@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/messaging/deserialization/detections/detection.js

@@ -0,0 +1,296 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import { DecoderRuntimeError } from "../../../utils/error.js";
+import { estimateObjectSize } from "../../../utils/estimate-object-size.js";
+import { getSegmentationClassColor, } from "../../../utils/segmentation-colors.js";
+import { parseMessage } from "../../parse-utils.js";
+import { VisualizerPointsAnnotationType } from "../../schema-constants.js";
+import { DEBUG_COLOR, DEFAULT_BACKGROUND_COLOR, DEFAULT_STYLE, DEFAULT_TEXT_COLOR, DETECTION_STYLE, } from "./constants.js";
+import { DEFAULT_HEIGHT, DEFAULT_WIDTH, getBorderThickness, getTextSize } from "./utils.js";
+function rotatePoint(point, centerX, centerY, angleDegrees) {
+    const angleRad = (angleDegrees * Math.PI) / 180;
+    const xTranslated = point.x - centerX;
+    const yTranslated = point.y - centerY;
+    const xRotated = xTranslated * Math.cos(angleRad) - yTranslated * Math.sin(angleRad);
+    const yRotated = xTranslated * Math.sin(angleRad) + yTranslated * Math.cos(angleRad);
+    return {
+        x: xRotated + centerX,
+        y: yRotated + centerY,
+    };
+}
+function segmentationColorToAnnotationColor(color, alpha) {
+    return {
+        r: color.r / 255,
+        g: color.g / 255,
+        b: color.b / 255,
+        a: alpha,
+    };
+}
+function getDetectionRenderStyle(detection, detectionIndex, hasEmbeddedSegmentationMask) {
+    const classStyle = DETECTION_STYLE[detection.label] ?? DEFAULT_STYLE;
+    const label = detection.labelName || classStyle.label;
+    if (!hasEmbeddedSegmentationMask) {
+        return {
+            label,
+            fill: classStyle.fill,
+            outline: classStyle.outline,
+        };
+    }
+    const segmentationColor = getSegmentationClassColor(detectionIndex);
+    if (!segmentationColor) {
+        return {
+            label,
+            fill: { ...classStyle.fill, a: 0 },
+            outline: classStyle.outline,
+        };
+    }
+    const outline = segmentationColorToAnnotationColor(segmentationColor, 1);
+    return {
+        label,
+        fill: { ...outline, a: 0 },
+        outline,
+    };
+}
+function getEmbeddedSegmentationMask(topic, message, receiveTime) {
+    const hasSegmentationMask = message.maskData.byteLength > 0 ||
+        message.segmentationMaskWidth > 0 ||
+        message.segmentationMaskHeight > 0;
+    if (!hasSegmentationMask) {
+        return undefined;
+    }
+    if (message.segmentationMaskWidth <= 0 || message.segmentationMaskHeight <= 0) {
+        throw new DecoderRuntimeError(topic, `Invalid image detections segmentation mask dimensions ${message.segmentationMaskWidth}x${message.segmentationMaskHeight}.`);
+    }
+    const pixelCount = message.segmentationMaskWidth * message.segmentationMaskHeight;
+    if (message.maskData.byteLength !== pixelCount) {
+        throw new DecoderRuntimeError(topic, `Invalid image detections segmentation mask byte length ${message.maskData.byteLength}; expected ${pixelCount}.`);
+    }
+    return {
+        timestamp: receiveTime,
+        width: message.segmentationMaskWidth,
+        height: message.segmentationMaskHeight,
+        data: message.maskData,
+        bytesPerClassId: 1,
+        labels: [],
+    };
+}
+function getDetectionGeometry(detection, highlightSizeX, highlightSizeY) {
+    const rotatedBoundingBox = detection.boundingBox;
+    if (rotatedBoundingBox?.center && rotatedBoundingBox.size) {
+        const { center, size, angle } = rotatedBoundingBox;
+        const halfWidth = size.width / 2;
+        const halfHeight = size.height / 2;
+        const topLeft = rotatePoint({ x: center.x - halfWidth, y: center.y - halfHeight }, center.x, center.y, angle);
+        const bottomLeft = rotatePoint({ x: center.x - halfWidth, y: center.y + halfHeight }, center.x, center.y, angle);
+        const bottomRight = rotatePoint({ x: center.x + halfWidth, y: center.y + halfHeight }, center.x, center.y, angle);
+        const topRight = rotatePoint({ x: center.x + halfWidth, y: center.y - halfHeight }, center.x, center.y, angle);
+        const outline = [
+            topLeft,
+            bottomLeft,
+            bottomRight,
+            topRight,
+        ];
+        const highlightTopWidth = Math.min(highlightSizeX, size.width);
+        const highlightSideHeight = Math.min(highlightSizeY, size.height);
+        const highlightSegments = [
+            [
+                topLeft,
