@luxonis/depthai-viewer-common 3.7.5 → 3.7.6

package/dist/visualizer/messaging/decode-core.js

@@ -0,0 +1,244 @@
+// 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 { Profile } from "../protobuf.generated/EncodedFrame.js";
+import { Type } from "../protobuf.generated/ImgFrame.js";
+import { isCapableOfEncodedStream } from "../utils/encoding.js";
+import { DecoderRuntimeError, EncodedStreamNotSupportedError, NotInSecureContextError, UnsupportedTopicError, } from "../utils/error.js";
+import { Logger } from "../utils/logger.js";
+import { deserializeImgDetectionsCustom } from "./deserialization/detections/custom.js";
+import { deserializeImgDetections, } from "./deserialization/detections/detection.js";
+import { deserializePointCloudData } from "./deserialization/pointcloud/point-cloud.js";
+import { deserializeSegmentationMask } from "./deserialization/segmentation/segmentation-mask.js";
+import { deserializeColorFrame } from "./deserialization/video/color.js";
+import { deserializeDepthFrame } from "./deserialization/video/depth.js";
+import { deserializeDepthFrameToPointCloud } from "./deserialization/video/depth-to-pointcloud.js";
+import { deserializeEncodedFrameH264 } from "./deserialization/video/h264.js";
+import { deserializeEncodedFrameH265 } from "./deserialization/video/h265.js";
+import { deserializeMJPEGFrame } from "./deserialization/video/mjpeg.js";
+import { deserializeRGBDFrameToPointCloud, resetRGBDPointCloudTopic, } from "./deserialization/video/rgbd-to-pointcloud.js";
+import { parseMessage } from "./parse-utils.js";
+import { protobufsBySchema } from "./protobuf.js";
+const logger = Logger.getLogger();
+export function createDecoderState() {
+    return {
+        topicDecoders: new Map(),
+        topicSizes: new Map(),
+    };
+}
+function matchesTopicResetScope(topic, requestedTopic) {
+    return topic === requestedTopic || topic.startsWith(`${requestedTopic}::`);
+}
+export function resetDecoderStateForTopic(topic, state) {
+    for (const [decoderTopic, decoderInfo] of state.topicDecoders) {
+        if (!matchesTopicResetScope(decoderTopic, topic)) {
+            continue;
+        }
+        decoderInfo.queuedOutputFrame?.close();
+        decoderInfo.queuedOutputFrame = undefined;
+        decoderInfo.timing.clear();
+        decoderInfo.ingressPerfTimes.clear();
+        decoderInfo.transformations.clear();
+        decoderInfo.outputModes.clear();
+        decoderInfo.pendingCallbacks.clear();
+        decoderInfo.droppedFrames = 0;
+        decoderInfo.processingOutput = false;
+        if (decoderInfo.decoder.state !== "closed") {
+            try {
+                decoderInfo.decoder.close();
+            }
+            catch {
+                // Ignore teardown errors while resetting topic decoder state.
+            }
+        }
+        state.topicDecoders.delete(decoderTopic);
+    }
+    for (const decoderTopic of state.topicSizes.keys()) {
+        if (matchesTopicResetScope(decoderTopic, topic)) {
+            state.topicSizes.delete(decoderTopic);
+        }
+    }
+    resetRGBDPointCloudTopic(topic);
+}
+export function errorInstanceToErrorCode(error) {
+    if (error instanceof UnsupportedTopicError) {
+        return "UnsupportedTopic";
+    }
+    if (error instanceof NotInSecureContextError) {
+        return "NotInSecureContext";
+    }
+    if (error instanceof EncodedStreamNotSupportedError) {
+        return "EncodedStreamNotSupported";
+    }
+    return "DecoderError";
+}
+function ensureEncodedStreamSupport(topic, target) {
+    if (!globalThis.isSecureContext) {
+        throw new NotInSecureContextError(topic);
+    }
+    if (!isCapableOfEncodedStream(target)) {
+        throw new EncodedStreamNotSupportedError(topic);
+    }
+}
+export async function deserializeDepthAiMessage(args) {
+    const { topicDecoders, topicSizes, type, message, callback, topic, neuralCameraIntrinsics, maxSteroDepth, onError, } = args;
+    switch (type) {
+        case "encodedFrame": {
+            topicSizes.set(topic, { width: message.width, height: message.height });
+            if (message.profile === Profile.AVC) {
+                ensureEncodedStreamSupport(topic, "video");
+                await deserializeEncodedFrameH264({
+                    topic,
+                    message,
+                    topicDecoders,
+                    callback,
+                    onError,
+                });
+            }
+            else if (message.profile === Profile.JPEG) {
+                ensureEncodedStreamSupport(topic, "image");
+                await deserializeMJPEGFrame({ topic, message, callback });
+            }
+            else if (message.profile === Profile.HEVC) {
+                ensureEncodedStreamSupport(topic, "video");
+                await deserializeEncodedFrameH265({
+                    topic,
+                    message,
+                    topicDecoders,
+                    callback,
+                    onError,
+                });
+            }
+            else {
+                onError(new DecoderRuntimeError(topic, `Unsupported encoded frame profile ${Profile[message.profile] ?? message.profile}.`));
+            }
+            break;
+        }
+        case "imageFrame": {
+            const { width, height, type: messageType } = parseMessage(message);
+            topicSizes.set(topic, { width, height });
+            switch (messageType) {
