@luxonis/depthai-viewer-common 3.9.7 → 4.0.0

package/dist/visualizer/panels/image/webgl-image-renderer.js

@@ -2,6 +2,20 @@
 // 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 { readCanvasColorRgb } from "../../utils/use-theme-mode.js";
+export function resolvePackedByteTextureLayout(byteLength, maxTextureSize) {
+    if (byteLength <= 0 || maxTextureSize <= 0) {
+        return undefined;
+    }
+    const completeWordCount = Math.floor(byteLength / 4);
+    const tailByteCount = byteLength % 4;
+    const wordCount = completeWordCount + (tailByteCount > 0 ? 1 : 0);
+    const width = Math.min(wordCount, maxTextureSize);
+    const height = Math.ceil(wordCount / width);
+    if (height > maxTextureSize) {
+        return undefined;
+    }
+    return { width, height, completeWordCount, tailByteCount };
+}
 const POSITION_DATA = new Float32Array([-1, 1, 1, 1, -1, -1, 1, -1]);
 const TEXTURE_COORD_DATA = new Float32Array([0, 0, 1, 0, 0, 1, 1, 1]);
 const PACKED_MODE_RGB = 0;
@@ -9,6 +23,7 @@ const PACKED_MODE_BGR = 1;
 const PACKED_MODE_RGBA = 2;
 const PACKED_MODE_BGRA = 3;
 const PACKED_MODE_MONO = 4;
+const PACKED_MODE_MONO16 = 5;
 const YUV422_MODE_UYVY = 0;
 const YUV422_MODE_YUYV = 1;
 const VERTEX_SHADER_SOURCE = `
@@ -22,32 +37,109 @@ void main() {
 }
 `;
 const PACKED_FRAGMENT_SHADER_SOURCE = `
-precision mediump float;
+precision highp float;
 
 varying vec2 v_texCoord;
 uniform sampler2D u_texture;
-uniform vec2 u_textureScale;
+uniform vec2 u_storageSize;
+uniform vec2 u_sourceSize;
+uniform float u_sourceStrideBytes;
+uniform float u_bytesPerPixel;
 uniform float u_mode;
+uniform float u_maxValue;
+
+vec4 readWord(float wordIndex) {
+  float wordX = mod(wordIndex, u_storageSize.x);
+  float wordY = floor(wordIndex / u_storageSize.x);
+  return floor(texture2D(u_texture, (vec2(wordX, wordY) + 0.5) / u_storageSize) * 255.0 + 0.5);
+}
+
+float readSourceByte(float rowWordIndex, float localByteOffset) {
+  float wordIndex = rowWordIndex + floor(localByteOffset / 4.0);
+  float channelIndex = mod(localByteOffset, 4.0);
+  vec4 word = readWord(wordIndex);
+  if (channelIndex < 0.5) {
+    return word.r;
+  }
+  if (channelIndex < 1.5) {
+    return word.g;
+  }
+  if (channelIndex < 2.5) {
+    return word.b;
+  }
+  return word.a;
+}
+
+vec3 jetColor(float value) {
+  if (value < 0.125) {
+    return vec3(0.0, 0.0, 0.5 + 4.0 * value);
+  }
+  if (value < 0.375) {
+    return vec3(0.0, (value - 0.125) * 4.0, 1.0);
+  }
+  if (value < 0.625) {
+    return vec3((value - 0.375) * 4.0, 1.0, 1.0 - (value - 0.375) * 4.0);
+  }
+  if (value < 0.875) {
+    return vec3(1.0, 1.0 - (value - 0.625) * 4.0, 0.0);
+  }
+  return vec3(1.0 - (value - 0.875) * 4.0, 0.0, 0.0);
+}
 
 void main() {
-  vec4 sampleColor = texture2D(u_texture, vec2(v_texCoord.x * u_textureScale.x, v_texCoord.y));
+  vec2 sourcePixel = min(floor(v_texCoord * u_sourceSize), u_sourceSize - 1.0);
+  float strideWords = floor(u_sourceStrideBytes / 4.0);
+  float strideRemainder = mod(u_sourceStrideBytes, 4.0);
+  float rowRemainderBytes = mod(sourcePixel.y * strideRemainder, 4.0);
+  float rowWordIndex = sourcePixel.y * strideWords + floor(sourcePixel.y * strideRemainder / 4.0);
+  float pixelByteOffset = rowRemainderBytes + sourcePixel.x * u_bytesPerPixel;
+  float first = readSourceByte(rowWordIndex, pixelByteOffset);
   if (u_mode < 0.5) {
-    gl_FragColor = vec4(sampleColor.rgb, 1.0);
+    gl_FragColor = vec4(
+      first,
