@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/messaging/deserialization/pointcloud/poitcloudPoolManager.js

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+// 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 { transfer } from "comlink";
+import { createComlinkWorker } from "../../../utils/comlink-wrap.js";
+import { Logger } from "../../../utils/logger.js";
+import { globalInputEventMetricsManager, } from "../../../utils/metrics-manager.js";
+import { getStereoDepthMaxValue } from "../../../utils/runtime-config.js";
+import { uint8ArrayToUint16Array } from "./utils.js";
+const logger = Logger.getLogger();
+const WORKER_COUNT = 4;
+const DEFAULT_TARGET_FPS = 9;
+const DEFAULT_MAX_PROCESSED_QUEUE_SIZE = 25;
+const MAX_BATCH_SIZE = 3;
+const MIN_DISPATCH_INTERVAL_MS = 16;
+const MAX_DISPATCH_INTERVAL_MS = 250;
+const HIGH_QUEUE_PRESSURE_RATIO = 0.8;
+const MEDIUM_QUEUE_PRESSURE_RATIO = 0.5;
+function collectArrayBuffers(arrays) {
+    const buffers = [];
+    for (let index = 0; index < arrays.length; index++) {
+        const array = arrays[index];
+        if (array) {
+            buffers.push(array.buffer);
+        }
+    }
+    return buffers;
+}
+function normalizeFrameIntrinsics(frame) {
+    let fx = frame.fx;
+    let fy = frame.fy;
+    let cx = frame.cx;
+    let cy = frame.cy;
+    if (cx > 0 && cx <= 1 && cy > 0 && cy <= 1) {
+        cx *= frame.width;
+        cy *= frame.height;
+        if (fx > 0 && fx <= 1) {
+            fx *= frame.width;
+        }
+        if (fy > 0 && fy <= 1) {
+            fy *= frame.height;
+        }
+    }
+    else if (cx > frame.width * 0.75 || cy > frame.height * 0.75) {
+        const scaleX = frame.width / (cx * 2);
+        const scaleY = frame.height / (cy * 2);
+        fx *= scaleX;
+        fy *= scaleY;
+        cx *= scaleX;
+        cy *= scaleY;
+    }
+    return { fx, fy, cx, cy };
+}
+export class DepthToPointcloudWorkerPool {
+    lastUsedWorkerIndex = 0;
+    workerApis;
+    #frameQueue = [];
+    #processedFrameQueue = [];
+    #isWebGpuSupported = false;
+    #metrics;
+    #maximumStorageBufferSize;
+    #FRAME_BATCH_SIZE;
+    #maxProcessedQueueSize;
+    #prevColorFrameWidth;
+    #prevDepthFrameWidth;
+    #dispatchCallback;
+    #targetDispatchIntervalMs;
+    #dispatchTimeoutId = undefined;
+    #processedFrameQueueStartIndex = 0;
+    #activeWorkerIndices = new Set();
+    #targetFps;
+    constructor(callback, batchSize = MAX_BATCH_SIZE, targetFps = DEFAULT_TARGET_FPS, maxProcessedQueueSize = DEFAULT_MAX_PROCESSED_QUEUE_SIZE) {
+        if (typeof navigator.gpu !== "undefined") {
+            void navigator.gpu
+                .requestAdapter()
+                .then((gpuAdapter) => {
+                if (!gpuAdapter) {
+                    this.#isWebGpuSupported = false;
+                    logger.warn("WebGPU adapter not found. Falling back to CPU for all frames.");
+                }
+                else {
+                    this.#isWebGpuSupported = true;
+                    this.#maximumStorageBufferSize = gpuAdapter.limits.maxStorageBufferBindingSize / 16;
+                    logger.info("WebGPU potentially supported. Will attempt GPU processing.");
+                }
+            })
+                .catch((err) => {
+                logger.warn("Error requesting WebGPU adapter. Falling back to CPU.", err);
+                this.#isWebGpuSupported = false;
+            });
+        }
+        else {
+            logger.warn("navigator.gpu is undefined. WebGPU not supported. Falling back to CPU for all frames.");
+            this.#isWebGpuSupported = false;
+        }
+        this.#maximumStorageBufferSize = -1;
+        this.#prevDepthFrameWidth = 0;
+        this.#prevColorFrameWidth = 0;
+        this.#dispatchCallback = callback;
+        this.#FRAME_BATCH_SIZE = Math.max(1, batchSize);
