@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

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

@@ -0,0 +1,124 @@
+// 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, transfer } from "comlink";
+// Reusable buffers to avoid allocations
+let depthBuffer = null;
+let colorBuffer = null;
+export function colorDepht(data, encoding, width, height, maxSteroDepth) {
+    const pixelCount = width * height;
+    if (!depthBuffer || depthBuffer.length < pixelCount) {
+        depthBuffer = new Float32Array(pixelCount);
+    }
+    if (!colorBuffer || colorBuffer.length < pixelCount * 3) {
+        colorBuffer = new Uint8Array(pixelCount * 3);
+    }
+    parseDepthData(data, encoding, width, height, depthBuffer);
+    colorizeDepthFrame(depthBuffer, width, height, maxSteroDepth, colorBuffer);
+    const result = new Uint8Array(pixelCount * 3);
+    result.set(colorBuffer.subarray(0, pixelCount * 3));
+    return transfer(result, [result.buffer]);
+}
+function parseDepthData(data, encoding, width, height, depthData) {
+    const pixelCount = width * height;
+    if (encoding === "mono16" || encoding === "16UC1") {
+        const byteOffset = data.byteOffset;
+        const byteLength = data.byteLength;
+        if (byteOffset % 2 === 0 && byteLength >= pixelCount * 2) {
+            const uint16View = new Uint16Array(data.buffer, byteOffset, pixelCount);
+            for (let i = 0; i < pixelCount; i++) {
+                depthData[i] = uint16View[i] * 0.001;
+            }
+        }
+        else {
+            // Fallback: use DataView for unaligned data
+            const view = new DataView(data.buffer, byteOffset, byteLength);
+            for (let i = 0; i < pixelCount; i++) {
+                depthData[i] = view.getUint16(i * 2, true) * 0.001;
+            }
+        }
+    }
+    else if (encoding === "32FC1") {
+        const byteOffset = data.byteOffset;
+        const byteLength = data.byteLength;
+        if (byteOffset % 4 === 0 && byteLength >= pixelCount * 4) {
+            const float32View = new Float32Array(data.buffer, byteOffset, pixelCount);
+            for (let i = 0; i < pixelCount; i++) {
+                depthData[i] = float32View[i];
+            }
+        }
+        else {
+            const view = new DataView(data.buffer, byteOffset, byteLength);
+            for (let i = 0; i < pixelCount; i++) {
+                depthData[i] = view.getFloat32(i * 4, true);
+            }
+        }
+    }
+    else {
+        throw new Error(`Unsupported depth encoding: ${encoding}`);
+    }
+}
+expose({ colorDepht });
+function colorizeDepthFrame(depthData, width, height, maxDepth, colorizedData) {
+    const pixelCount = width * height;
+    const colormap = getJetColormap();
+    const invMaxDepth = 255 / maxDepth;
+    for (let i = 0; i < pixelCount; i++) {
+        const depth = depthData[i];
+        const clipped = depth < 0 ? 0 : depth > maxDepth ? maxDepth : depth;
+        const normalized = Math.floor(clipped * invMaxDepth);
+        const colorOffset = normalized * 3;
+        const offset = i * 3;
+        colorizedData[offset] = colormap[colorOffset];
+        colorizedData[offset + 1] = colormap[colorOffset + 1];
+        colorizedData[offset + 2] = colormap[colorOffset + 2];
+    }
+}
+let cachedColormapFlat = null;
+function getJetColormap() {
+    if (cachedColormapFlat) {
+        return cachedColormapFlat;
+    }
+    const colormap = new Uint8Array(256 * 3);
+    for (let i = 0; i < 256; i++) {
+        const value = i / 255.0;
+        let r = 0;
+        let g = 0;
+        let b = 0;
+        if (value < 0.125) {
+            r = 0;
+            g = 0;
+            b = 0.5 + 0.5 * (value / 0.125);
+        }
+        else if (value < 0.375) {
+            r = 0;
+            g = (value - 0.125) / 0.25;
+            b = 1;
+        }
+        else if (value < 0.625) {
+            r = (value - 0.375) / 0.25;
+            g = 1;
+            b = 1 - (value - 0.375) / 0.25;
+        }
+        else if (value < 0.875) {
+            r = 1;
+            g = 1 - (value - 0.625) / 0.25;
+            b = 0;
+        }
+        else {
+            r = 1 - (0.5 * (value - 0.875)) / 0.125;
+            g = 0;
+            b = 0;
+        }
+        const offset = i * 3;
+        colormap[offset] = Math.floor(r * 255);
+        colormap[offset + 1] = Math.floor(g * 255);
+        colormap[offset + 2] = Math.floor(b * 255);
+    }
+    colormap[0] = 0;
+    colormap[1] = 0;
+    colormap[2] = 0;
+    cachedColormapFlat = colormap;
+    return colormap;
+}
+//# sourceMappingURL=depth-coloring.worker.js.map