+      readSourceByte(rowWordIndex, pixelByteOffset + 1.0),
+      readSourceByte(rowWordIndex, pixelByteOffset + 2.0),
+      255.0
+    ) / 255.0;
     return;
   }
   if (u_mode < 1.5) {
-    gl_FragColor = vec4(sampleColor.b, sampleColor.g, sampleColor.r, 1.0);
+    gl_FragColor = vec4(
+      readSourceByte(rowWordIndex, pixelByteOffset + 2.0),
+      readSourceByte(rowWordIndex, pixelByteOffset + 1.0),
+      first,
+      255.0
+    ) / 255.0;
     return;
   }
   if (u_mode < 2.5) {
-    gl_FragColor = sampleColor;
+    gl_FragColor = vec4(
+      first,
+      readSourceByte(rowWordIndex, pixelByteOffset + 1.0),
+      readSourceByte(rowWordIndex, pixelByteOffset + 2.0),
+      readSourceByte(rowWordIndex, pixelByteOffset + 3.0)
+    ) / 255.0;
     return;
   }
   if (u_mode < 3.5) {
-    gl_FragColor = vec4(sampleColor.b, sampleColor.g, sampleColor.r, sampleColor.a);
+    gl_FragColor = vec4(
+      readSourceByte(rowWordIndex, pixelByteOffset + 2.0),
+      readSourceByte(rowWordIndex, pixelByteOffset + 1.0),
+      first,
+      readSourceByte(rowWordIndex, pixelByteOffset + 3.0)
+    ) / 255.0;
+    return;
+  }
+  if (u_mode < 4.5) {
+    gl_FragColor = vec4(vec3(first / 255.0), 1.0);
+    return;
+  }
+  float rawDepth = first + readSourceByte(rowWordIndex, pixelByteOffset + 1.0) * 256.0;
+  if (rawDepth < 0.5) {
+    gl_FragColor = vec4(0.0, 0.0, 0.0, 1.0);
     return;
   }
-  gl_FragColor = vec4(sampleColor.rrr, 1.0);
+  gl_FragColor = vec4(jetColor(clamp(rawDepth / max(u_maxValue, 1.0), 0.0, 1.0)), 1.0);
 }
 `;
 const YUV420_FRAGMENT_SHADER_SOURCE = `
@@ -172,6 +264,9 @@ export function resolveWebGlImageRenderPlan(image) {
         case "mono8":
         case "8UC1":
             return resolvePackedPlan(image, "mono", 1, "luminance");
+        case "mono16":
+        case "16UC1":
+            return resolvePackedPlan(image, "mono16", 2, "luminance-alpha");
         default:
             return undefined;
     }
@@ -188,6 +283,8 @@ export class WebGlImageRenderer {
     #primaryTexture;
     #secondaryTexture;
     #tertiaryTexture;
+    #maxTextureSize = 0;
+    #tailWord = new Uint8Array(4);
     constructor(canvas) {
         this.#canvas = canvas;
         const gl = canvas.getContext("webgl", {
@@ -202,6 +299,7 @@ export class WebGlImageRenderer {
             return;
         }
         this.#gl = gl;
+        this.#maxTextureSize = gl.getParameter(gl.MAX_TEXTURE_SIZE);
         gl.disable(gl.DEPTH_TEST);
         gl.disable(gl.BLEND);
         gl.pixelStorei(gl.UNPACK_ALIGNMENT, 1);
@@ -212,7 +310,28 @@ export class WebGlImageRenderer {
         return this.#gl != undefined;
     }
     canRender(image) {
-        return this.isAvailable() && resolveWebGlImageRenderPlan(image) != undefined;
+        const gl = this.#gl;
+        const plan = resolveWebGlImageRenderPlan(image);
+        if (!gl || !plan || !this.#positionBuffer || !this.#texCoordBuffer) {
+            return false;
+        }
+        switch (plan.kind) {
+            case "packed":
+                return (resolvePackedByteTextureLayout(image.data.byteLength, this.#maxTextureSize) !=
+                    undefined && this.#ensurePackedProgram(gl) != undefined);
+            case "nv12":
+                return (plan.yStride <= this.#maxTextureSize &&
+                    image.height <= this.#maxTextureSize &&
+                    this.#ensureNv12Program(gl) != undefined);
+            case "yuv422":
+                return (plan.textureWidth <= this.#maxTextureSize &&
