@luxonis/visualizer-protobuf 2.22.0 → 2.23.0
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.
- package/dist/{WorkerImageDecoder.worker-tkX9-IYo.js → WorkerImageDecoder.worker-C3ZBQ2Wk.js} +1 -1
- package/dist/{decodeImage-C8kB6T3V.js → decodeImage-CxUhz2gE.js} +14278 -2893
- package/dist/{index-P-f_cKZS.js → index-B9Zf3rrb.js} +2 -2
- package/dist/{index-BQ24Upp_.js → index-BJOK4X3d.js} +2 -2
- package/dist/{index-DMvr0-pP.js → index-BTO4og7t.js} +2 -2
- package/dist/{index-DTCT-lVn.js → index-BqTw2FSJ.js} +4 -4
- package/dist/{index-CH1TUS48.js → index-Bw0fCcF0.js} +2 -2
- package/dist/{index-DDVf76z9.js → index-CCWfhL1j.js} +2 -2
- package/dist/{index-BHXfMPMv.js → index-CFz07x1R.js} +2 -2
- package/dist/{index-Bvet1xE9.js → index-CM0J0Tip.js} +2 -2
- package/dist/{index-DtzTeqB7.js → index-D3by772J.js} +2 -2
- package/dist/{index-DzyYicoH.js → index-DMmaMUCD.js} +2813 -1608
- package/dist/{index-C-cGIa0r.js → index-DQ_hdLpb.js} +2 -2
- package/dist/{index-yfiGMPtK.js → index-DRmoIUFd.js} +2 -2
- package/dist/{index-Dcus_L6F.js → index-DWgnF3_o.js} +156 -57
- package/dist/{index-DYpNYj7G.js → index-Db42Qzy_.js} +2 -2
- package/dist/{index-C_ioBAtk.js → index-DgisSKDf.js} +2 -2
- package/dist/{index-CV57d9Tz.js → index-DjOkSXUO.js} +2 -2
- package/dist/{index-D5F-PpU5.js → index-DqqFhpKC.js} +2 -2
- package/dist/{index-RKZ-F77P.js → index-Wr3SUBO9.js} +2 -2
- package/dist/{index-DHgo3Ne_.js → index-oTzD1_p-.js} +2 -2
- package/dist/index.js +2 -2
- package/dist/lib/src/connection/foxglove-connection.d.ts +3 -1
- package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
- package/dist/lib/src/connection/foxglove-connection.js +16 -32
- package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js +373 -247
- package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts +30 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map +1 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js +106 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map +1 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts +0 -9
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.js +0 -16
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.js.map +1 -1
- package/dist/lib/src/panels/PointCloudPanel.js +3 -3
- package/dist/lib/src/panels/PointCloudPanel.js.map +1 -1
- package/dist/lib/src/utils/poitcloud-sync.js +1 -1
- package/dist/lib/src/utils/poitcloud-sync.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js +243 -154
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js.map +1 -1
- package/dist/pointcloudFromDepth.worker-qotYPy_e.js +450 -0
- package/dist/{utils-Cmsz3FxA.js → utils-Hzt3wxhG.js} +2 -20
- package/package.json +2 -1
- package/dist/pointcloudFromDepth.worker-CNKyMUU-.js +0 -326
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@@ -0,0 +1,30 @@
|
|
|
1
|
+
import { type Remote } from "comlink";
|
|
2
|
+
import type { MessageEvent } from "@foxglove/studio-base/players/types";
|
|
3
|
+
import type { PointCloudWithDimensions } from "../video/depth";
|
|
4
|
+
type PoitCloudFrame = {
|
|
5
|
+
depthFrame: PointCloudWithDimensions;
|
|
6
|
+
width: number;
|
|
7
|
+
height: number;
|
|
8
|
+
fx: number;
|
|
9
|
+
fy: number;
|
|
10
|
+
cx: number;
|
|
11
|
+
cy: number;
|
|
12
|
+
