@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/messaging/deserialization/video/mjpeg.js

@@ -0,0 +1,89 @@
+// 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 { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
+import { Logger } from "../../../utils/logger.js";
+import { parseMessage } from "../../parse-utils.js";
+import { copyVideoFrameToI420 } from "./h264.js";
+const logger = Logger.getLogger();
+const EMPTY_FRAME_DATA = new Uint8Array(0);
+const scratchBuffersByTopic = new Map();
+async function copyVideoFrameToRenderablePayload(frame) {
+    const visibleRect = frame.visibleRect;
+    const frameWidth = visibleRect?.width ?? frame.codedWidth;
+    const frameHeight = visibleRect?.height ?? frame.codedHeight;
+    const cropLeft = visibleRect?.x ?? 0;
+    const cropTop = visibleRect?.y ?? 0;
+    return {
+        data: EMPTY_FRAME_DATA,
+        width: frameWidth,
+        height: frameHeight,
+        encoding: frame.format === "NV12" && cropLeft === 0 && cropTop === 0 ? "nv12" : "yuv420p",
+        step: frameWidth,
+        sizeInBytes: frame.allocationSize(),
+        renderableBitmap: await createImageBitmap(frame),
+    };
+}
+async function copyVideoFrameToPayload(frame, outputMode, scratchBuffers) {
+    if (outputMode === "native") {
+        try {
+            return await copyVideoFrameToRenderablePayload(frame);
+        }
+        catch (error) {
+            logger.warn("Falling back to I420 payload for MJPEG frame.", error);
+        }
+    }
+    return {
+        ...(await copyVideoFrameToI420(frame, "MJPEG", scratchBuffers)),
+        encoding: "yuv420p",
+        step: frame.visibleRect?.width ?? frame.codedWidth,
+        sizeInBytes: frame.allocationSize(),
+    };
+}
+export async function deserializeMJPEGFrame({ topic, message, callback, outputMode = "native", }) {
+    const { receiveTime } = parseMessage(message);
+    const supported = ensureWebCodecsSupported("ImageDecoder");
+    if (!supported) {
+        return;
+    }
+    const ImageDecoderCtor = globalThis.ImageDecoder;
+    if (!ImageDecoderCtor) {
+        return;
+    }
+    const scratchBuffers = scratchBuffersByTopic.get(topic) ?? {};
+    scratchBuffersByTopic.set(topic, scratchBuffers);
+    const decoder = new ImageDecoderCtor({
+        type: "image/jpeg",
+        data: message.data,
+    });
+    const { image: frame } = await decoder.decode();
+    try {
+        const payload = await copyVideoFrameToPayload(frame, outputMode, scratchBuffers);
+        const foxgloveMessage = {
+            timestamp: receiveTime,
+            frame_id: "camera",
+            width: payload.width,
+            height: payload.height,
+            data: payload.data,
+            encoding: payload.encoding,
+            step: payload.step,
+            stride: payload.stride,
+            planeStride: payload.planeStride,
+            renderableBitmap: payload.renderableBitmap,
+        };
+        const event = {
+            topic,
+            receiveTime,
+            message: foxgloveMessage,
+            sizeInBytes: payload.sizeInBytes,
+            schemaName: "foxglove.RawImage",
+            depthaiTransformation: message.transformation,
+        };
+        callback(event);
+    }
+    finally {
+        frame.close();
+        decoder.close();
+    }
+}
+//# sourceMappingURL=mjpeg.js.map

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

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

@@ -0,0 +1,8 @@
+import type { DepthAIMessageImgFrame } from "../../message.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+export type DeserializeMonoFrameArgs = {
+    topic: string;
+    message: DepthAIMessageImgFrame;
+};
+export declare function deserializeMonoFrame(args: DeserializeMonoFrameArgs): VisualizerMessageEvent[];
+//# sourceMappingURL=mono.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"mono.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/video/mono.ts"],"names":[],"mappings":"AAMA,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,kBAAkB,CAAC;AAC/D,OAAO,KAAK,EAAE,sBAAsB,EAAsB,MAAM,wBAAwB,CAAC;AAGzF,MAAM,MAAM,wBAAwB,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,sBAAsB,CAAC;CACjC,CAAC;AAEF,wBAAgB,oBAAoB,CAAC,IAAI,EAAE,wBAAwB,GAAG,sBAAsB,EAAE,CAwB7F"}

package/dist/visualizer/messaging/deserialization/video/mono.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 { fromMillis } from "../../parse-utils.js";
+export function deserializeMonoFrame(args) {
+    const { topic, message } = args;
+    const receiveTime = fromMillis(Date.now());
+    const foxgloveMessage = {
+        timestamp: receiveTime,
+        frame_id: `mono-${topic}-frame`,
+        width: message.width,
+        height: message.height,
+        encoding: "mono8",
+        step: message.width,
+        data: message.data,
+    };
+    return [
+        {
+            topic,
+            receiveTime,
+            message: foxgloveMessage,
+            sizeInBytes: message.data.byteLength,
+            schemaName: "foxglove.RawImage",
+        },
+    ];
+}
+//# sourceMappingURL=mono.js.map

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

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

@@ -0,0 +1,18 @@
+import type { RGBDData } from "../../../protobuf.generated/RGBDData.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+import type { NeuralCameraIntrinsics } from "../pointcloud/utils.js";
+import { type PointCloudWithDimensions } from "./depth.js";
+import { type TopicDecoders } from "./h264.js";
+export type DeserializeRGBDFrameArgs = {
+    topic: string;
+    topicDecoders: TopicDecoders;
+    cameraIntrinsics: NeuralCameraIntrinsics | undefined;
+    maxStereoDepth: number;
+    message: RGBDData;
+    callback: (event: VisualizerMessageEvent) => void;
+    onError: (error: Error) => void;
+};
+export type PointCloudWithColorAndDepth = PointCloudWithDimensions;
+export declare function resetRGBDPointCloudTopic(topic: string): void;
+export declare function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, }: DeserializeRGBDFrameArgs): Promise<void>;
+//# sourceMappingURL=rgbd-to-pointcloud.d.ts.map

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

@@ -0,0 +1 @@
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