+                rotatePoint({ x: center.x - halfWidth + highlightTopWidth, y: center.y - halfHeight }, center.x, center.y, angle),
+            ],
+            [
+                topLeft,
+                rotatePoint({ x: center.x - halfWidth, y: center.y - halfHeight + highlightSideHeight }, center.x, center.y, angle),
+            ],
+            [
+                topRight,
+                rotatePoint({ x: center.x + halfWidth - highlightTopWidth, y: center.y - halfHeight }, center.x, center.y, angle),
+            ],
+            [
+                topRight,
+                rotatePoint({ x: center.x + halfWidth, y: center.y - halfHeight + highlightSideHeight }, center.x, center.y, angle),
+            ],
+            [
+                bottomRight,
+                rotatePoint({ x: center.x + halfWidth - highlightTopWidth, y: center.y + halfHeight }, center.x, center.y, angle),
+            ],
+            [
+                bottomRight,
+                rotatePoint({ x: center.x + halfWidth, y: center.y + halfHeight - highlightSideHeight }, center.x, center.y, angle),
+            ],
+            [
+                bottomLeft,
+                rotatePoint({ x: center.x - halfWidth + highlightTopWidth, y: center.y + halfHeight }, center.x, center.y, angle),
+            ],
+            [
+                bottomLeft,
+                rotatePoint({ x: center.x - halfWidth, y: center.y + halfHeight - highlightSideHeight }, center.x, center.y, angle),
+            ],
+        ];
+        const minX = Math.min(...outline.map((point) => point.x));
+        const minY = Math.min(...outline.map((point) => point.y));
+        return {
+            outline,
+            highlightSegments,
+            labelPosition: { x: minX + highlightSizeX / 2, y: minY + highlightSizeY },
+        };
+    }
+    const outline = [
+        { x: detection.xmin, y: detection.ymin },
+        { x: detection.xmin, y: detection.ymax },
+        { x: detection.xmax, y: detection.ymax },
+        { x: detection.xmax, y: detection.ymin },
+    ];
+    return {
+        outline,
+        highlightSegments: [
+            [
+                { x: detection.xmin, y: detection.ymin },
+                { x: detection.xmin + highlightSizeX, y: detection.ymin },
+            ],
+            [
+                { x: detection.xmin, y: detection.ymin },
+                { x: detection.xmin, y: detection.ymin + highlightSizeY },
+            ],
+            [
+                { x: detection.xmax, y: detection.ymin },
+                { x: detection.xmax - highlightSizeX, y: detection.ymin },
+            ],
+            [
+                { x: detection.xmax, y: detection.ymin },
+                { x: detection.xmax, y: detection.ymin + highlightSizeY },
+            ],
+            [
+                { x: detection.xmax, y: detection.ymax },
+                { x: detection.xmax - highlightSizeX, y: detection.ymax },
+            ],
+            [
+                { x: detection.xmax, y: detection.ymax },
+                { x: detection.xmax, y: detection.ymax - highlightSizeY },
+            ],
+            [
+                { x: detection.xmin, y: detection.ymax },
+                { x: detection.xmin + highlightSizeX, y: detection.ymax },
+            ],
+            [
+                { x: detection.xmin, y: detection.ymax },
+                { x: detection.xmin, y: detection.ymax - highlightSizeY },
+            ],
+        ],
+        labelPosition: { x: detection.xmin + highlightSizeX / 2, y: detection.ymin + highlightSizeY },
+    };
+}
+export function deserializeImgDetections({ topic, message, callback, topicSizes, }) {
+    const { receiveTime } = parseMessage(message);
+    const embeddedSegmentationMask = getEmbeddedSegmentationMask(topic, message, receiveTime);
+    const foxgloveMessage = {
+        points: [],
+        texts: [],
+        circles: [],
+    };
+    if (message.detections.length > 0) {
+        for (const [detectionIndex, detection] of message.detections.entries()) {
+            const detectionWidth = detection.boundingBox?.size?.width ?? detection.xmax - detection.xmin;
+            const detectionHeight = detection.boundingBox?.size?.height ?? detection.ymax - detection.ymin;
+            const { width, height } = (message.transformation?.width && message.transformation.height
+                ? { width: message.transformation.width, height: message.transformation.height }
+                : (topicSizes.values().next().value ?? { width: DEFAULT_WIDTH, height: DEFAULT_HEIGHT }));
