ...
 }
 
@@ -145,25 +145,25 @@ main();
 import * as PCL from 'pcl.js';
 
 async function main() {
-  const pcl = await PCL.init({
+  await PCL.init({
     url: 'https://cdn.jsdelivr.net/npm/pcl.js/dist/pcl-core.wasm',
   });
 
   // Get PCD file
   const data = await fetch('https://cdn.jsdelivr.net/gh/luoxuhai/pcl.js@master/data/rops_tutorial/points.pcd').then(res => res.arrayBuffer());
   // Load PCD file data, return point cloud object
-  const cloud = pcl.io.loadPCDData<PCL.PointXYZ>(data, PCL.PointXYZ);
+  const cloud = PCL.loadPCDData<PCL.PointXYZ>(data, PCL.PointXYZ);
 
   // Filtering a PointCloud using a PassThrough filter
   // See: https://pcl.readthedocs.io/projects/tutorials/en/master/passthrough.html#passthrough
-  const pass = new pcl.filters.PassThrough<PCL.PointXYZ>(PCL.PointXYZ);
+  const pass = new PCL.PassThrough<PCL.PointXYZ>(PCL.PointXYZ);
   pass.setInputCloud(cloud);
   pass.setFilterFieldName('z');
   pass.setFilterLimits(0.0, 1.0);
   const cloudFiltered = pass.filter();
 
   // Save filtered point cloud objects as PCD files, the content is ArrayBuffer
-  const cloudFilteredData = pcl.io.savePCDDataASCII(cloudFiltered);
+  const cloudFilteredData = PCL.savePCDDataASCII(cloudFiltered);
 }
 
 main();

rollup.config.js

@@ -57,24 +57,16 @@ function collectTypeDefinition(moduleName) {
           });
         });
       },
-    };
-  };
-
-  const addExtra = (moduleName) => {
-    return {
       renderChunk(code) {
         return `
-/// <reference path="../../src/emscripten.d.ts" />
-/// <reference path="../../src/global.d.ts" />
-  
 ${code}
   
 export as namespace ${moduleName};`;
       },
     };
   };
 
-  return [tscAlias(), dts(), addExtra(moduleName)];
+  return [tscAlias(), dts()];
 }
 
 const constants = {

src/constants.ts

@@ -0,0 +1,5 @@
+// pcl.js version
+export const VERSION = '__version__';
+
+// Point Cloud Library (PCL) version
+export const PCL_VERSION = '1.12.1';

src/core/index.ts

@@ -1,14 +1,25 @@
 import initPCLCore from '@/bind/build/pcl-core';
-import fs from '@/modules/fs';
-import io from '@/modules/io';
-import filters from '@/modules/filters';
-import registration from '@/modules/registration';
-import segmentation from '@/modules/segmentation';
-import common from '@/modules/common';
-import kdtree from '@/modules/kdtree';
-import search from '@/modules/search';
-import keypoints from '@/modules/keypoints';
 import { ENVIRONMENT_IS_NODE } from '@/utils';
+import { Emscripten } from '@/types';
+
+export * from '@/constants';
+export * as fs from '@/modules/fs';
+export * from '@/modules/io';
+export * from '@/modules/common';
+export * from '@/modules/kdtree';
+export * from '@/modules/search';
+export * from '@/modules/filters';
+export * from '@/modules/keypoints';
+export * from '@/modules/segmentation';
+export * from '@/modules/registration';
+
+if (window.__PCLCore__) {
+  console.warn('Multiple instances of pcl.js being imported.');
+} else {
+  window.__PCLCore__ = null;
+}
+
+let isInitialized = false;
 
 interface InitOptions {
   /**
@@ -25,52 +36,15 @@ interface InitOptions {
    * @default { credentials: 'same-origin' }
    */
   fetchOptions?: Emscripten.ModuleOpts['fetchSettings'];
-  /**
-   * Show log in console
-   *
-   * @default true
-   */
-  log?: boolean;
-  onsuccess?: (module: Emscripten.Module) => void;
+  onsuccess?: () => void;
   onerror?: (error: unknown) => void;
 }
 
-interface PCLInstance {
-  /**
-   * Emscripten Module
-   * {@link https://emscripten.org/docs/api_reference/module.html}
-   */
-  Module: Emscripten.Module;
-  /**
-   * File system
-   * {@link https://emscripten.org/docs/api_reference/Filesystem-API.html}
-   */
-  fs: Pick<
-    Emscripten.FS,
-    'readdir' | 'readFile' | 'writeFile' | 'stat' | 'mkdir' | 'rmdir' | 'rename' | 'unlink'
-  >;
-  /**
-   * Base info
-   */
-  info: {
-    PCL_VERSION: string;
-  };
-  common: typeof common;
-  io: typeof io;
-  filters: typeof filters;
-  registration: typeof registration;
-  kdtree: typeof kdtree;
-  search: typeof search;
-  keypoints: typeof keypoints;
-  segmentation: typeof segmentation;
-}
-
-async function init(options?: InitOptions): Promise<PCLInstance | null> {
+async function init(options?: InitOptions) {
   const {
     arrayBuffer,
     url,
     fetchOptions: fetchSettings = { credentials: 'same-origin' },
-    log = true,
   } = options ?? {};
 
   const moduleOptions: Emscripten.ModuleOpts = {
@@ -79,47 +53,24 @@ async function init(options?: InitOptions): Promise<PCLInstance | null> {
     fetchSettings,
   };
 
-  let Module: Emscripten.Module;
   try {
-    Module = await initPCLCore(moduleOptions);
+    const __PCLCore__ = await initPCLCore(moduleOptions);
     if (ENVIRONMENT_IS_NODE) {
-      (global as any).__PCLCore__ = Module;
+      (global as any).__PCLCore__ = __PCLCore__;
     } else {
-      window.__PCLCore__ = Module;
+      window.__PCLCore__ = __PCLCore__;
     }
-    options?.onsuccess?.(Module);
+    isInitialized = true;
+    options?.onsuccess?.();
   } catch (error) {
     options?.onerror?.(error);
     throw error;
   }
-
-  const PCL_VERSION: string = Module.PCL_VERSION;
-
-  if (log) {
-    console.log('pcl.js version: __version__');
-    console.log(`PCL version: ${PCL_VERSION}`);
-  }
-
-  const info = {
-    PCL_VERSION,
-  };
-
-  return {
-    Module,
-    info,
-    fs: fs(),
-    io,
-    filters,
-    registration,
-    segmentation,
-    common,
-    kdtree,
-    search,
-    keypoints,
-  };
 }
 
-const VERSION = '__version__';
+function destroy() {
+  window.__PCLCore__ = null;
+  isInitialized = false;
+}
 
-export { init, VERSION, PCLInstance, InitOptions };
-export * from '../modules/common/point-types';
+export { InitOptions, init, destroy, isInitialized };