+                    plan.textureHeight <= this.#maxTextureSize &&
+                    this.#ensureYuv422Program(gl) != undefined);
+            case "i420":
+                return (plan.yStride <= this.#maxTextureSize &&
+                    image.height <= this.#maxTextureSize &&
+                    this.#ensureYuvProgram(gl) != undefined);
+        }
     }
     clear(width, height) {
         const gl = this.#gl;
@@ -243,17 +362,13 @@ export class WebGlImageRenderer {
         gl.viewport(viewportX, viewportY, viewportWidth, viewportHeight);
         switch (plan.kind) {
             case "packed":
-                this.#drawPackedImage(gl, image, plan);
-                return true;
+                return this.#drawPackedImage(gl, image, plan);
             case "nv12":
-                this.#drawNv12Image(gl, image, plan);
-                return true;
+                return this.#drawNv12Image(gl, image, plan);
             case "yuv422":
-                this.#drawYuv422Image(gl, image, plan);
-                return true;
+                return this.#drawYuv422Image(gl, image, plan);
             case "i420":
-                this.#drawI420Image(gl, image, plan);
-                return true;
+                return this.#drawI420Image(gl, image, plan);
         }
     }
     destroy() {
@@ -285,33 +400,54 @@ export class WebGlImageRenderer {
         this.#texCoordBuffer = undefined;
         this.#gl = undefined;
     }
+    releaseFrameResources() {
+        const gl = this.#gl;
+        if (!gl) {
+            return;
+        }
+        deleteTexture(gl, this.#primaryTexture);
+        deleteTexture(gl, this.#secondaryTexture);
+        deleteTexture(gl, this.#tertiaryTexture);
+        this.#primaryTexture = undefined;
+        this.#secondaryTexture = undefined;
+        this.#tertiaryTexture = undefined;
+    }
     #drawPackedImage(gl, image, plan) {
         const program = this.#ensurePackedProgram(gl);
         if (!program) {
-            return;
+            return false;
         }
         if (!this.#bindProgram(gl, program.program, program.positionLocation, program.texCoordLocation)) {
-            return;
+            return false;
+        }
+        const layout = resolvePackedByteTextureLayout(image.data.byteLength, this.#maxTextureSize);
+        if (!layout) {
+            return false;
         }
-        this.#primaryTexture = uploadTexture(gl, this.#primaryTexture, plan.textureWidth, plan.textureHeight, resolveGlFormat(gl, plan.glFormat), image.data);
+        this.#primaryTexture = uploadPackedByteTexture(gl, this.#primaryTexture, layout, image.data, this.#tailWord);
         gl.activeTexture(gl.TEXTURE0);
         gl.bindTexture(gl.TEXTURE_2D, this.#primaryTexture.texture);
         gl.uniform1i(program.textureLocation, 0);
-        gl.uniform2f(program.textureScaleLocation, plan.textureScaleX, 1);
+        gl.uniform2f(program.storageSizeLocation, layout.width, layout.height);
+        gl.uniform2f(program.sourceSizeLocation, image.width, image.height);
+        gl.uniform1f(program.sourceStrideBytesLocation, image.step);
+        gl.uniform1f(program.bytesPerPixelLocation, plan.bytesPerPixel);
         gl.uniform1f(program.modeLocation, packedModeToNumber(plan.mode));
+        gl.uniform1f(program.maxValueLocation, image.mono16MaxValue ?? 65_535);
         gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);
+        return true;
     }
     #drawNv12Image(gl, image, plan) {
