npm - @luxonis/depthai-viewer-common - Versions diffs - 3.9.8 → 4.0.0 - Mend

@luxonis/depthai-viewer-common 3.9.8 → 4.0.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (154) hide show

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

@@ -15,7 +15,7 @@ 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 { deserializeMJPEGFrame, resetMJPEGTopic } 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";
@@ -41,7 +41,6 @@ export function resetDecoderStateForTopic(topic, state) {
         decoderInfo.transformations.clear();
         decoderInfo.outputModes.clear();
         decoderInfo.pendingCallbacks.clear();
-        decoderInfo.droppedFrames = 0;
         decoderInfo.processingOutput = false;
         if (decoderInfo.decoder.state !== "closed") {
             try {
@@ -58,6 +57,7 @@ export function resetDecoderStateForTopic(topic, state) {
             state.topicSizes.delete(decoderTopic);
         }
     }
+    resetMJPEGTopic(topic);
     resetRGBDPointCloudTopic(topic);
 }
 export function errorInstanceToErrorCode(error) {
@@ -81,7 +81,7 @@ function ensureEncodedStreamSupport(topic, target) {
     }
 }
 export async function deserializeDepthAiMessage(args) {
-    const { topicDecoders, topicSizes, type, message, callback, topic, neuralCameraIntrinsics, maxSteroDepth, onError, } = args;
+    const { topicDecoders, topicSizes, type, message, callback, topic, neuralCameraIntrinsics, maxSteroDepth, onError, outputDemand, } = args;
     switch (type) {
         case "encodedFrame": {
             topicSizes.set(topic, { width: message.width, height: message.height });
@@ -93,6 +93,7 @@ export async function deserializeDepthAiMessage(args) {
                     topicDecoders,
                     callback,
                     onError,
+                    outputMode: outputDemand.encodedVideoOutputMode,
                 });
             }
             else if (message.profile === Profile.JPEG) {
@@ -107,6 +108,7 @@ export async function deserializeDepthAiMessage(args) {
                     topicDecoders,
                     callback,
                     onError,
+                    outputMode: outputDemand.encodedVideoOutputMode,
                 });
             }
             else {
@@ -126,21 +128,23 @@ export async function deserializeDepthAiMessage(args) {
                         topicDecoders,
                         callback,
                         onError,
+                        outputMode: outputDemand.encodedVideoOutputMode,
                     });
                     break;
                 }
                 case Type.RAW16: {
-                    const depthPreviewMessage = {
-                        ...message,
-                        data: message.data.slice(),
-                    };
-                    deserializeDepthFrameToPointCloud({ topic, message, callback });
-                    void deserializeDepthFrame({
-                        topic,
-                        message: depthPreviewMessage,
-                        callback,
-                        maxStereoDepth: maxSteroDepth / 1000,
-                    });
+                    if (outputDemand.pointCloud) {
+                        deserializeDepthFrameToPointCloud({ topic, message, callback });
+                    }
+                    if (outputDemand.depthPreview) {
+                        deserializeDepthFrame({
+                            topic,
+                            message,
+                            callback,
+                            maxStereoDepth: maxSteroDepth / 1000,
+                            copyData: outputDemand.pointCloud,
+                        });
+                    }
                     break;
                 }
                 default: {
@@ -198,6 +202,8 @@ export async function deserializeDepthAiMessage(args) {
                 message,
                 callback,
                 onError,
+                pointCloudRequested: outputDemand.pointCloud,
+                depthPreviewRequested: outputDemand.depthPreview,
             });
             break;
         }
@@ -207,7 +213,7 @@ export async function deserializeDepthAiMessage(args) {
         }
     }
 }
-export async function decodeFoxgloveMessage({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, }, configStore, state, callback, errorCallback) {
+export async function decodeFoxgloveMessage({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, outputDemand = { pointCloud: true, depthPreview: true }, }, configStore, state, callback, errorCallback) {
     const handleDecodingError = (error) => {
         errorCallback?.(errorInstanceToErrorCode(error), topic, {
             message: error.message,
@@ -223,7 +229,10 @@ export async function decodeFoxgloveMessage({ schema, buffer, topic, neuralCamer
     try {
         const message = protobufSchema.decoder.decode(bufferArray);
         if (configStore.debugLogsEnabled) {
-            logger.debug(`[DepthAI Deserialization] Received message of type ${protobufSchema.type} on topic ${topic}`, { message });
+            logger.debug(`[DepthAI Deserialization] Received message of type ${protobufSchema.type} on topic ${topic}`, {
+                schema,
+                encodedBytes: buffer.byteLength,
+            });
         }
         await deserializeDepthAiMessage({
             topic,
@@ -235,6 +244,7 @@ export async function decodeFoxgloveMessage({ schema, buffer, topic, neuralCamer
             type: protobufSchema.type,
             maxSteroDepth: stereoDepthMaxValue,
             onError: handleDecodingError,
+            outputDemand,
         });
     }
     catch (error) {