colorFrame: MessageEvent;
|
|
13
|
+
i420Width: number;
|
|
14
|
+
i420Height: number;
|
|
15
|
+
};
|
|
16
|
+
export declare class depthToPointcloudWorkerPool {
|
|
17
|
+
#private;
|
|
18
|
+
protected lastUsedWorkerIndex: number;
|
|
19
|
+
protected workerApis: Remote<{
|
|
20
|
+
depthToPointcloudGPU: (depthFramesData: Uint16Array[], depthWidth: number, depthHeight: number, fx: number, fy: number, cx: number, cy: number, i420FramesData: Uint8Array[], i420Width: number, i420Height: number, { hasGPU }: {
|
|
21
|
+
hasGPU: boolean;
|
|
22
|
+
}) => Promise<Uint8Array[]>;
|
|
23
|
+
}>[];
|
|
24
|
+
sumbmitCallback: (originalColorEvent: MessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void;
|
|
25
|
+
constructor(callback: (originalColorEvent: MessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void, batchSize?: number);
|
|
26
|
+
queueDepthFrame(data: PoitCloudFrame): Promise<void>;
|
|
27
|
+
protected tryProcessBatch(): void;
|
|
28
|
+
}
|
|
29
|
+
export {};
|
|
30
|
+
//# sourceMappingURL=poitcloudPoolManager.d.ts.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"poitcloudPoolManager.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,KAAK,MAAM,EAAQ,MAAM,SAAS,CAAC;AAE5C,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAGxE,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gBAAgB,CAAC;AAE/D,KAAK,cAAc,GAAG;IACpB,UAAU,EAAE,wBAAwB,CAAC;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,YAAY,CAAC;IACzB,SAAS,EAAE,MAAM,CAAC;IAClB,UAAU,EAAE,MAAM,CAAC;CACpB,CAAC;AAIF,qBAAa,2BAA2B;;IACtC,SAAS,CAAC,mBAAmB,SAAK;IAClC,SAAS,CAAC,UAAU,EAAE,MAAM,CAAC;QAC3B,oBAAoB,EAAE,CACpB,eAAe,EAAE,WAAW,EAAE,EAC9B,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,cAAc,EAAE,UAAU,EAAE,EAC5B,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,EAAE,MAAM,EAAE,EAAE;YAAE,MAAM,EAAE,OAAO,CAAA;SAAE,KAC5B,OAAO,CAAC,UAAU,EAAE,CAAC,CAAC;KAC5B,CAAC,EAAE,CAAC;IAQE,eAAe,EAAE,CACtB,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,CAAC;gBAKR,QAAQ,EAAE,CACR,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,EACT,SAAS,SAAK;IA0BH,eAAe,CAAC,IAAI,EAAE,cAAc,GAAG,OAAO,CAAC,IAAI,CAAC;IAWjE,SAAS,CAAC,eAAe,IAAI,IAAI;CA0E/B"}
|
|
@@ -0,0 +1,106 @@
|
|
|
1
|
+
// This Source Code Form is subject to the terms of the Mozilla Public
|
|
2
|
+
// License, v2.0. If a copy of the MPL was not distributed with this
|
|
3
|
+
// file, You can obtain one at http://mozilla.org/MPL/2.0/
|
|
4
|
+
import { wrap } from "comlink";
|
|
5
|
+
import { uint8ArrayToUint16Array } from "./utils";
|
|
6
|
+
const WORKER_COUNT = 4;
|
|
7
|
+
export class depthToPointcloudWorkerPool {
|
|
8
|
+
lastUsedWorkerIndex = 0;
|
|
9
|
+
workerApis;
|
|
10
|
+
#frameQueue = [];
|
|
11
|
+
#isWebGpuSupported = false;
|
|
12
|
+
#FRAME_BATCH_SIZE;
|
|
13
|
+
sumbmitCallback;
|
|
14
|
+
#isProcessing = false;
|
|
15
|
+
constructor(callback, batchSize = 10) {
|
|
16
|
+
if (typeof navigator.gpu !== "undefined") {
|
|
17
|
+
void navigator.gpu.requestAdapter().then(gpuAdapter => {
|
|
18
|
+
if (!gpuAdapter) {
|
|
19
|
+
this.#isWebGpuSupported = false;
|
|
20
|
+
console.warn("WebGPU not supported. Falling back to CPU for all frames.");
|
|
21
|
+
return;
|
|
22
|
+
}
|
|
23
|
+
this.#isWebGpuSupported = true;
|
|
24
|
+
});
|
|
25
|
+
}
|
|
26