+            const ratio = width / height;
+            const highligtLength = 0.035;
+            const highlightSizeX = Math.min(highligtLength, detectionWidth);
+            const highlightSizeY = Math.min(highligtLength * ratio, detectionHeight);
+            const geometry = getDetectionGeometry(detection, highlightSizeX, highlightSizeY);
+            const style = getDetectionRenderStyle(detection, detectionIndex, Boolean(embeddedSegmentationMask));
+            foxgloveMessage.points.push({
+                timestamp: receiveTime,
+                points: geometry.outline,
+                type: VisualizerPointsAnnotationType.LINE_LOOP,
+                outline_colors: [],
+                thickness: 1,
+                outline_color: style.outline,
+                fill_color: style.fill,
+            });
+            if (detection.keypoints) {
+                const { keypoints, edges } = detection.keypoints;
+                // Add keypoints as circles
+                for (const keypoint of keypoints) {
+                    if (keypoint.imageCoordinates) {
+                        foxgloveMessage.circles.push({
+                            timestamp: receiveTime,
+                            position: {
+                                x: keypoint.imageCoordinates.x,
+                                y: keypoint.imageCoordinates.y,
+                            },
+                            diameter: 0.01,
+                            thickness: 2,
+                            fill_color: style.outline,
+                            outline_color: style.outline,
+                        });
+                    }
+                }
+                // Add edges as line segments
+                for (const edge of edges) {
+                    const srcKeypoint = keypoints[edge.src];
+                    const dstKeypoint = keypoints[edge.dst];
+                    if (srcKeypoint?.imageCoordinates && dstKeypoint?.imageCoordinates) {
+                        foxgloveMessage.points.push({
+                            timestamp: receiveTime,
+                            points: [
+                                { x: srcKeypoint.imageCoordinates.x, y: srcKeypoint.imageCoordinates.y },
+                                { x: dstKeypoint.imageCoordinates.x, y: dstKeypoint.imageCoordinates.y },
+                            ],
+                            type: VisualizerPointsAnnotationType.LINE_LIST,
+                            outline_colors: [],
+                            thickness: 2,
+                            outline_color: style.outline,
+                            fill_color: DEBUG_COLOR,
+                        });
+                    }
+                }
+            }
+            const baseHighlightConfig = {
+                timestamp: receiveTime,
+                type: VisualizerPointsAnnotationType.LINE_LIST,
+                outline_colors: [],
+                thickness: getBorderThickness(width, height),
+                outline_color: style.outline,
+                fill_color: DEBUG_COLOR,
+            };
+            for (const segment of geometry.highlightSegments) {
+                foxgloveMessage.points.push({
+                    ...baseHighlightConfig,
+                    points: segment,
+                });
+            }
+            const label = `${style.label ?? `Unknown #${detection.label}`} ${Math.round(detection.confidence * 100)}%`;
+            foxgloveMessage.texts.push({
+                timestamp: receiveTime,
+                position: geometry.labelPosition,
+                text: label,
+                font_size: getTextSize(width, height),
+                text_color: DEFAULT_TEXT_COLOR,
+                background_color: DEFAULT_BACKGROUND_COLOR,
+            });
+        }
+    }
+    callback({
+        topic,
+        receiveTime,
+        message: foxgloveMessage,
+        sizeInBytes: estimateObjectSize(foxgloveMessage),
+        schemaName: "foxglove.ImageAnnotations",
+        depthaiTransformation: message.transformation,
+    });
+    if (embeddedSegmentationMask) {
+        callback({
+            topic,
+            receiveTime,
+            publishTime: message.tsDevice ?? receiveTime,
+            message: embeddedSegmentationMask,
+            sizeInBytes: message.maskData.byteLength,
+            schemaName: "luxonis.SegmentationMask",
+            depthaiTransformation: message.transformation,
+        });
+    }
+}
+//# sourceMappingURL=detection.js.map