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

	@@ -1 +1 @@
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package/dist/visualizer/messaging/decoder-fixtures.js CHANGED Viewed

@@ -1,6 +1,7 @@
 // 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 { resolveWebGlImageRenderPlan } from "../panels/image/webgl-image-renderer.js";
 import { EncodedFrame, FrameType } from "../protobuf.generated/EncodedFrame.js";
 import { IMUData } from "../protobuf.generated/IMUData.js";
 import { ImageAnnotation, ImageAnnotations, PointsAnnotationType, } from "../protobuf.generated/ImageAnnotations.js";
@@ -9,9 +10,13 @@ import { ImgFrame, Type } from "../protobuf.generated/ImgFrame.js";
 import { PointCloudData } from "../protobuf.generated/PointCloudData.js";
 import { SegmentationMask } from "../protobuf.generated/SegmentationMask.js";
 import { SpatialImgDetection, SpatialImgDetections, } from "../protobuf.generated/SpatialImgDetections.js";
+import { clearStreamBenchmarkMetrics, getStreamBenchmarkSnapshot, recordBenchmarkDecoded, recordBenchmarkIngress, recordBenchmarkRendered, setBenchmarkMetricsEnabled, } from "../utils/benchmark-metrics.js";
+import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
+import { getRuntimeConfig, setRuntimeConfig } from "../utils/runtime-config.js";
 import { getSegmentationClassColor, isTransparentSegmentationClass, } from "../utils/segmentation-colors.js";
 import { runDecoderHarness, } from "./decoder-harness.js";
 import { DEFAULT_BACKGROUND_COLOR, DEFAULT_CIRCLE_DIAMETER, DEFAULT_TEXT_COLOR, } from "./deserialization/detections/constants.js";
+import { i420ToRgbaToPointcloud, } from "./deserialization/pointcloud/utils.js";
 import { getH264EncodedVideoChunkType } from "./deserialization/video/h264.js";
 import { protobufs } from "./protobuf.js";
 import { VisualizerPointsAnnotationType } from "./schema-constants.js";
@@ -578,7 +583,14 @@ export function getBuiltInDecoderFixtures() {
     ];
 }
 export async function runBuiltInDecoderFixtures() {
-    const results = [runH264FrameTypeFixture()];
+    const results = [
+        runH264FrameTypeFixture(),
+        runPointCloudColorBufferReuseFixture(),
+        runPointCloudSyncRetentionFixture(),
+        runMono16WebGlPlanFixture(),
+        runAggregateBenchmarkMetricsFixture(),
+    ];
+    results.push(await runSafeDebugLoggingFixture());
     for (const fixture of getBuiltInDecoderFixtures()) {
         const result = await runDecoderHarness(fixture.input);
         fixture.assertResult(result);
@@ -586,6 +598,121 @@ export async function runBuiltInDecoderFixtures() {
     }
     return results;
 }
+async function runSafeDebugLoggingFixture() {
+    const encoded = ImgFrame.encode(ImgFrame.fromPartial({
+        fb: { type: Type.RGB888i, width: 1, height: 1, stride: 3 },
+        data: Uint8Array.from([10, 20, 30]),
+    })).finish();
+    const debugCalls = [];
+    const originalDebug = console.debug;
+    const originalRuntimeConfig = getRuntimeConfig();
+    console.debug = (...args) => {
+        debugCalls.push(args);
+    };
+    setRuntimeConfig({ debugLogs: true });
+    try {
+        await runDecoderHarness(createHarnessInput(protobufs.imageFrame.name, encoded), {
+            configStore: { debugLogsEnabled: true, streamDiagnosticsEnabled: false },
+        });
+    }
+    finally {
+        console.debug = originalDebug;
+        setRuntimeConfig(originalRuntimeConfig);
+    }
+    assertEqual(debugCalls.length, 1, "safe debug log count");
+    const metadata = asRecord(debugCalls[0]?.[1]);
+    assertEqual(metadata.schema, protobufs.imageFrame.name, "safe debug log schema");
+    assertEqual(metadata.encodedBytes, encoded.byteLength, "safe debug log byte count");
+    assertEqual("message" in metadata, false, "safe debug log decoded payload omission");
+    return { name: "safe-debug-logging", passed: true };
+}
+function runAggregateBenchmarkMetricsFixture() {
+    setBenchmarkMetricsEnabled(true);
+    clearStreamBenchmarkMetrics();
+    try {
+        const firstIngress = recordBenchmarkIngress("stream-1");
+        recordBenchmarkDecoded("stream-1", firstIngress);
+        recordBenchmarkRendered("stream-1");
