@luxonis/depthai-viewer-common 3.9.8 → 4.0.0

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

@@ -0,0 +1,184 @@
+// 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 { getSegmentationClassColor } from "../../utils/segmentation-colors.js";
+const VERTEX_SHADER = `#version 300 es
+const vec2 positions[3] = vec2[3](
+  vec2(-1.0, -1.0),
+  vec2(3.0, -1.0),
+  vec2(-1.0, 3.0)
+);
+out vec2 vTexCoord;
+void main() {
+  vec2 position = positions[gl_VertexID];
+  gl_Position = vec4(position, 0.0, 1.0);
+  vTexCoord = position * 0.5 + 0.5;
+}
+`;
+const FRAGMENT_SHADER = `#version 300 es
+precision highp float;
+precision highp usampler2D;
+uniform usampler2D uMask;
+uniform sampler2D uPalette;
+in vec2 vTexCoord;
+out vec4 outColor;
+void main() {
+  uint classId = texture(uMask, vec2(vTexCoord.x, 1.0 - vTexCoord.y)).r;
+  if (classId == 255u || classId > 32767u) {
+    discard;
+  }
+  ivec2 palettePosition = ivec2(int(classId & 255u), int(classId >> 8u));
+  outColor = texelFetch(uPalette, palettePosition, 0);
+}
+`;
+const PALETTE_WIDTH = 256;
+const PALETTE_HEIGHT = 128;
+function compileShader(gl, type, source) {
+    const shader = gl.createShader(type);
+    if (!shader) {
+        throw new Error("Unable to create segmentation shader.");
+    }
+    gl.shaderSource(shader, source);
+    gl.compileShader(shader);
+    if (!gl.getShaderParameter(shader, gl.COMPILE_STATUS)) {
+        const message = gl.getShaderInfoLog(shader) ?? "Unknown shader compilation failure.";
+        gl.deleteShader(shader);
+        throw new Error(message);
+    }
+    return shader;
+}
+function createProgram(gl) {
+    const program = gl.createProgram();
+    if (!program) {
+        throw new Error("Unable to create segmentation shader program.");
+    }
+    const vertexShader = compileShader(gl, gl.VERTEX_SHADER, VERTEX_SHADER);
+    const fragmentShader = compileShader(gl, gl.FRAGMENT_SHADER, FRAGMENT_SHADER);
+    gl.attachShader(program, vertexShader);
+    gl.attachShader(program, fragmentShader);
+    gl.linkProgram(program);
+    gl.deleteShader(vertexShader);
+    gl.deleteShader(fragmentShader);
+    if (!gl.getProgramParameter(program, gl.LINK_STATUS)) {
+        const message = gl.getProgramInfoLog(program) ?? "Unknown shader link failure.";
+        gl.deleteProgram(program);
+        throw new Error(message);
+    }
+    return program;
+}
+function createPalette() {
+    const palette = new Uint8Array(PALETTE_WIDTH * PALETTE_HEIGHT * 4);
+    for (let classId = 0; classId < PALETTE_WIDTH * PALETTE_HEIGHT; classId += 1) {
+        const color = getSegmentationClassColor(classId);
+        if (!color) {
+            continue;
+        }
+        const offset = classId * 4;
+        palette[offset] = color.r;
+        palette[offset + 1] = color.g;
+        palette[offset + 2] = color.b;
+        palette[offset + 3] = Math.round(color.a * 255);
+    }
+    return palette;
+}
+export class WebGlSegmentationMaskRenderer {
+    #gl;
+    #program;
+    #maskTexture;
+    #paletteTexture;
+    #vertexArray;
+    #destroyed = false;
+    static create(canvas) {
+        const gl = canvas.getContext("webgl2", {
+            alpha: true,
+            antialias: false,
+            depth: false,
+            premultipliedAlpha: false,
+            preserveDrawingBuffer: false,
+        });
+        if (!gl) {
+            return undefined;
+        }
+        try {
+            return new WebGlSegmentationMaskRenderer(gl);
+        }
+        catch (error) {
+            console.warn("GPU segmentation overlay initialization failed; using Canvas2D.", error);
+            return undefined;
+        }
+    }
+    constructor(gl) {
+        this.#gl = gl;
+        this.#program = createProgram(gl);
+        const maskTexture = gl.createTexture();
+        const paletteTexture = gl.createTexture();
+        const vertexArray = gl.createVertexArray();
+        if (!maskTexture || !paletteTexture || !vertexArray) {
+            throw new Error("Unable to allocate segmentation overlay resources.");
+        }
+        this.#maskTexture = maskTexture;
+        this.#paletteTexture = paletteTexture;
+        this.#vertexArray = vertexArray;
+        gl.useProgram(this.#program);
+        gl.uniform1i(gl.getUniformLocation(this.#program, "uMask"), 0);
+        gl.uniform1i(gl.getUniformLocation(this.#program, "uPalette"), 1);
+        gl.activeTexture(gl.TEXTURE1);
+        gl.bindTexture(gl.TEXTURE_2D, this.#paletteTexture);
+        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.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA8, PALETTE_WIDTH, PALETTE_HEIGHT, 0, gl.RGBA, gl.UNSIGNED_BYTE, createPalette());
+        gl.enable(gl.BLEND);
+        gl.blendFunc(gl.SRC_ALPHA, gl.ONE_MINUS_SRC_ALPHA);
+        gl.pixelStorei(gl.UNPACK_ALIGNMENT, 1);
+    }
+    draw(masks, canvasWidth, canvasHeight, rect) {
+        if (this.#destroyed) {
+            return;
+        }
+        const gl = this.#gl;
+        gl.viewport(0, 0, canvasWidth, canvasHeight);
+        gl.clearColor(0, 0, 0, 0);
+        gl.clear(gl.COLOR_BUFFER_BIT);
+        if (masks.length === 0 || rect.width <= 0 || rect.height <= 0) {
+            return;
+        }
+        gl.useProgram(this.#program);
+        gl.bindVertexArray(this.#vertexArray);
+        gl.viewport(Math.round(rect.x), Math.round(canvasHeight - rect.y - rect.height), Math.max(1, Math.round(rect.width)), Math.max(1, Math.round(rect.height)));
+        gl.activeTexture(gl.TEXTURE0);
+        gl.bindTexture(gl.TEXTURE_2D, this.#maskTexture);
+        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);
+        for (const mask of masks) {
+            if (mask.width <= 0 || mask.height <= 0 || mask.data.byteLength === 0) {
+                continue;
+            }
+            if (mask.bytesPerClassId === 1) {
+                gl.texImage2D(gl.TEXTURE_2D, 0, gl.R8UI, mask.width, mask.height, 0, gl.RED_INTEGER, gl.UNSIGNED_BYTE, mask.data);
+            }
+            else {
+                const classIds = mask.data.byteOffset % 2 === 0
+                    ? new Uint16Array(mask.data.buffer, mask.data.byteOffset, mask.data.byteLength / 2)
+                    : new Uint16Array(mask.data.slice().buffer);
+                gl.texImage2D(gl.TEXTURE_2D, 0, gl.R16UI, mask.width, mask.height, 0, gl.RED_INTEGER, gl.UNSIGNED_SHORT, classIds);
+            }
+            gl.drawArrays(gl.TRIANGLES, 0, 3);
+        }
+        gl.bindVertexArray(null);
+    }
+    destroy() {
+        if (this.#destroyed) {
+            return;
+        }
+        this.#destroyed = true;
+        this.#gl.deleteTexture(this.#maskTexture);
+        this.#gl.deleteTexture(this.#paletteTexture);
+        this.#gl.deleteVertexArray(this.#vertexArray);
+        this.#gl.deleteProgram(this.#program);
+    }
+}
+//# sourceMappingURL=webgl-segmentation-mask-renderer.js.map