+        this.#targetFps = Math.max(1, targetFps);
+        this.#maxProcessedQueueSize = Math.max(1, maxProcessedQueueSize);
+        this.#targetDispatchIntervalMs = this.#computeDispatchIntervalMs();
+        this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => {
+            const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.js", import.meta.url), {
+                type: "module",
+            });
+            return createComlinkWorker(worker);
+        });
+        this.#metrics = globalInputEventMetricsManager;
+        this.#metrics.registerEvent("pcl-pool.frameInput");
+    }
+    #getStereoDepthMaxValue() {
+        return getStereoDepthMaxValue();
+    }
+    #compactProcessedFrameQueue() {
+        if (this.#processedFrameQueueStartIndex === 0) {
+            return;
+        }
+        this.#processedFrameQueue = this.#processedFrameQueue.slice(this.#processedFrameQueueStartIndex);
+        this.#processedFrameQueueStartIndex = 0;
+    }
+    #getProcessedFrameQueueLength() {
+        return this.#processedFrameQueue.length - this.#processedFrameQueueStartIndex;
+    }
+    async queueDepthFrame(data) {
+        if (!(data.colorFrameData instanceof Uint8Array)) {
+            logger.warn("Skipping frame: color frame data is not a Uint8Array", data.colorFrame);
+            return;
+        }
+        if (data.width !== this.#prevDepthFrameWidth || data.i420Width !== this.#prevColorFrameWidth) {
+            this.setMaxGpuQueueSize(data.width, data.height);
+            this.#prevDepthFrameWidth = data.width;
+            this.#prevColorFrameWidth = data.i420Width;
+            this.#frameQueue = [];
+        }
+        if (data.width === data.i420Width && data.height === data.i420Height) {
+            this.#frameQueue.push(data);
+            this.tryProcessBatch();
+        }
+    }
+    setMaxGpuQueueSize(width, height) {
+        if (!this.#isWebGpuSupported) {
+            return;
+        }
+        const numPixelsPerFrame = width * height;
+        const currentOutSize = numPixelsPerFrame * 16 * this.#FRAME_BATCH_SIZE;
+        if (currentOutSize > this.#maximumStorageBufferSize) {
+            logger.warn(`GPU queue size ${currentOutSize} exceeds maximum storage buffer size ${this.#maximumStorageBufferSize}. Reducing batch size.`);
+            const frameBatchSize = Math.floor(this.#maximumStorageBufferSize / (numPixelsPerFrame * 16));
+            this.#FRAME_BATCH_SIZE = Math.min(Math.max(1, frameBatchSize), MAX_BATCH_SIZE);
+            if (frameBatchSize < 1) {
+                logger.warn("Output buffer size is too small to process. Falling back to CPU.");
+                this.#isWebGpuSupported = false;
+            }
+        }
+    }
+    tryProcessBatch(force = false) {
+        while (true) {
+            const workerIndex = this.#acquireAvailableWorkerIndex();
+            if (workerIndex == undefined) {
+                return;
+            }
+            const batchSize = force
+                ? Math.min(this.#FRAME_BATCH_SIZE, this.#frameQueue.length)
+                : this.#FRAME_BATCH_SIZE;
+            if (batchSize <= 0 || this.#frameQueue.length < batchSize) {
+                this.#activeWorkerIndices.delete(workerIndex);
+                return;
+            }
+            const batchToProcess = this.#frameQueue.splice(0, batchSize);
+            if (batchToProcess.length === 0) {
+                this.#activeWorkerIndices.delete(workerIndex);
+                return;
+            }
+            this.#metrics?.registerEvent("pcl-pool.batchSent");
+            this.#dispatchBatchToWorker(workerIndex, batchToProcess);
+        }
+    }
+    #calculateDispatchMultiplier() {
+        const processedQueueLength = this.#getProcessedFrameQueueLength();
+        if (processedQueueLength >= this.#maxProcessedQueueSize * HIGH_QUEUE_PRESSURE_RATIO) {