         const program = this.#ensureNv12Program(gl);
         if (!program) {
-            return;
+            return false;
         }
         const uvHeight = image.height >> 1;
         const uvTextureWidth = plan.yStride >> 1;
         const uvByteLength = plan.yStride * uvHeight;
         const yPlaneByteLength = plan.yStride * image.height;
         if (!this.#bindProgram(gl, program.program, program.positionLocation, program.texCoordLocation)) {
-            return;
+            return false;
         }
         this.#primaryTexture = uploadTexture(gl, this.#primaryTexture, plan.yStride, image.height, gl.LUMINANCE, image.data.subarray(0, yPlaneByteLength));
         this.#secondaryTexture = uploadTexture(gl, this.#secondaryTexture, uvTextureWidth, uvHeight, gl.LUMINANCE_ALPHA, image.data.subarray(plan.uvOffset, plan.uvOffset + uvByteLength));
@@ -324,14 +460,15 @@ export class WebGlImageRenderer {
         gl.uniform1i(program.uvTextureLocation, 1);
         gl.uniform2f(program.uvScaleLocation, image.width / plan.yStride, 1);
         gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);
+        return true;
     }
     #drawYuv422Image(gl, image, plan) {
         const program = this.#ensureYuv422Program(gl);
         if (!program) {
-            return;
+            return false;
         }
         if (!this.#bindProgram(gl, program.program, program.positionLocation, program.texCoordLocation)) {
-            return;
+            return false;
         }
         this.#primaryTexture = uploadTexture(gl, this.#primaryTexture, plan.textureWidth, plan.textureHeight, gl.RGBA, image.data);
         gl.activeTexture(gl.TEXTURE0);
@@ -341,17 +478,18 @@ export class WebGlImageRenderer {
         gl.uniform1f(program.visibleWidthLocation, image.width);
         gl.uniform1f(program.modeLocation, yuv422ModeToNumber(plan.mode));
         gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);
+        return true;
     }
     #drawI420Image(gl, image, plan) {
         const program = this.#ensureYuvProgram(gl);
         if (!program) {
-            return;
+            return false;
         }
         const uvHeight = image.height >> 1;
         const yPlaneByteLength = plan.yStride * image.height;
         const uvPlaneByteLength = plan.uvStride * uvHeight;
         if (!this.#bindProgram(gl, program.program, program.positionLocation, program.texCoordLocation)) {
-            return;
+            return false;
         }
         this.#primaryTexture = uploadTexture(gl, this.#primaryTexture, plan.yStride, image.height, gl.LUMINANCE, image.data.subarray(0, yPlaneByteLength));
         this.#secondaryTexture = uploadTexture(gl, this.#secondaryTexture, plan.uvStride, uvHeight, gl.LUMINANCE, image.data.subarray(plan.uOffset, plan.uOffset + uvPlaneByteLength));
@@ -370,6 +508,7 @@ export class WebGlImageRenderer {
         gl.uniform1i(program.vTextureLocation, 2);
         gl.uniform2f(program.vScaleLocation, chromaScaleX, 1);
         gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);
+        return true;
     }
     #bindProgram(gl, program, positionLocation, texCoordLocation) {
         if (!this.#positionBuffer || !this.#texCoordBuffer) {
@@ -395,13 +534,21 @@ export class WebGlImageRenderer {
         const positionLocation = gl.getAttribLocation(program, "a_position");
         const texCoordLocation = gl.getAttribLocation(program, "a_texCoord");
         const textureLocation = gl.getUniformLocation(program, "u_texture");