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

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

@@ -0,0 +1,13 @@
+import type { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+import type { VisualizerMessageEvent, VisualizerPointCloud } from "../../message-event.js";
+export type PointCloudWithDimensions = VisualizerPointCloud & {
+    width?: number;
+    height?: number;
+};
+export type DeserializeDepthFrameArgs = {
+    topic: string;
+    message: ImgFrame;
+    callback: (event: VisualizerMessageEvent) => void;
+};
+export declare function deserializeDepthFrameToPointCloud({ topic, message, callback, }: DeserializeDepthFrameArgs): void;
+//# sourceMappingURL=depth-to-pointcloud.d.ts.map

package/dist/visualizer/messaging/deserialization/video/depth-to-pointcloud.d.ts.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/video/depth-to-pointcloud.js

@@ -0,0 +1,37 @@
+// 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";
+import { VisualizerNumericType } from "../../schema-constants.js";
+export function deserializeDepthFrameToPointCloud({ topic, message, callback, }) {
+    const { receiveTime, width, height } = parseMessage(message);
+    const foxgloveMessage = {
+        timestamp: message.tsDevice ?? receiveTime,
+        frame_id: `pointcloud-${topic}-frame`,
+        point_stride: 16,
+        pose: {
+            position: { x: 0, y: 0, z: 0 },
+            orientation: { x: 0, y: 0, z: 1, w: 0 },
+        },
+        width,
+        height,
+        fields: [
+            { name: "x", offset: 0, type: VisualizerNumericType.FLOAT32 },
+            { name: "y", offset: 4, type: VisualizerNumericType.FLOAT32 },
+            { name: "z", offset: 8, type: VisualizerNumericType.FLOAT32 },
+            { 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 },
+        ],
+        data: message.data,
+    };
+    callback({
+        topic,
+        receiveTime,
+        message: foxgloveMessage,
+        sizeInBytes: foxgloveMessage.data.byteLength,
+        schemaName: "foxglove.PointCloud",
+    });
+}
+//# sourceMappingURL=depth-to-pointcloud.js.map

package/dist/visualizer/messaging/deserialization/video/depth-to-pointcloud.js.map

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

@@ -0,0 +1,15 @@
+import type { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+import type { VisualizerMessageEvent, VisualizerPointCloud } from "../../message-event.js";
+export type DeserializeDepthFrameArgs = {
+    topic: string;
+    message: ImgFrame;
+    maxStereoDepth: number;
+    callback: (event: VisualizerMessageEvent) => void;
+};
+export type PointCloudWithDimensions = VisualizerPointCloud & {
+    width?: number;
+    height?: number;
+};
+export declare function deserializeDepthFrame({ topic, message, callback, maxStereoDepth, }: DeserializeDepthFrameArgs): Promise<void>;
+export declare function getDistanceFromDepthDataForOffset(depthData: Uint8Array, width: number, height: number, xOffset: number, yOffset: number): number | undefined;
+//# sourceMappingURL=depth.d.ts.map