+                case Type.BITSTREAM: {
+                    ensureEncodedStreamSupport(topic, "video");
+                    await deserializeEncodedFrameH264({
+                        topic,
+                        message,
+                        topicDecoders,
+                        callback,
+                        onError,
+                    });
+                    break;
+                }
+                case Type.RAW16: {
+                    const depthPreviewMessage = {
+                        ...message,
+                        data: message.data.slice(),
+                    };
+                    deserializeDepthFrameToPointCloud({ topic, message, callback });
+                    void deserializeDepthFrame({
+                        topic,
+                        message: depthPreviewMessage,
+                        callback,
+                        maxStereoDepth: maxSteroDepth / 1000,
+                    });
+                    break;
+                }
+                default: {
+                    deserializeColorFrame({ topic, message, callback });
+                }
+            }
+            break;
+        }
+        case "imageDetections": {
+            deserializeImgDetections({ topic, message, callback, topicSizes });
+            break;
+        }
+        case "imageDetectionsCustom": {
+            deserializeImgDetectionsCustom({ topic, message, callback, topicSizes });
+            break;
+        }
+        case "imageDetectionsSpatial": {
+            deserializeImgDetections({
+                topic,
+                topicSizes,
+                message: {
+                    ...message,
+                    detections: message.detections.map((detections) => detections.detection),
+                },
+                callback,
+            });
+            break;
+        }
+        case "segmentationMask": {
+            deserializeSegmentationMask({ topic, message, callback });
+            break;
+        }
+        case "pointCloud": {
+            deserializePointCloudData({ topic, message, callback });
+            break;
+        }
+        case "imu": {
+            const { receiveTime } = parseMessage(message);
+            callback({
+                topic,
+                schemaName: "foxglove.IMU",
+                message: message.packets,
+                sizeInBytes: message.packets.length * 16,
+                receiveTime,
+                publishTime: message.tsDevice ?? receiveTime,
+            });
+            break;
+        }
+        case "rgbd": {
+            await deserializeRGBDFrameToPointCloud({
+                topic,
+                topicDecoders,
+                cameraIntrinsics: neuralCameraIntrinsics,
+                maxStereoDepth: maxSteroDepth,
+                message,
+                callback,
+                onError,
+            });
+            break;
+        }
+        default: {
+            logger.warn(`Message decoding failed: unsupported type "${type}"`);
+            throw new UnsupportedTopicError(topic, `Unsupported message type "${type}"`);
+        }
+    }
+}
+export async function decodeFoxgloveMessage({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, }, configStore, state, callback, errorCallback) {
+    const handleDecodingError = (error) => {
+        errorCallback?.(errorInstanceToErrorCode(error), topic, {
+            message: error.message,
+        });
+    };
+    const protobufSchema = protobufsBySchema[schema];
+    if (!protobufSchema) {
+        logger.warn(`Unsupported message schema "${schema}"`);
+        handleDecodingError(new UnsupportedTopicError(topic, `Unsupported message schema "${schema}"`));
+        return;
+    }
+    const bufferArray = new Uint8Array(buffer.buffer, buffer.byteOffset, buffer.byteLength);
+    try {
+        const message = protobufSchema.decoder.decode(bufferArray);
+        if (configStore.debugLogsEnabled) {
+            logger.debug(`[DepthAI Deserialization] Received message of type ${protobufSchema.type} on topic ${topic}`, { message });
+        }
+        await deserializeDepthAiMessage({
+            topic,
+            topicSizes: state.topicSizes,
+            topicDecoders: state.topicDecoders,
+            neuralCameraIntrinsics,
+            message,
+            callback,
+            type: protobufSchema.type,
+            maxSteroDepth: stereoDepthMaxValue,
+            onError: handleDecodingError,
+        });
+    }
+    catch (error) {
+        handleDecodingError(error);
+    }
+}
+//# sourceMappingURL=decode-core.js.map

package/dist/visualizer/messaging/decode-core.js.map

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package/dist/visualizer/messaging/decoder-fixtures.d.ts

@@ -0,0 +1,14 @@
+import { type DecoderHarnessInput, type DecoderHarnessResult } from "./decoder-harness.js";
+type DecoderFixture = {
+    name: string;
+    input: DecoderHarnessInput;
+    assertResult: (result: DecoderHarnessResult) => void;
+};
+export type DecoderFixtureResult = {
+    name: string;
+    passed: true;
+};
+export declare function getBuiltInDecoderFixtures(): DecoderFixture[];
+export declare function runBuiltInDecoderFixtures(): Promise<DecoderFixtureResult[]>;
+export {};
+//# sourceMappingURL=decoder-fixtures.d.ts.map

package/dist/visualizer/messaging/decoder-fixtures.d.ts.map

@@ -0,0 +1 @@
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