-        const textureScaleLocation = gl.getUniformLocation(program, "u_textureScale");
+        const storageSizeLocation = gl.getUniformLocation(program, "u_storageSize");
+        const sourceSizeLocation = gl.getUniformLocation(program, "u_sourceSize");
+        const sourceStrideBytesLocation = gl.getUniformLocation(program, "u_sourceStrideBytes");
+        const bytesPerPixelLocation = gl.getUniformLocation(program, "u_bytesPerPixel");
         const modeLocation = gl.getUniformLocation(program, "u_mode");
+        const maxValueLocation = gl.getUniformLocation(program, "u_maxValue");
         if (positionLocation < 0 ||
             texCoordLocation < 0 ||
             !textureLocation ||
-            !textureScaleLocation ||
-            !modeLocation) {
+            !storageSizeLocation ||
+            !sourceSizeLocation ||
+            !sourceStrideBytesLocation ||
+            !bytesPerPixelLocation ||
+            !modeLocation ||
+            !maxValueLocation) {
             gl.deleteProgram(program);
             return undefined;
         }
@@ -410,8 +557,12 @@ export class WebGlImageRenderer {
             positionLocation,
             texCoordLocation,
             textureLocation,
-            textureScaleLocation,
+            storageSizeLocation,
+            sourceSizeLocation,
+            sourceStrideBytesLocation,
+            bytesPerPixelLocation,
             modeLocation,
+            maxValueLocation,
         };
         return this.#packedProgram;
     }
@@ -540,6 +691,7 @@ function resolvePackedPlan(image, mode, bytesPerPixel, glFormat) {
     return {
         kind: "packed",
         mode,
+        bytesPerPixel,
         textureWidth,
         textureHeight: image.height,
         textureScaleX: image.width / textureWidth,
@@ -610,6 +762,8 @@ function packedModeToNumber(mode) {
             return PACKED_MODE_BGRA;
         case "mono":
             return PACKED_MODE_MONO;
+        case "mono16":
+            return PACKED_MODE_MONO16;
     }
 }
 function yuv422ModeToNumber(mode) {
@@ -620,16 +774,6 @@ function yuv422ModeToNumber(mode) {
             return YUV422_MODE_YUYV;
     }
 }
-function resolveGlFormat(gl, format) {
-    switch (format) {
-        case "rgb":
-            return gl.RGB;
-        case "rgba":
-            return gl.RGBA;
-        case "luminance":
-            return gl.LUMINANCE;
-    }
-}
 function createStaticBuffer(gl, data) {
     const buffer = gl.createBuffer();
     if (!buffer) {
@@ -674,6 +818,57 @@ function uploadTexture(gl, resource, width, height, format, data) {
     gl.texSubImage2D(gl.TEXTURE_2D, 0, 0, 0, width, height, format, gl.UNSIGNED_BYTE, data);
     return textureResource;
 }
+function uploadPackedByteTexture(gl, resource, layout, data, tailWord) {
+    let textureResource = resource;
+    if (!textureResource) {
+        const texture = gl.createTexture();
+        if (!texture) {
+            throw new Error("Unable to create packed image texture.");
+        }
+        textureResource = {
+            texture,
+            width: 0,
+            height: 0,
+            internalFormat: gl.RGBA,
+            format: gl.RGBA,
+        };
+    }
+    gl.activeTexture(gl.TEXTURE0);
+    gl.bindTexture(gl.TEXTURE_2D, textureResource.texture);
+    gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
+    gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
+    gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