+            return 0.5;
+        }
+        if (processedQueueLength >= this.#maxProcessedQueueSize * MEDIUM_QUEUE_PRESSURE_RATIO) {
+            return 0.75;
+        }
+        if (processedQueueLength === 0) {
+            return 1.1;
+        }
+        return 1;
+    }
+    #addToProcessedQueue(processedFrame) {
+        if (this.#getProcessedFrameQueueLength() >= this.#maxProcessedQueueSize) {
+            this.#processedFrameQueueStartIndex += 1;
+            if (this.#processedFrameQueueStartIndex > this.#maxProcessedQueueSize / 2) {
+                this.#compactProcessedFrameQueue();
+            }
+            logger.warn(`Processed frame queue full (>= ${this.#maxProcessedQueueSize}). Dropping oldest frame.`);
+        }
+        this.#processedFrameQueue.push(processedFrame);
+        if (this.#dispatchTimeoutId === undefined) {
+            this.#scheduleNextDispatch();
+        }
+    }
+    #scheduleNextDispatch() {
+        if (this.#getProcessedFrameQueueLength() <= 0) {
+            this.#dispatchTimeoutId = undefined;
+            return;
+        }
+        if (this.#dispatchTimeoutId !== undefined) {
+            clearTimeout(this.#dispatchTimeoutId);
+        }
+        this.#targetDispatchIntervalMs = this.#computeDispatchIntervalMs();
+        this.#dispatchTimeoutId = setTimeout(this.#dispatchNextFrame, this.#targetDispatchIntervalMs);
+    }
+    #dispatchNextFrame = () => {
+        this.#dispatchTimeoutId = undefined;
+        const frameToDispatch = this.#processedFrameQueue[this.#processedFrameQueueStartIndex];
+        if (frameToDispatch) {
+            this.#processedFrameQueueStartIndex += 1;
+            if (this.#processedFrameQueueStartIndex > this.#maxProcessedQueueSize / 2) {
+                this.#compactProcessedFrameQueue();
+            }
+        }
+        if (frameToDispatch) {
+            try {
+                this.#dispatchCallback(frameToDispatch.originalColorEvent, frameToDispatch.originalDepthFrame, frameToDispatch.processedPointCloud);
+            }
+            catch (error) {
+                logger.error("Error in dispatchCallback:", error);
+            }
+        }
+        if (this.#getProcessedFrameQueueLength() > 0) {
+            this.#scheduleNextDispatch();
+        }
+    };
+    #acquireAvailableWorkerIndex() {
+        for (let offset = 0; offset < this.workerApis.length; offset += 1) {
+            const workerIndex = (this.lastUsedWorkerIndex + offset) % this.workerApis.length;
+            if (this.#activeWorkerIndices.has(workerIndex)) {
+                continue;
+            }
+            this.#activeWorkerIndices.add(workerIndex);
+            this.lastUsedWorkerIndex = (workerIndex + 1) % this.workerApis.length;
+            return workerIndex;
+        }
+        return undefined;
+    }
+    #computeDispatchIntervalMs() {
+        const measuredFps = this.#metrics?.calculate("pcl-pool.batchSent");
+        const referenceFps = measuredFps && measuredFps > 0 ? measuredFps : this.#targetFps;
+        const baseIntervalMs = 1000 / Math.max(1, referenceFps);
+        const intervalMs = baseIntervalMs * this.#calculateDispatchMultiplier();
+        return Math.max(MIN_DISPATCH_INTERVAL_MS, Math.min(MAX_DISPATCH_INTERVAL_MS, Math.round(intervalMs)));
+    }
+    #dispatchBatchToWorker(workerIndex, batchToProcess) {
+        const firstFrame = batchToProcess[0];
+        const width = firstFrame.width;
+        const height = firstFrame.height;
+        const { fx, fy, cx, cy } = normalizeFrameIntrinsics(firstFrame);
+        const i420Width = firstFrame.i420Width;
+        const i420Height = firstFrame.i420Height;
+        try {
+            const depthDataArray = batchToProcess.map((f) => uint8ArrayToUint16Array(f.depthFrame.data));
+            const i420DataArray = batchToProcess.map((f) => f.colorFrameData);