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

@@ -0,0 +1 @@
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package/dist/visualizer/panels/image/worker-image-decoder.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"worker-image-decoder.d.ts","sourceRoot":"","sources":["../../../../src/visualizer/panels/image/worker-image-decoder.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AAEzE,MAAM,MAAM,kBAAkB,GAC1B;IACE,IAAI,EAAE,QAAQ,CAAC;IACf,MAAM,EAAE,WAAW,CAAC;IACpB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,GACD;IACE,IAAI,EAAE,YAAY,CAAC;IACnB,SAAS,EAAE,SAAS,CAAC;IACrB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,CAAC;AAWN,qBAAa,kBAAkB;;;IAsEtB,MAAM,CAAC,KAAK,EAAE,gBAAgB,GAAG,OAAO,CAAC,kBAAkB,CAAC;IA8C5D,OAAO,CAAC,YAAY,EAAE,kBAAkB,GAAG,SAAS,GAAG,IAAI;IAgB3D,SAAS,IAAI,IAAI;CA6BzB"}
+{"version":3,"file":"worker-image-decoder.d.ts","sourceRoot":"","sources":["../../../../src/visualizer/panels/image/worker-image-decoder.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,kCAAkC,CAAC;AAEzE,MAAM,MAAM,kBAAkB,GAC1B;IACE,IAAI,EAAE,QAAQ,CAAC;IACf,MAAM,EAAE,WAAW,CAAC;IACpB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,GACD;IACE,IAAI,EAAE,YAAY,CAAC;IACnB,SAAS,EAAE,SAAS,CAAC;IACrB,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,CAAC;AAcN,qBAAa,kBAAkB;;;IAyEtB,MAAM,CAAC,KAAK,EAAE,gBAAgB,GAAG,OAAO,CAAC,kBAAkB,CAAC;IA8C5D,OAAO,CAAC,YAAY,EAAE,kBAAkB,GAAG,SAAS,GAAG,IAAI;IAgB3D,SAAS,IAAI,IAAI;CA6BzB"}

package/dist/visualizer/panels/image/worker-image-decoder.js

@@ -1,7 +1,10 @@
 // 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/
-const MAX_REUSABLE_BUFFERS = 3;
+// Decodes are serialized and the currently displayed output is not in this pool, so one
+// spare input and output buffer are enough to avoid steady-state allocation. Keeping more
+// retains stale full-resolution frames after a stream changes resolution.
+const MAX_REUSABLE_BUFFERS = 1;
 export class WorkerImageDecoder {
     #worker;
     #pendingDecodes = new Map();
@@ -40,10 +43,12 @@ export class WorkerImageDecoder {
                 });
                 return;
             }
+            if (!result) {
+                pending.reject(new Error("Image decoder worker returned no renderable output"));
+                return;
+            }
             pending.resolve({
                 kind: "image-data",
-                // biome-ignore lint/suspicious/noTsIgnore: <explanation>
-                //@ts-ignore
                 imageData: new ImageData(result, pending.width, pending.height),
                 width: pending.width,
                 height: pending.height,

package/dist/visualizer/panels/image/worker-image-decoder.js.map

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package/dist/visualizer/panels/pointcloud/PointCloudCanvasRenderer.d.ts.map

@@ -1 +1 @@
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