@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

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

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

@@ -0,0 +1,15 @@
+import type { FoxgloveMessage } from "../connection/communicator.js";
+import { type DeserializationErrorCallback, type ErrorCode } from "./decode-core.js";
+import type { NeuralCameraIntrinsics } from "./deserialization/pointcloud/utils.js";
+export type { DeserializationErrorCallback, ErrorCode };
+export type DeserializationWorkerApi = {
+    setDecodedMessagePort: (port: MessagePort) => void;
+    setDiagnosticsPort: (port: MessagePort) => void;
+    updateConnectionConfig: (debugLogsEnabled: boolean, streamDiagnosticsEnabled: boolean) => void;
+    resetTopic: (topic: string) => void;
+    handleMessageToDecode: ({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, }: FoxgloveMessage & {
+        neuralCameraIntrinsics: NeuralCameraIntrinsics;
+        stereoDepthMaxValue: number;
+    }, errorCallback?: DeserializationErrorCallback) => Promise<void>;
+};
+//# sourceMappingURL=deserialization.worker.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"deserialization.worker.d.ts","sourceRoot":"","sources":["../../../src/visualizer/messaging/deserialization.worker.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,+BAA+B,CAAC;AAGrE,OAAO,EAEL,KAAK,4BAA4B,EAEjC,KAAK,SAAS,EAEf,MAAM,kBAAkB,CAAC;AAC1B,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,uCAAuC,CAAC;AAoBpF,YAAY,EAAE,4BAA4B,EAAE,SAAS,EAAE,CAAC;AA4GxD,MAAM,MAAM,wBAAwB,GAAG;IACrC,qBAAqB,EAAE,CAAC,IAAI,EAAE,WAAW,KAAK,IAAI,CAAC;IACnD,kBAAkB,EAAE,CAAC,IAAI,EAAE,WAAW,KAAK,IAAI,CAAC;IAChD,sBAAsB,EAAE,CAAC,gBAAgB,EAAE,OAAO,EAAE,wBAAwB,EAAE,OAAO,KAAK,IAAI,CAAC;IAC/F,UAAU,EAAE,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;IACpC,qBAAqB,EAAE,CACrB,EACE,MAAM,EACN,MAAM,EACN,KAAK,EACL,sBAAsB,EACtB,mBAAmB,GACpB,EAAE,eAAe,GAAG;QACnB,sBAAsB,EAAE,sBAAsB,CAAC;QAC/C,mBAAmB,EAAE,MAAM,CAAC;KAC7B,EACD,aAAa,CAAC,EAAE,4BAA4B,KACzC,OAAO,CAAC,IAAI,CAAC,CAAC;CACpB,CAAC"}