+            this.workerApis[workerIndex].remote.depthToPointcloudGPU(transfer(depthDataArray, collectArrayBuffers(depthDataArray)), width, height, fx, fy, cx, cy, transfer(i420DataArray, collectArrayBuffers(i420DataArray)), i420Width, i420Height, this.#getStereoDepthMaxValue(), { hasGPU: this.#isWebGpuSupported })
+                .then((results) => {
+                if (results.length === batchToProcess.length) {
+                    for (let i = 0; i < results.length; i++) {
+                        const originalFrame = batchToProcess[i];
+                        const pointCloudResult = results[i];
+                        if (!pointCloudResult) {
+                            logger.warn(`Worker ${workerIndex}: Result ${i} is null or undefined. Passing null to callback.`);
+                            this.#addToProcessedQueue({
+                                originalColorEvent: originalFrame.colorFrame,
+                                originalDepthFrame: originalFrame.depthFrame,
+                                processedPointCloud: null,
+                            });
+                        }
+                        else {
+                            this.#addToProcessedQueue({
+                                originalColorEvent: originalFrame.colorFrame,
+                                originalDepthFrame: originalFrame.depthFrame,
+                                processedPointCloud: pointCloudResult,
+                            });
+                        }
+                    }
+                }
+                else {
+                    logger.error(`Worker ${workerIndex}: Mismatch in result count (${results.length}) and batch size (${batchToProcess.length}). Discarding results for this batch.`);
+                    for (const originalFrame of batchToProcess) {
+                        this.#addToProcessedQueue({
+                            originalColorEvent: originalFrame.colorFrame,
+                            originalDepthFrame: originalFrame.depthFrame,
+                            processedPointCloud: null,
+                        });
+                    }
+                }
+            })
+                .catch((error) => {
+                logger.error(`Worker ${workerIndex}: Error processing batch:`, error);
+                for (const originalFrame of batchToProcess) {
+                    this.#addToProcessedQueue({
+                        originalColorEvent: originalFrame.colorFrame,
+                        originalDepthFrame: originalFrame.depthFrame,
+                        processedPointCloud: null,
+                    });
+                }
+            })
+                .finally(() => {
+                this.#activeWorkerIndices.delete(workerIndex);
+                this.tryProcessBatch();
+            });
+        }
+        catch (error) {
+            logger.error("Error preparing data for worker:", error);
+            for (const originalFrame of batchToProcess) {
+                this.#addToProcessedQueue({
+                    originalColorEvent: originalFrame.colorFrame,
+                    originalDepthFrame: originalFrame.depthFrame,
+                    processedPointCloud: null,
+                });
+            }
+            this.#activeWorkerIndices.delete(workerIndex);
+            this.tryProcessBatch();
+        }
+    }
+    destroy() {
+        if (this.#dispatchTimeoutId !== undefined) {
+            clearTimeout(this.#dispatchTimeoutId);
+            this.#dispatchTimeoutId = undefined;
+        }
+        this.#frameQueue = [];
+        this.#processedFrameQueue = [];
+        this.#processedFrameQueueStartIndex = 0;
+        this.#activeWorkerIndices.clear();
+        for (const workerWrapper of this.workerApis) {
+            workerWrapper.dispose();
+        }
+        this.workerApis = [];
+    }
+}
+//# sourceMappingURL=poitcloudPoolManager.js.map