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

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/video/depth.js

@@ -0,0 +1,126 @@
+// 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, wrap } from "comlink";
+import { Logger } from "../../../utils/logger.js";
+import { parseMessage } from "../../parse-utils.js";
+const logger = Logger.getLogger();
+let lastDepthWorkersBusyLogTime = 0;
+const DEPTH_WORKER_BUSY_LOG_INTERVAL_MS = 2000;
+let workerIndex = 0;
+const WORKER_COUNT = 3;
+let workerPool;
+function getWorkerPool() {
+    workerPool ??= Array.from({ length: WORKER_COUNT }, () => ({
+        remote: wrap(new Worker(new URL("./depth-coloring.worker.js", import.meta.url), { type: "module" })),
+        busy: false,
+    }));
+    return workerPool;
+}
+function getDepthWorker() {
+    const workerPool = getWorkerPool();
+    for (let i = 0; i < workerPool.length; i++) {
+        const idx = (workerIndex + i) % workerPool.length;
+        const slot = workerPool[idx];
+        if (!slot?.busy) {
+            slot.busy = true;
+            workerIndex = (idx + 1) % workerPool.length;
+            return slot.remote;
+        }
+    }
+    return null;
+}
+function releaseWorker(remote) {
+    const workerPool = getWorkerPool();
+    const slot = workerPool.find((s) => s.remote === remote);
+    if (slot) {
+        slot.busy = false;
+    }
+}
+export async function deserializeDepthFrame({ topic, message, callback, maxStereoDepth, }) {
+    const { receiveTime, encoding, width, height } = parseMessage(message);
+    const worker = getDepthWorker();
+    if (!worker) {
+        const now = Date.now();
+        if (now - lastDepthWorkersBusyLogTime >= DEPTH_WORKER_BUSY_LOG_INTERVAL_MS) {
+            lastDepthWorkersBusyLogTime = now;
+            logger.warn(`All depth workers busy, dropping frame for topic ${topic}.`, {
+                width,
+                height,
+                workerCount: WORKER_COUNT,
+            });
+        }
+        return;
+    }
+    let colorizedData;
+    try {
+        const depthDataCopy = message.data.slice();
+        colorizedData = await worker.colorDepht(transfer(depthDataCopy, [depthDataCopy.buffer]), encoding, width, height, maxStereoDepth);
+    }
+    catch (err) {
+        logger.error("Error in depth worker:", err);
+        releaseWorker(worker);
+        throw err;
+    }
+    finally {
+        releaseWorker(worker);
+    }
+    const foxgloveMessage = {
+        timestamp: receiveTime,
+        frame_id: `depth-${topic}-frame`,
+        width,
+        height,
+        encoding: "rgb8",
+        step: width * 3,
+        data: colorizedData,
+    };
+    callback({
+        topic: topic === "Point Cloud" ? "Depth Stream" : topic,
+        receiveTime,
+        message: foxgloveMessage,
+        sizeInBytes: colorizedData.byteLength,
+        schemaName: "foxglove.RawImage",
+        depthaiTransformation: message.transformation,
+    });
+}
+export function getDistanceFromDepthDataForOffset(depthData, width, height, xOffset, yOffset) {
+    if (xOffset < 0 || xOffset > 1 || yOffset < 0 || yOffset > 1) {
+        logger.error("Offsets must be between 0 and 1", { xOffset, yOffset });
+        return undefined;
+    }
+    const xCenter = Math.min(width - 1, Math.max(0, Math.floor(xOffset * width)));
+    const yCenter = Math.min(height - 1, Math.max(0, Math.floor(yOffset * height)));
+    const pointStride = 16;
+    const zByteOffset = 8;
+    const view = new DataView(depthData.buffer, depthData.byteOffset, depthData.byteLength);
+    const radius = 2;
+    let sum = 0;
+    let count = 0;
+    for (let dy = -radius; dy <= radius; dy++) {
+        const y = yCenter + dy;
+        if (y < 0 || y >= height) {
+            continue;
+        }
+        for (let dx = -radius; dx <= radius; dx++) {
+            const x = xCenter + dx;
+            if (x < 0 || x >= width) {
+                continue;
+            }
+            const idx = y * width + x;
+            const offset = idx * pointStride + zByteOffset;
+            if (offset + 4 > depthData.byteLength) {
+                continue;
+            }
+            const z = view.getFloat32(offset, true);
+            if (Number.isFinite(z)) {
+                sum += z;
+                count++;
+            }
+        }
+    }
+    if (count === 0) {
+        return undefined;
+    }
+    return sum / count;
+}
+//# sourceMappingURL=depth.js.map

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

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package/dist/visualizer/messaging/deserialization/video/h264.d.ts