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

@@ -0,0 +1,96 @@
+// 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 * as Comlink from "comlink";
+import { scheduleMicrotask } from "../utils/async.js";
+import { createConnectionConfigState } from "../utils/config-store.js";
+import { createDecoderState, decodeFoxgloveMessage, resetDecoderStateForTopic, } from "./decode-core.js";
+import { closeRenderableBitmapFromEvent, getMessageBatchTransferables, shouldCoalesceMessageEvent, } from "./message-event.js";
+import { initializeStreamDiagnostics, setStreamDiagnosticsConnectionConfig, setStreamDiagnosticsReporter, } from "./stream-diagnostics.js";
+const decoderState = createDecoderState();
+const connectionConfigState = createConnectionConfigState();
+let decodedMessagePort;
+let diagnosticsPort;
+let pendingDecodedEvents = [];
+let decodedMessageFlushScheduled = false;
+function setDecodedMessagePort(port) {
+    decodedMessagePort = port;
+    decodedMessagePort.start();
+}
+function setDiagnosticsPort(port) {
+    diagnosticsPort?.close();
+    diagnosticsPort = port;
+    diagnosticsPort.start();
+    setStreamDiagnosticsReporter((key, summary) => {
+        diagnosticsPort?.postMessage({ type: "stream-diagnostics", key, summary });
+    });
+}
+function updateConnectionConfig(debugLogsEnabled, streamDiagnosticsEnabled) {
+    const updatedConfig = createConnectionConfigState({
+        debugLogs: debugLogsEnabled,
+        streamDiagnostics: streamDiagnosticsEnabled,
+    });
+    connectionConfigState.debugLogsEnabled = updatedConfig.debugLogsEnabled;
+    connectionConfigState.streamDiagnosticsEnabled = updatedConfig.streamDiagnosticsEnabled;
+    setStreamDiagnosticsConnectionConfig(connectionConfigState);
+    if (streamDiagnosticsEnabled) {
+        initializeStreamDiagnostics();
+    }
+}
+function resetTopic(topic) {
+    resetDecoderStateForTopic(topic, decoderState);
+}
+function flushDecodedMessages() {
+    const port = decodedMessagePort;
+    if (!port) {
+        throw new Error("Decoded message port was not initialized.");
+    }
+    decodedMessageFlushScheduled = false;
+    if (pendingDecodedEvents.length === 0) {
+        return;
+    }
+    const eventsToFlush = pendingDecodedEvents;
+    pendingDecodedEvents = [];
+    const latestEventIndexByKey = new Map();
+    for (let index = 0; index < eventsToFlush.length; index += 1) {
+        const event = eventsToFlush[index];
+        if (!shouldCoalesceMessageEvent(event)) {
+            continue;
+        }
+        latestEventIndexByKey.set(`${event.schemaName}:${event.topic}`, index);
+    }
+    const coalescedEvents = [];
+    for (let index = 0; index < eventsToFlush.length; index += 1) {
+        const event = eventsToFlush[index];
+        if (shouldCoalesceMessageEvent(event) &&
+            latestEventIndexByKey.get(`${event.schemaName}:${event.topic}`) !== index) {
+            closeRenderableBitmapFromEvent(event);
+            continue;
+        }
+        coalescedEvents.push(event);
+    }
+    const transferables = getMessageBatchTransferables(coalescedEvents);
+    port.postMessage({ type: "decoded-message-batch", events: coalescedEvents }, transferables);
+}
+function emitDecodedMessage(event) {
+    pendingDecodedEvents.push(event);
+    if (decodedMessageFlushScheduled) {
+        return;
+    }
+    decodedMessageFlushScheduled = true;
+    scheduleMicrotask(() => {
+        flushDecodedMessages();
+    });
+}
+async function handleMessageToDecode({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, }, errorCallback) {
+    await decodeFoxgloveMessage({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue }, connectionConfigState, decoderState, emitDecodedMessage, errorCallback);
+}
+// Expose the updated API
+Comlink.expose({
+    setDecodedMessagePort,
+    setDiagnosticsPort,
+    updateConnectionConfig,
+    resetTopic,
+    handleMessageToDecode,
+});
+//# sourceMappingURL=deserialization.worker.js.map

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

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/message-event.d.ts

@@ -0,0 +1,114 @@
+export type VisualizerMessageEvent<T = unknown> = {
+    topic: string;
+    schemaName: string;
+    message: T;
+    sizeInBytes: number;
+    receiveTime: any;
+    publishTime?: any;
+    depthaiTransformation?: unknown;
+};
+export type Point2D = {
+    x: number;
+    y: number;
+};
+export type VisualizerVector3 = {
+    x: number;
+    y: number;
+    z: number;
+};
+export type VisualizerQuaternion = {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+};
+export type VisualizerPointField = {
+    name: string;
+    offset: number;
+    type: number;
+};
+export type VisualizerColor = {
+    r: number;
+    g: number;
+    b: number;
+    a: number;
+};
+export type VisualizerPointsAnnotation = {
+    timestamp: any;
+    type: number;
+    points: Point2D[];
+    outline_color?: VisualizerColor;
+    outline_colors?: VisualizerColor[];
+    fill_color?: VisualizerColor;
+    thickness?: number;
+};
+export type VisualizerTextAnnotation = {
+    timestamp: any;
+    position: Point2D;
+    text: string;
+    font_size?: number;
+    text_color?: VisualizerColor;
+    background_color?: VisualizerColor;
+};
+export type VisualizerCircleAnnotation = {
+    timestamp: any;
+    position: Point2D;
+    diameter: number;
+    thickness?: number;
+    fill_color?: VisualizerColor;
+    outline_color?: VisualizerColor;
+    xMultiplier?: number;
+    yMultiplier?: number;
+};
+export type VisualizerImageAnnotations = {
+    points: VisualizerPointsAnnotation[];
+    texts: VisualizerTextAnnotation[];
+    circles: VisualizerCircleAnnotation[];
+};
+export type VisualizerSegmentationMask = {
+    timestamp: any;
+    width: number;
+    height: number;
+    data: Uint8Array;
+    bytesPerClassId: 1 | 2;
+    labels: string[];
+};
+export type VisualizerPointCloud = {
+    timestamp: any;
+    frame_id: string;
+    pose: {
+        position: VisualizerVector3;
+        orientation: VisualizerQuaternion;
+    };
+    coordinateFrame?: "visualizer-y-up" | "depthai-camera-y-down";
+    point_stride: number;
+    fields: VisualizerPointField[];
+    data: Uint8Array;
+    width?: number;
+    height?: number;
+};
+export type VisualizerRawImage = {
+    timestamp: any;
+    frame_id: string;
+    width: number;
+    height: number;
+    encoding: string;
+    step: number;
+    data: Uint8Array;
+    is_bigendian?: boolean;
+};
+export type ExtendedRawImage = VisualizerRawImage & {
+    stride?: number | null;
+    planeStride?: number | null;
+    renderableBitmap?: ImageBitmap;
+};
+export declare function shouldCoalesceMessageEvent(event: VisualizerMessageEvent): boolean;
+export declare function getMessageEventTransferables(event: VisualizerMessageEvent): Transferable[];
+export declare function getMessageBatchTransferables(events: readonly VisualizerMessageEvent[]): Transferable[];
+export declare function getKnownMessageSizeInBytes(message: unknown): number | undefined;
+export declare function closeRenderableBitmapFromMessage(message: unknown): void;
+export declare function closeRenderableBitmapFromEvent(event: VisualizerMessageEvent): void;
+export declare function stripRenderableBitmapFromMessage<T>(message: T): T;
+export declare function stripRenderableBitmapFromEvent<T extends VisualizerMessageEvent>(event: T): T;
+export declare function createCachedEventSnapshot<T extends VisualizerMessageEvent>(event: T): T;
+//# sourceMappingURL=message-event.d.ts.map