package/dist/visualizer/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map

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

@@ -0,0 +1,18 @@
+export declare function uint8ArrayToUint16Array(uint8Array: Uint8Array): Uint16Array;
+export declare function i420ToRgbaToPointcloud(i420Data: Uint8Array, i420Width: number, i420Height: number, depthWidth: number, depthHeight: number, data: Uint8Array): Uint8Array;
+type NeuralCameraIntrinsic = {
+    focalLenght: {
+        x: number;
+        y: number;
+    };
+    principalPoint: {
+        x: number;
+        y: number;
+    };
+};
+export type NeuralCameraIntrinsics = {
+    left: NeuralCameraIntrinsic;
+    right: NeuralCameraIntrinsic;
+};
+export {};
+//# sourceMappingURL=utils.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAIA,wBAAgB,uBAAuB,CAAC,UAAU,EAAE,UAAU,GAAG,WAAW,CAiB3E;AAGD,wBAAgB,sBAAsB,CACpC,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,GACf,UAAU,CA8CZ;AAED,KAAK,qBAAqB,GAAG;IAC3B,WAAW,EAAE;QACX,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;IACF,cAAc,EAAE;QACd,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;CACH,CAAC;AACF,MAAM,MAAM,sBAAsB,GAAG;IACnC,IAAI,EAAE,qBAAqB,CAAC;IAC5B,KAAK,EAAE,qBAAqB,CAAC;CAC9B,CAAC"}

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

@@ -0,0 +1,58 @@
+// 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 function uint8ArrayToUint16Array(uint8Array) {
+    if (uint8Array.length % 2 !== 0) {
+        throw new Error("Uint8Array length must be a multiple of 2 for conversion to Uint16Array");
+    }
+    const uint16Array = new Uint16Array(uint8Array.length / 2);
+    for (let i = 0; i < uint16Array.length; i++) {
+        const lowByte = uint8Array[i * 2];
+        const highByte = uint8Array[i * 2 + 1];
+        if (highByte === undefined || lowByte === undefined) {
+            throw new Error("Invalid data in uint8Array");
+        }
+        uint16Array[i] = (highByte << 8) | lowByte;
+    }
+    return uint16Array;
+}
+/* H264 (i420) to RGBA */
+export 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);
+}
+//# sourceMappingURL=utils.js.map

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

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/segmentation/segmentation-mask.d.ts

@@ -0,0 +1,9 @@
+import type { SegmentationMask } from "../../../protobuf.generated/SegmentationMask.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+export type DeserializeSegmentationMaskArgs = {
+    topic: string;
+    message: SegmentationMask;
+    callback: (event: VisualizerMessageEvent) => void;
+};
+export declare function deserializeSegmentationMask({ topic, message, callback, }: DeserializeSegmentationMaskArgs): void;
+//# sourceMappingURL=segmentation-mask.d.ts.map

package/dist/visualizer/messaging/deserialization/segmentation/segmentation-mask.d.ts.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/segmentation/segmentation-mask.js

@@ -0,0 +1,39 @@
+// 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 { parseMessage } from "../../parse-utils.js";
+export function deserializeSegmentationMask({ topic, message, callback, }) {
+    const { receiveTime } = parseMessage(message);
+    const pixelCount = message.width * message.height;
+    const expectedInt16ByteLength = pixelCount * Int16Array.BYTES_PER_ELEMENT;
+    if (message.width <= 0 || message.height <= 0) {
+        throw new DecoderRuntimeError(topic, `Invalid segmentation mask dimensions ${message.width}x${message.height}.`);
+    }
+    const bytesPerClassId = message.data.byteLength === pixelCount
+        ? 1
+        : message.data.byteLength === expectedInt16ByteLength
+            ? 2
+            : undefined;
+    if (bytesPerClassId == undefined) {
+        throw new DecoderRuntimeError(topic, `Invalid segmentation mask byte length ${message.data.byteLength}; expected ${pixelCount} or ${expectedInt16ByteLength}.`);
+    }
+    const segmentationMask = {
+        timestamp: receiveTime,
+        width: message.width,
+        height: message.height,
+        data: message.data,
+        bytesPerClassId,
+        labels: [...message.labels],
+    };
+    callback({
+        topic,
+        receiveTime,
+        publishTime: message.tsDevice ?? receiveTime,
+        message: segmentationMask,
+        sizeInBytes: message.data.byteLength,
+        schemaName: "luxonis.SegmentationMask",
+        depthaiTransformation: message.transformation,
+    });
+}
+//# sourceMappingURL=segmentation-mask.js.map

package/dist/visualizer/messaging/deserialization/segmentation/segmentation-mask.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/video/color.d.ts