package/dist/visualizer/messaging/deserialization/detections/detection.js.map

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package/dist/visualizer/messaging/deserialization/detections/utils.d.ts

@@ -0,0 +1,9 @@
+import type { Color } from "../../../protobuf.generated/common.js";
+export declare const glColor: (r: number, g: number, b: number, a: number) => Color;
+export declare const DEFAULT_WIDTH = 1920;
+export declare const DEFAULT_HEIGHT = 1080;
+export declare const DEFAULT_SIZE = 42;
+export declare const DEFAULT_THICKNESS = 10;
+export declare const getTextSize: (width: number, height: number) => number;
+export declare const getBorderThickness: (width: number, height: number) => number;
+//# sourceMappingURL=utils.d.ts.map

package/dist/visualizer/messaging/deserialization/detections/utils.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/detections/utils.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,KAAK,EAAE,MAAM,uCAAuC,CAAC;AAEnE,eAAO,MAAM,OAAO,GAAI,GAAG,MAAM,EAAE,GAAG,MAAM,EAAE,GAAG,MAAM,EAAE,GAAG,MAAM,KAAG,KAKnE,CAAC;AAEH,eAAO,MAAM,aAAa,OAAO,CAAC;AAClC,eAAO,MAAM,cAAc,OAAO,CAAC;AASnC,eAAO,MAAM,YAAY,KAAK,CAAC;AAC/B,eAAO,MAAM,iBAAiB,KAAK,CAAC;AAEpC,eAAO,MAAM,WAAW,GAAI,OAAO,MAAM,EAAE,QAAQ,MAAM,KAAG,MAClB,CAAC;AAC3C,eAAO,MAAM,kBAAkB,GAAI,OAAO,MAAM,EAAE,QAAQ,MAAM,KAAG,MACpB,CAAC"}

package/dist/visualizer/messaging/deserialization/detections/utils.js

@@ -0,0 +1,22 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+export const glColor = (r, g, b, a) => ({
+    r: r / 255,
+    g: g / 255,
+    b: b / 255,
+    a,
+});
+export const DEFAULT_WIDTH = 1920;
+export const DEFAULT_HEIGHT = 1080;
+function interpolate(width, height, base) {
+    const widthScale = width / DEFAULT_WIDTH;
+    const heightScale = height / DEFAULT_HEIGHT;
+    const scale = (widthScale + heightScale) / 2;
+    return base * scale;
+}
+export const DEFAULT_SIZE = 42;
+export const DEFAULT_THICKNESS = 10;
+export const getTextSize = (width, height) => interpolate(width, height, DEFAULT_SIZE);
+export const getBorderThickness = (width, height) => interpolate(width, height, DEFAULT_THICKNESS);
+//# sourceMappingURL=utils.js.map

package/dist/visualizer/messaging/deserialization/detections/utils.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"utils.js","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/detections/utils.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAI1D,MAAM,CAAC,MAAM,OAAO,GAAG,CAAC,CAAS,EAAE,CAAS,EAAE,CAAS,EAAE,CAAS,EAAS,EAAE,CAAC,CAAC;IAC7E,CAAC,EAAE,CAAC,GAAG,GAAG;IACV,CAAC,EAAE,CAAC,GAAG,GAAG;IACV,CAAC,EAAE,CAAC,GAAG,GAAG;IACV,CAAC;CACF,CAAC,CAAC;AAEH,MAAM,CAAC,MAAM,aAAa,GAAG,IAAI,CAAC;AAClC,MAAM,CAAC,MAAM,cAAc,GAAG,IAAI,CAAC;AAEnC,SAAS,WAAW,CAAC,KAAa,EAAE,MAAc,EAAE,IAAY;IAC9D,MAAM,UAAU,GAAG,KAAK,GAAG,aAAa,CAAC;IACzC,MAAM,WAAW,GAAG,MAAM,GAAG,cAAc,CAAC;IAC5C,MAAM,KAAK,GAAG,CAAC,UAAU,GAAG,WAAW,CAAC,GAAG,CAAC,CAAC;IAC7C,OAAO,IAAI,GAAG,KAAK,CAAC;AACtB,CAAC;AAED,MAAM,CAAC,MAAM,YAAY,GAAG,EAAE,CAAC;AAC/B,MAAM,CAAC,MAAM,iBAAiB,GAAG,EAAE,CAAC;AAEpC,MAAM,CAAC,MAAM,WAAW,GAAG,CAAC,KAAa,EAAE,MAAc,EAAU,EAAE,CACnE,WAAW,CAAC,KAAK,EAAE,MAAM,EAAE,YAAY,CAAC,CAAC;AAC3C,MAAM,CAAC,MAAM,kBAAkB,GAAG,CAAC,KAAa,EAAE,MAAc,EAAU,EAAE,CAC1E,WAAW,CAAC,KAAK,EAAE,MAAM,EAAE,iBAAiB,CAAC,CAAC"}