package/dist/visualizer/messaging/message-event.d.ts.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/message-event.js

@@ -0,0 +1,80 @@
+// 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 shouldCoalesceMessageEvent(event) {
+    return (event.schemaName === "foxglove.RawImage" ||
+        event.schemaName === "foxglove.ImageAnnotations" ||
+        event.schemaName === "luxonis.SegmentationMask" ||
+        event.schemaName === "foxglove.PointCloud" ||
+        event.schemaName === "foxglove.PointCloud.Colored" ||
+        event.schemaName === "foxglove.PointClouds" ||
+        event.schemaName === "foxglove.PointClouds.Colored");
+}
+export function getMessageEventTransferables(event) {
+    const transferables = [];
+    const message = event.message;
+    if (message && typeof message === "object") {
+        const record = message;
+        const data = record.data;
+        if (data instanceof Uint8Array && data.byteLength > 0) {
+            transferables.push(data.buffer);
+        }
+        const renderableBitmap = record.renderableBitmap;
+        if (renderableBitmap instanceof ImageBitmap) {
+            transferables.push(renderableBitmap);
+        }
+    }
+    return transferables;
+}
+export function getMessageBatchTransferables(events) {
+    const transferables = [];
+    for (const event of events) {
+        transferables.push(...getMessageEventTransferables(event));
+    }
+    return transferables;
+}
+export function getKnownMessageSizeInBytes(message) {
+    if (message == undefined || typeof message !== "object") {
+        return undefined;
+    }
+    const data = message.data;
+    if (ArrayBuffer.isView(data)) {
+        return data.byteLength;
+    }
+    return undefined;
+}
+export function closeRenderableBitmapFromMessage(message) {
+    if (message == undefined || typeof message !== "object") {
+        return;
+    }
+    const renderableBitmap = message.renderableBitmap;
+    if (renderableBitmap instanceof ImageBitmap) {
+        renderableBitmap.close();
+    }
+}
+export function closeRenderableBitmapFromEvent(event) {
+    closeRenderableBitmapFromMessage(event.message);
+}
+export function stripRenderableBitmapFromMessage(message) {
+    if (message != undefined &&
+        typeof message === "object" &&
+        "renderableBitmap" in message) {
+        const { renderableBitmap: _renderableBitmap, ...rest } = message;
+        return rest;
+    }
+    return message;
+}
+export function stripRenderableBitmapFromEvent(event) {
+    const strippedMessage = stripRenderableBitmapFromMessage(event.message);
+    if (strippedMessage === event.message) {
+        return event;
+    }
+    return {
+        ...event,
+        message: strippedMessage,
+    };
+}
+export function createCachedEventSnapshot(event) {
+    return stripRenderableBitmapFromEvent(event);
+}
+//# sourceMappingURL=message-event.js.map

package/dist/visualizer/messaging/message-event.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/message-handler.d.ts

@@ -0,0 +1,10 @@
+import type { FoxgloveMessage } from "../connection/communicator.js";
+import type { DeserializationErrorCallback } from "./deserialization.worker.js";
+import type { VisualizerMessageEvent } from "./message-event.js";
+export type MessageHandler = {
+    handle: (message: FoxgloveMessage, errorCallback?: DeserializationErrorCallback) => void;
+    resetTopic: (topic: string) => void;
+    cleanup: () => void;
+};
+export declare function createMessageHandler(callback: (event: VisualizerMessageEvent) => void): MessageHandler;
+//# sourceMappingURL=message-handler.d.ts.map

package/dist/visualizer/messaging/message-handler.d.ts.map

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