@@ -0,0 +1,81 @@
+import type { ImgTransformation, Timestamp } from "../../../protobuf.generated/common.js";
+import { type EncodedFrame } from "../../../protobuf.generated/EncodedFrame.js";
+import type { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+export type DecoderRecoveryState = {
+    state: "synchronized";
+    enteredAt: number;
+} | {
+    state: "awaiting-keyframe";
+    enteredAt: number;
+    reason: string;
+} | {
+    state: "verifying-keyframe";
+    enteredAt: number;
+    keyframeAt: number;
+};
+export type TopicDecoderInfo = {
+    decoder: VideoDecoder;
+    timing: Map<number, Timestamp>;
+    ingressPerfTimes: Map<number, number>;
+    transformations: Map<number, ImgTransformation | undefined>;
+    outputModes: Map<number, EncodedVideoOutputMode>;
+    pendingCallbacks: Map<number, (event: VisualizerMessageEvent) => void>;
+    callback: (event: VisualizerMessageEvent) => void;
+    onError: (error: Error) => void;
+    droppedFrames: number;
+    processingOutput: boolean;
+    copyScratchBuffers: VideoFrameCopyScratchBuffers;
+    queuedOutputFrame?: VideoFrame;
+    decoderGeneration: number;
+    recovery: DecoderRecoveryState;
+    lastEncodedIngressAt?: number;
+    lastDecodedFrameAt?: number;
+    lastReceivedKeyframeAt?: number;
+};
+export type TopicDecoders = Map<string, TopicDecoderInfo>;
+export type EncodedVideoOutputMode = "i420" | "native";
+export type PackedVideoPixelFormat = "RGBX" | "RGBA" | "BGRX" | "BGRA";
+export type VideoPlaneLayout = Required<Pick<PlaneLayout, "offset" | "stride">>;
+export type VideoFrameCopyScratchBuffers = {
+    i420CopyBuffer?: Uint8Array;
+    nv12CopyBuffer?: Uint8Array;
+    packedCopyBuffer?: Uint8Array;
+};
+type DecodedVideoFramePayload = {
+    data: Uint8Array;
+    width: number;
+    height: number;
+    encoding: "yuv420p" | "nv12";
+    step: number;
+    sizeInBytes: number;
+    stride?: number | null;
+    planeStride?: number | null;
+    renderableBitmap?: ImageBitmap;
+};
+export declare function getDecodedFrameTransferables(payload: DecodedVideoFramePayload): Transferable[];
+export declare function packedToI420(packed: Uint8Array, width: number, height: number, stride: number, format: PackedVideoPixelFormat, cropLeft?: number, cropTop?: number, out?: Uint8Array<ArrayBuffer>): Uint8Array;
+export declare function convertNv12ToI420(nv12Buffer: Uint8Array, width: number, height: number, yStride: number, uvStride: number, yOffset?: number, uvOffset?: number, cropLeft?: number, cropTop?: number, i420Buffer?: Uint8Array<ArrayBuffer>): Uint8Array;
+export declare function repackI420(source: Uint8Array, width: number, height: number, yLayout: VideoPlaneLayout, uLayout: VideoPlaneLayout, vLayout: VideoPlaneLayout, cropLeft?: number, cropTop?: number, out?: Uint8Array<ArrayBuffer>): Uint8Array;
+export declare function copyVideoFrameToI420(frame: VideoFrame, _logPrefix: string, scratchBuffers?: VideoFrameCopyScratchBuffers): Promise<{
+    data: Uint8Array;
+    width: number;
+    height: number;
+}>;
+type DeserializeEncodedFrameH264Args = {
+    topic: string;
+    message: EncodedFrame | ImgFrame;
+    topicDecoders: TopicDecoders;
+    callback: (event: VisualizerMessageEvent) => void;
+    onError: (error: Error) => void;
+    outputMode?: EncodedVideoOutputMode;
+};
+export declare function getDecoderRecoveryStatus(topic: string, topicDecoders: TopicDecoders): {
+    recoveryState: DecoderRecoveryState["state"];
+    lastDecodedFrameAt?: number;
+    lastReceivedKeyframeAt?: number;
+    recoveryElapsedMs?: number;
+} | undefined;
+export declare function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback, onError, outputMode, }: DeserializeEncodedFrameH264Args): Promise<void>;
+export {};
+//# sourceMappingURL=h264.d.ts.map

package/dist/visualizer/messaging/deserialization/video/h264.d.ts.map

@@ -0,0 +1 @@
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