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

package/dist/visualizer/messaging/deserialization/video/color.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"color.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/video/color.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACxE,OAAO,KAAK,EAAoB,sBAAsB,EAAE,MAAM,wBAAwB,CAAC;AAGvF,MAAM,MAAM,6BAA6B,GAAG;IAC1C,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,QAAQ,CAAC;IAClB,QAAQ,EAAE,CAAC,KAAK,EAAE,sBAAsB,KAAK,IAAI,CAAC;CACnD,CAAC;AAEF,wBAAgB,qBAAqB,CAAC,EACpC,KAAK,EACL,OAAO,EACP,QAAQ,GACT,EAAE,6BAA6B,GAAG,IAAI,CAuBtC"}

package/dist/visualizer/messaging/deserialization/video/color.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/
+import { parseMessage } from "../../parse-utils.js";
+export function deserializeColorFrame({ topic, message, callback, }) {
+    const { receiveTime, encoding, step, width, height, stride, planeStride } = parseMessage(message);
+    const foxgloveMessage = {
+        timestamp: receiveTime,
+        frame_id: `color-${topic}-frame`,
+        width,
+        height,
+        encoding,
+        step: stride ?? width * step,
+        data: message.data,
+        stride,
+        planeStride,
+    };
+    callback({
+        topic,
+        receiveTime,
+        message: foxgloveMessage,
+        sizeInBytes: message.data.byteLength,
+        schemaName: "foxglove.RawImage",
+        depthaiTransformation: message.transformation,
+    });
+}
+//# sourceMappingURL=color.js.map

package/dist/visualizer/messaging/deserialization/video/color.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"color.js","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/video/color.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAI1D,OAAO,EAAE,YAAY,EAAE,MAAM,sBAAsB,CAAC;AAQpD,MAAM,UAAU,qBAAqB,CAAC,EACpC,KAAK,EACL,OAAO,EACP,QAAQ,GACsB;IAC9B,MAAM,EAAE,WAAW,EAAE,QAAQ,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;IAElG,MAAM,eAAe,GAAqB;QACxC,SAAS,EAAE,WAAW;QACtB,QAAQ,EAAE,SAAS,KAAK,QAAQ;QAChC,KAAK;QACL,MAAM;QACN,QAAQ;QACR,IAAI,EAAE,MAAM,IAAI,KAAK,GAAG,IAAI;QAC5B,IAAI,EAAE,OAAO,CAAC,IAAI;QAClB,MAAM;QACN,WAAW;KACZ,CAAC;IAEF,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,OAAO,CAAC,IAAI,CAAC,UAAU;QACpC,UAAU,EAAE,mBAAmB;QAC/B,qBAAqB,EAAE,OAAO,CAAC,cAAc;KACpB,CAAC,CAAC;AAC/B,CAAC"}

package/dist/visualizer/messaging/deserialization/video/depth-coloring.worker.d.ts

@@ -0,0 +1,5 @@
+export declare function colorDepht(data: Uint8Array, encoding: string, width: number, height: number, maxSteroDepth: number): Uint8Array;
+export type ColorDepthApi = {
+    colorDepht: (data: Uint8Array, encoding: string, width: number, height: number, maxSteroDepth: number) => Uint8Array;
+};
+//# sourceMappingURL=depth-coloring.worker.d.ts.map

package/dist/visualizer/messaging/deserialization/video/depth-coloring.worker.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"depth-coloring.worker.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/video/depth-coloring.worker.ts"],"names":[],"mappings":"AAUA,wBAAgB,UAAU,CACxB,IAAI,EAAE,UAAU,EAChB,QAAQ,EAAE,MAAM,EAChB,KAAK,EAAE,MAAM,EACb,MAAM,EAAE,MAAM,EACd,aAAa,EAAE,MAAM,GACpB,UAAU,CAiBZ;AAED,MAAM,MAAM,aAAa,GAAG;IAC1B,UAAU,EAAE,CACV,IAAI,EAAE,UAAU,EAChB,QAAQ,EAAE,MAAM,EAChB,KAAK,EAAE,MAAM,EACb,MAAM,EAAE,MAAM,EACd,aAAa,EAAE,MAAM,KAClB,UAAU,CAAC;CACjB,CAAC"}