+        recordBenchmarkIngress("stream-2");
+        const latestSecondIngress = recordBenchmarkIngress("stream-2");
+        recordBenchmarkDecoded("stream-2", latestSecondIngress);
+        const aggregate = getStreamBenchmarkSnapshot(["stream-1", "stream-2"]);
+        assertEqual(aggregate.ingressCount, 3, "aggregate benchmark ingress count");
+        assertEqual(aggregate.decodedCount, 2, "aggregate benchmark decoded count");
+        assertEqual(aggregate.renderedCount, 1, "aggregate benchmark rendered count");
+        assertEqual(aggregate.decodeDropCount, 1, "aggregate benchmark decode drops");
+        assertEqual(aggregate.renderDropCount, 1, "aggregate benchmark render drops");
+        assertEqual(aggregate.endToEndDropRate, 0.6667, "aggregate benchmark drop rate");
+    }
+    finally {
+        setBenchmarkMetricsEnabled(false);
+    }
+    return { name: "aggregate-benchmark-metrics", passed: true };
+}
+function runMono16WebGlPlanFixture() {
+    const plan = resolveWebGlImageRenderPlan({
+        timestamp: { sec: 0, nsec: 0 },
+        frame_id: "depth",
+        width: 2,
+        height: 2,
+        encoding: "mono16",
+        step: 4,
+        data: new Uint8Array(8),
+        mono16MaxValue: 8000,
+    });
+    assertEqual(plan?.kind, "packed", "mono16 WebGL plan kind");
+    if (plan?.kind !== "packed") {
+        throw new Error("mono16 WebGL plan was not resolved");
+    }
+    assertEqual(plan.mode, "mono16", "mono16 WebGL packed mode");
+    assertEqual(plan.glFormat, "luminance-alpha", "mono16 WebGL texture format");
+    assertEqual(plan.textureWidth, 2, "mono16 WebGL texture width");
+    return { name: "mono16-webgl-plan", passed: true };
+}
+function runPointCloudColorBufferReuseFixture() {
+    const pointCloudData = new Uint8Array(16);
+    const pointCloudView = new DataView(pointCloudData.buffer);
+    pointCloudView.setFloat32(0, 1, true);
+    pointCloudView.setFloat32(4, 2, true);
+    pointCloudView.setFloat32(8, 3, true);
+    const result = i420ToRgbaToPointcloud(Uint8Array.from([100, 100, 100, 100, 128, 128]), 2, 2, 1, 1, pointCloudData);
+    assertEqual(result, pointCloudData, "pointcloud color buffer identity");
+    assertEqual(pointCloudView.getFloat32(0, true), 1, "pointcloud x coordinate");
+    assertEqual(pointCloudView.getFloat32(4, true), 2, "pointcloud y coordinate");
+    assertEqual(pointCloudView.getFloat32(8, true), 3, "pointcloud z coordinate");
+    assertEqual(pointCloudData[12], 100, "pointcloud red channel");
+    assertEqual(pointCloudData[13], 100, "pointcloud green channel");
+    assertEqual(pointCloudData[14], 100, "pointcloud blue channel");
+    assertEqual(pointCloudData[15], 255, "pointcloud alpha channel");
+    return { name: "pointcloud-color-buffer-reuse", passed: true };
+}
+function runPointCloudSyncRetentionFixture() {
+    const exactMatchSync = new PoitCloudSyncFramework();
+    const exactFrame = createPointCloudSyncFrame(42);
+    exactMatchSync.addFrame(exactFrame);
+    assertEqual(exactMatchSync.getFrame({ sec: 42, nsec: 0 }), exactFrame, "pointcloud exact match");
+    const retentionSync = new PoitCloudSyncFramework();
+    for (let second = 0; second < 7; second++) {
+        retentionSync.addFrame(createPointCloudSyncFrame(second));
+    }
+    assertEqual(retentionSync.getFrame({ sec: 0, nsec: 0 }), null, "pointcloud stale frame eviction");
+    return { name: "pointcloud-sync-retention", passed: true };
+}
+function createPointCloudSyncFrame(second) {
+    return {
+        timestamp: { sec: second, nsec: 0 },
+        frame_id: "depth",
+        pose: {
+            position: { x: 0, y: 0, z: 0 },
+            orientation: { x: 0, y: 0, z: 0, w: 1 },
+        },
+        point_stride: 16,
+        fields: [],
+        data: new Uint8Array(16),
+        width: 1,
+        height: 1,
+    };
+}
 function runH264FrameTypeFixture() {
     const unknownIdrFrame = EncodedFrame.fromPartial({
         type: FrameType.UNKNOWN,

package/dist/visualizer/messaging/decoder-fixtures.js.map CHANGED Viewed

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package/dist/visualizer/messaging/decoder-harness.d.ts CHANGED Viewed