package/dist/visualizer/messaging/deserialization/imu/imu.d.ts

@@ -0,0 +1,5 @@
+import type { Timestamp } from "../../../protobuf.generated/common.js";
+import type { DepthAIImuData } from "../../message.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+export declare function deserializeIMUData(topic: string, data: DepthAIImuData, receiveTime: Timestamp): VisualizerMessageEvent[];
+//# sourceMappingURL=imu.d.ts.map

package/dist/visualizer/messaging/deserialization/imu/imu.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"imu.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/imu/imu.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AACvE,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,kBAAkB,CAAC;AACvD,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,wBAAwB,CAAC;AAIrE,wBAAgB,kBAAkB,CAChC,KAAK,EAAE,MAAM,EACb,IAAI,EAAE,cAAc,EACpB,WAAW,EAAE,SAAS,GACrB,sBAAsB,EAAE,CAsB1B"}

package/dist/visualizer/messaging/deserialization/imu/imu.js

@@ -0,0 +1,27 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+// TODO: Use protobuf types
+export function deserializeIMUData(topic, data, receiveTime) {
+    const messages = data.map((packet) => ({
+        timestamp: receiveTime,
+        acc: {
+            x: packet.acc[0],
+            y: packet.acc[1],
+            z: packet.acc[2],
+        },
+        gyro: {
+            x: packet.gyro[0],
+            y: packet.gyro[1],
+            z: packet.gyro[2],
+        },
+    }));
+    return messages.map((message) => ({
+        topic,
+        receiveTime,
+        message,
+        sizeInBytes: 0, // TODO(milan.medvec)
+        schemaName: "foxglove.Vector3",
+    }));
+}
+//# sourceMappingURL=imu.js.map

package/dist/visualizer/messaging/deserialization/imu/imu.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"imu.js","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/imu/imu.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAM1D,2BAA2B;AAE3B,MAAM,UAAU,kBAAkB,CAChC,KAAa,EACb,IAAoB,EACpB,WAAsB;IAEtB,MAAM,QAAQ,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,EAAE,CAAC,CAAC;QACrC,SAAS,EAAE,WAAW;QACtB,GAAG,EAAE;YACH,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC;YAChB,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC;YAChB,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,CAAC,CAAC;SACjB;QACD,IAAI,EAAE;YACJ,CAAC,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;YACjB,CAAC,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;YACjB,CAAC,EAAE,MAAM,CAAC,IAAI,CAAC,CAAC,CAAC;SAClB;KACF,CAAC,CAAC,CAAC;IAEJ,OAAO,QAAQ,CAAC,GAAG,CAAC,CAAC,OAAO,EAAE,EAAE,CAAC,CAAC;QAChC,KAAK;QACL,WAAW;QACX,OAAO;QACP,WAAW,EAAE,CAAC,EAAE,qBAAqB;QACrC,UAAU,EAAE,kBAAkB;KAC/B,CAAC,CAAC,CAAC;AACN,CAAC"}

package/dist/visualizer/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=i420ToRgbaToPoitcloud.worker.d.ts.map

package/dist/visualizer/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"i420ToRgbaToPoitcloud.worker.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.ts"],"names":[],"mappings":""}