+    gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
+    gl.pixelStorei(gl.UNPACK_ALIGNMENT, 1);
+    if (textureResource.width !== layout.width ||
+        textureResource.height !== layout.height ||
+        textureResource.format !== gl.RGBA ||
+        textureResource.internalFormat !== gl.RGBA) {
+        gl.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA, layout.width, layout.height, 0, gl.RGBA, gl.UNSIGNED_BYTE, null);
+        textureResource.width = layout.width;
+        textureResource.height = layout.height;
+        textureResource.internalFormat = gl.RGBA;
+        textureResource.format = gl.RGBA;
+    }
+    const fullRowCount = Math.floor(layout.completeWordCount / layout.width);
+    const fullRowByteLength = fullRowCount * layout.width * 4;
+    if (fullRowCount > 0) {
+        gl.texSubImage2D(gl.TEXTURE_2D, 0, 0, 0, layout.width, fullRowCount, gl.RGBA, gl.UNSIGNED_BYTE, data.subarray(0, fullRowByteLength));
+    }
+    const remainingWordCount = layout.completeWordCount - fullRowCount * layout.width;
+    if (remainingWordCount > 0) {
+        const remainingByteLength = remainingWordCount * 4;
+        gl.texSubImage2D(gl.TEXTURE_2D, 0, 0, fullRowCount, remainingWordCount, 1, gl.RGBA, gl.UNSIGNED_BYTE, data.subarray(fullRowByteLength, fullRowByteLength + remainingByteLength));
+    }
+    if (layout.tailByteCount > 0) {
+        tailWord.fill(0);
+        tailWord.set(data.subarray(layout.completeWordCount * 4));
+        const tailX = remainingWordCount;
+        const tailY = fullRowCount;
+        gl.texSubImage2D(gl.TEXTURE_2D, 0, tailX, tailY, 1, 1, gl.RGBA, gl.UNSIGNED_BYTE, tailWord);
+    }
+    return textureResource;
+}
 function createProgram(gl, vertexShaderSource, fragmentShaderSource) {
     const vertexShader = createShader(gl, gl.VERTEX_SHADER, vertexShaderSource);
     const fragmentShader = createShader(gl, gl.FRAGMENT_SHADER, fragmentShaderSource);

package/dist/visualizer/panels/image/webgl-image-renderer.js.map

@@ -1 +1 @@
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package/dist/visualizer/panels/image/webgl-segmentation-mask-renderer.d.ts

@@ -0,0 +1,16 @@
+import type { VisualizerSegmentationMask } from "../../messaging/message-event.js";
+type DrawRect = {
+    x: number;
+    y: number;
+    width: number;
+    height: number;
+};
+export declare class WebGlSegmentationMaskRenderer {
+    #private;
+    static create(canvas: HTMLCanvasElement): WebGlSegmentationMaskRenderer | undefined;
+    private constructor();
+    draw(masks: readonly VisualizerSegmentationMask[], canvasWidth: number, canvasHeight: number, rect: DrawRect): void;
+    destroy(): void;
+}
+export {};
+//# sourceMappingURL=webgl-segmentation-mask-renderer.d.ts.map

package/dist/visualizer/panels/image/webgl-segmentation-mask-renderer.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"webgl-segmentation-mask-renderer.d.ts","sourceRoot":"","sources":["../../../../src/visualizer/panels/image/webgl-segmentation-mask-renderer.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,0BAA0B,EAAE,MAAM,kCAAkC,CAAC;AAGnF,KAAK,QAAQ,GAAG;IAAE,CAAC,EAAE,MAAM,CAAC;IAAC,CAAC,EAAE,MAAM,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,MAAM,EAAE,MAAM,CAAA;CAAE,CAAC;AAuFxE,qBAAa,6BAA6B;;WAQ1B,MAAM,CAAC,MAAM,EAAE,iBAAiB,GAAG,6BAA6B,GAAG,SAAS;IAmB1F,OAAO;IAsCA,IAAI,CACT,KAAK,EAAE,SAAS,0BAA0B,EAAE,EAC5C,WAAW,EAAE,MAAM,EACnB,YAAY,EAAE,MAAM,EACpB,IAAI,EAAE,QAAQ,GACb,IAAI;IAiEA,OAAO,IAAI,IAAI;CAUvB"}