@@ -1,10 +1,11 @@
 import type { FoxgloveMessage } from "../connection/communicator.js";
 import { type ConnectionConfigState } from "../utils/config-store.js";
-import { type DecodedMessageEvent, type DecoderState, type ErrorCode } from "./decode-core.js";
+import { type DecodedMessageEvent, type DecodeOutputDemand, type DecoderState, type ErrorCode } from "./decode-core.js";
 import type { NeuralCameraIntrinsics } from "./deserialization/pointcloud/utils.js";
 export type DecoderHarnessInput = FoxgloveMessage & {
     neuralCameraIntrinsics: NeuralCameraIntrinsics;
     stereoDepthMaxValue: number;
+    outputDemand?: DecodeOutputDemand;
 };
 export type DecoderHarnessResult = {
     events: DecodedMessageEvent[];

package/dist/visualizer/messaging/decoder-harness.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"decoder-harness.d.ts","sourceRoot":"","sources":["../../../src/visualizer/messaging/decoder-harness.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,+BAA+B,CAAC;AACrE,OAAO,EAAE,KAAK,qBAAqB,EAA+B,MAAM,0BAA0B,CAAC;AACnG,OAAO,EAEL,KAAK,mBAAmB,EACxB,KAAK,kBAAkB,EACvB,KAAK,YAAY,EAGjB,KAAK,SAAS,EACf,MAAM,kBAAkB,CAAC;AAC1B,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,uCAAuC,CAAC;AAEpF,MAAM,MAAM,mBAAmB,GAAG,eAAe,GAAG;IAClD,sBAAsB,EAAE,sBAAsB,CAAC;IAC/C,mBAAmB,EAAE,MAAM,CAAC;IAC5B,YAAY,CAAC,EAAE,kBAAkB,CAAC;CACnC,CAAC;AAEF,MAAM,MAAM,oBAAoB,GAAG;IACjC,MAAM,EAAE,mBAAmB,EAAE,CAAC;IAC9B,MAAM,EAAE,KAAK,CAAC;QACZ,SAAS,EAAE,SAAS,CAAC;QACrB,KAAK,EAAE,MAAM,CAAC;QACd,SAAS,CAAC,EAAE,OAAO,CAAC;KACrB,CAAC,CAAC;IACH,KAAK,EAAE,YAAY,CAAC;CACrB,CAAC;AAEF,MAAM,MAAM,qBAAqB,GAAG;IAClC,WAAW,CAAC,EAAE,qBAAqB,CAAC;IACpC,KAAK,CAAC,EAAE,YAAY,CAAC;IACrB,gBAAgB,CAAC,EAAE,MAAM,CAAC;CAC3B,CAAC;AAEF,wBAAsB,iBAAiB,CACrC,KAAK,EAAE,mBAAmB,EAC1B,OAAO,GAAE,qBAA0B,GAClC,OAAO,CAAC,oBAAoB,CAAC,CA2B/B"}

package/dist/visualizer/messaging/decoder-harness.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.d.ts CHANGED Viewed

@@ -1,2 +1,7 @@
-export {};
+export type PointCloudFromDepthWorkerApi = {
+    depthToPointcloud: (depthFrames: Uint16Array[], depthWidth: number, depthHeight: number, fx: number, fy: number, cx: number, cy: number, i420Frames: Uint8Array[], i420Width: number, i420Height: number, maxStereoDepth: number) => Promise<Uint8Array[]>;
+    depthToPointcloudGPU: (depthFrames: Uint16Array[], depthWidth: number, depthHeight: number, fx: number, fy: number, cx: number, cy: number, i420Frames: Uint8Array[], i420Width: number, i420Height: number, maxStereoDepth: number, options: {
+        hasGPU: boolean;
+    }) => Promise<Uint8Array[]>;
+};
 //# sourceMappingURL=pointcloudFromDepth.worker.d.ts.map

package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.d.ts.map CHANGED Viewed

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package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js CHANGED Viewed

@@ -473,5 +473,9 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
         readbackBuffer?.destroy();
     }
 }
-expose({ depthToPointcloudGPU });
+async function depthToPointcloud(depthFrames, depthWidth, depthHeight, fx, fy, cx, cy, i420Frames, i420Width, i420Height, maxStereoDepth) {
+    return await depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy, cx, cy, i420Frames, i420Width, i420Height, maxStereoDepth, { hasGPU: false });
+}
+const api = { depthToPointcloud, depthToPointcloudGPU };
+expose(api);
 //# sourceMappingURL=pointcloudFromDepth.worker.js.map