package/dist/visualizer/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.js

@@ -0,0 +1,45 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import { expose } from "comlink";
+function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {
+    const frameSize = i420Width * i420Height;
+    const uOffset = frameSize;
+    const vOffset = frameSize + frameSize / 4;
+    const pointCount = data.byteLength / 16;
+    const buffer = new ArrayBuffer(data.byteLength);
+    const view = new DataView(buffer);
+    const dataView = new DataView(data.buffer);
+    for (let i = 0; i < pointCount; i++) {
+        const depthX = i % depthWidth;
+        const depthY = Math.floor(i / depthWidth);
+        const i420X = Math.floor(depthX * (i420Width / depthWidth));
+        const i420Y = Math.floor(depthY * (i420Height / depthHeight));
+        if (i420X >= i420Width || i420Y >= i420Height) {
+            continue;
+        }
+        const index = i420Y * i420Width + i420X;
+        const uvIndex = Math.floor(i420Y / 2) * (i420Width / 2) + Math.floor(i420X / 2);
+        const Y = i420Data[index] ?? 0;
+        const U = (i420Data[uOffset + uvIndex] ?? 128) - 128;
+        const V = (i420Data[vOffset + uvIndex] ?? 128) - 128;
+        let R = Y + 1.402 * V;
+        let G = Y - 0.344136 * U - 0.714136 * V;
+        let B = Y + 1.772 * U;
+        R = Math.min(255, Math.max(0, R));
+        G = Math.min(255, Math.max(0, G));
+        B = Math.min(255, Math.max(0, B));
+        const offset = i * 16;
+        view.setFloat32(offset, dataView.getFloat32(offset, true), true); // x
+        view.setFloat32(offset + 4, dataView.getFloat32(offset + 4, true), true); // y
+        view.setFloat32(offset + 8, dataView.getFloat32(offset + 8, true), true); // z
+        view.setUint8(offset + 12, R); // Red
+        view.setUint8(offset + 13, G); // Green
+        view.setUint8(offset + 14, B); // Blue
+        view.setUint8(offset + 15, 255); // Alpha (fully opaque)
+    }
+    return new Uint8Array(buffer);
+}
+// Expose the function using Comlink
+expose({ i420ToRgbaToPointcloud });
+//# sourceMappingURL=i420ToRgbaToPoitcloud.worker.js.map

package/dist/visualizer/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"i420ToRgbaToPoitcloud.worker.js","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,OAAO,EAAE,MAAM,EAAE,MAAM,SAAS,CAAC;AAEjC,SAAS,sBAAsB,CAC7B,QAAoB,EACpB,SAAiB,EACjB,UAAkB,EAClB,UAAkB,EAClB,WAAmB,EACnB,IAAgB;IAEhB,MAAM,SAAS,GAAG,SAAS,GAAG,UAAU,CAAC;IACzC,MAAM,OAAO,GAAG,SAAS,CAAC;IAC1B,MAAM,OAAO,GAAG,SAAS,GAAG,SAAS,GAAG,CAAC,CAAC;IAC1C,MAAM,UAAU,GAAG,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC;IACxC,MAAM,MAAM,GAAG,IAAI,WAAW,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;IAChD,MAAM,IAAI,GAAG,IAAI,QAAQ,CAAC,MAAM,CAAC,CAAC;IAClC,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAE3C,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;QACpC,MAAM,MAAM,GAAG,CAAC,GAAG,UAAU,CAAC;QAC9B,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC;QAE1C,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,SAAS,GAAG,UAAU,CAAC,CAAC,CAAC;QAC5D,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,UAAU,GAAG,WAAW,CAAC,CAAC,CAAC;QAE9D,IAAI,KAAK,IAAI,SAAS,IAAI,KAAK,IAAI,UAAU,EAAE,CAAC;YAC9C,SAAS;QACX,CAAC;QAED,MAAM,KAAK,GAAG,KAAK,GAAG,SAAS,GAAG,KAAK,CAAC;QACxC,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,SAAS,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC;QAEhF,MAAM,CAAC,GAAG,QAAQ,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAC/B,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,GAAG,CAAC;QACrD,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,GAAG,CAAC;QAErD,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;QACtB,IAAI,CAAC,GAAG,CAAC,GAAG,QAAQ,GAAG,CAAC,GAAG,QAAQ,GAAG,CAAC,CAAC;QACxC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;QAEtB,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAClC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAClC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAElC,MAAM,MAAM,GAAG,CAAC,GAAG,EAAE,CAAC;QACtB,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QACtE,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QAC9E,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QAC9E,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,MAAM;QACrC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,QAAQ;QACvC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,OAAO;QACtC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,GAAG,CAAC,CAAC,CAAC,uBAAuB;IAC1D,CAAC;IAED,OAAO,IAAI,UAAU,CAAC,MAAM,CAAC,CAAC;AAChC,CAAC;AAED,oCAAoC;AACpC,MAAM,CAAC,EAAE,sBAAsB,EAAE,CAAC,CAAC"}

package/dist/visualizer/messaging/deserialization/pointcloud/point-cloud.d.ts

@@ -0,0 +1,9 @@
+import type { PointCloudData } from "../../../protobuf.generated/PointCloudData.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+export type DeserializePointDataArgs = {
+    topic: string;
+    message: PointCloudData;
+    callback: (event: VisualizerMessageEvent) => void;
+};
+export declare function deserializePointCloudData({ topic, message, callback, }: DeserializePointDataArgs): void;
+//# sourceMappingURL=point-cloud.d.ts.map

package/dist/visualizer/messaging/deserialization/pointcloud/point-cloud.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"point-cloud.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/pointcloud/point-cloud.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,+CAA+C,CAAC;AACpF,OAAO,KAAK,EAAE,sBAAsB,EAAwB,MAAM,wBAAwB,CAAC;AAI3F,MAAM,MAAM,wBAAwB,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,cAAc,CAAC;IACxB,QAAQ,EAAE,CAAC,KAAK,EAAE,sBAAsB,KAAK,IAAI,CAAC;CACnD,CAAC;AAEF,wBAAgB,yBAAyB,CAAC,EACxC,KAAK,EACL,OAAO,EACP,QAAQ,GACT,EAAE,wBAAwB,GAAG,IAAI,CAiDjC"}

package/dist/visualizer/messaging/deserialization/pointcloud/point-cloud.js

@@ -0,0 +1,46 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import { fromMillis } from "../../parse-utils.js";
+import { VisualizerNumericType } from "../../schema-constants.js";
+export function deserializePointCloudData({ topic, message, callback, }) {
+    const receiveTime = fromMillis(Date.now());
+    const pointStride = message.color ? 16 : 12;
+    const pointCount = Math.floor(message.data.byteLength / pointStride);
+    const isOrganizedPointCloud = !message.sparse &&
+        message.width > 0 &&
+        message.height > 0 &&
+        message.width * message.height === pointCount &&
+        message.data.byteLength % pointStride === 0;
+    const foxgloveMessage = {
+        timestamp: receiveTime,
+        frame_id: `pointcloud-${topic}-frame`,
+        point_stride: pointStride,
+        pose: {
+            position: { x: 0, y: 0, z: 0 },
+            orientation: { x: 0, y: 0, z: 1, w: 0 },
+        },
+        fields: [
+            { name: "x", offset: 0, type: VisualizerNumericType.FLOAT32 },
+            { name: "y", offset: 4, type: VisualizerNumericType.FLOAT32 },
+            { name: "z", offset: 8, type: VisualizerNumericType.FLOAT32 },
+        ],
+        data: message.data,
+    };
+    if (isOrganizedPointCloud) {
+        foxgloveMessage.width = message.width;
+        foxgloveMessage.height = message.height;
+        foxgloveMessage.coordinateFrame = "depthai-camera-y-down";
+    }
+    if (message.color) {
+        foxgloveMessage.fields.push({ name: "red", offset: 12, type: VisualizerNumericType.UINT8 }, { name: "green", offset: 13, type: VisualizerNumericType.UINT8 }, { name: "blue", offset: 14, type: VisualizerNumericType.UINT8 }, { name: "alpha", offset: 15, type: VisualizerNumericType.UINT8 });
+    }
+    callback({
+        topic,
+        receiveTime,
+        message: foxgloveMessage,
+        sizeInBytes: message.data.byteLength,
+        schemaName: "foxglove.PointCloud.Colored",
+    });
+}
+//# sourceMappingURL=point-cloud.js.map

package/dist/visualizer/messaging/deserialization/pointcloud/point-cloud.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=pointcloudFromDepth.worker.d.ts.map

package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"pointcloudFromDepth.worker.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.ts"],"names":[],"mappings":""}