|
+
else {
|
|
27
|
+
console.warn("WebGPU not supported. Falling back to CPU for all frames.");
|
|
28
|
+
}
|
|
29
|
+
this.sumbmitCallback = callback;
|
|
30
|
+
this.#FRAME_BATCH_SIZE = Math.max(1, batchSize);
|
|
31
|
+
this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap(new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.ts", import.meta.url), { type: "module" })));
|
|
32
|
+
}
|
|
33
|
+
async queueDepthFrame(data) {
|
|
34
|
+
// @ts-expect-error - ITS unknow
|
|
35
|
+
// eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
|
|
36
|
+
if (!(data.colorFrame.message.data instanceof Uint8Array)) {
|
|
37
|
+
return;
|
|
38
|
+
}
|
|
39
|
+
this.#frameQueue.push(data);
|
|
40
|
+
this.tryProcessBatch();
|
|
41
|
+
}
|
|
42
|
+
tryProcessBatch() {
|
|
43
|
+
if (this.#isProcessing || this.#frameQueue.length < this.#FRAME_BATCH_SIZE) {
|
|
44
|
+
return;
|
|
45
|
+
}
|
|
46
|
+
this.#isProcessing = true;
|
|
47
|
+
const batchToProcess = this.#frameQueue.splice(0, this.#FRAME_BATCH_SIZE);
|
|
48
|
+
if (batchToProcess.length === 0) {
|
|
49
|
+
this.#isProcessing = false;
|
|
50
|
+
return;
|
|
51
|
+
}
|
|
52
|
+
// biome-ignore lint/style/noNonNullAssertion: <explanation>
|
|
53
|
+
const firstFrame = batchToProcess[0];
|
|
54
|
+
const width = firstFrame.width;
|
|
55
|
+
const height = firstFrame.height;
|
|
56
|
+
const fx = firstFrame.fx;
|
|
57
|
+
const fy = firstFrame.fy;
|
|
58
|
+
const cx = firstFrame.cx;
|
|
59
|
+
const cy = firstFrame.cy;
|
|
60
|
+
const i420Width = firstFrame.i420Width;
|
|
61
|
+
const i420Height = firstFrame.i420Height;
|
|
62
|
+
const depthDataArray = batchToProcess.map(f => uint8ArrayToUint16Array(f.depthFrame.data));
|
|
63
|
+
const timestampsArray = batchToProcess.map(f => f.colorFrame.receiveTime.nsec);
|
|
64
|
+
// @ts-expect-error - ITS unknow
|
|
65
|
+
// eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
|
|
66
|
+
const i420DataArray = batchToProcess.map(f => f.colorFrame.message.data);
|
|
67
|
+
const workerIndex = this.lastUsedWorkerIndex;
|
|
68
|
+
// biome-ignore lint/style/noNonNullAssertion: <explanation>
|
|
69
|
+
const workerApi = this.workerApis[workerIndex];
|
|
70
|
+
this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
|
|
71
|
+
workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, { hasGPU: this.#isWebGpuSupported })
|
|
72
|
+
.then(results => {
|
|
73
|
+
if (results.length === batchToProcess.length) {
|
|
74
|
+
const firtFrame = batchToProcess[0];
|
|
75
|
+
if (!firtFrame) {
|
|
76
|
+
return;
|
|
77
|
+
}
|
|
78
|
+
for (let i = 0; i < results.length; i++) {
|
|
79
|
+
// biome-ignore lint/style/noNonNullAssertion: <explanation>
|
|
80
|
+
const originalFrame = batchToProcess[i];
|
|
81
|
+
const pointCloudResult = results[i];
|
|
82
|
+
if (!pointCloudResult) {
|
|
83
|
+
console.error(`Worker ${workerIndex}: Result ${i} is null!`);
|
|
84
|
+
continue;
|
|
85
|
+
}
|
|
86
|
+
// biome-ignore lint/style/noNonNullAssertion: Workaround
|
|
87
|
+
const delay = Math.min(500, Math.abs((firstFrame.colorFrame.receiveTime.nsec - timestampsArray[i]) / 10 ** 6));
|
|
88
|
+
setTimeout(() => {
|
|
89
|
+
this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, pointCloudResult);
|
|
90
|
+
}, delay);
|
|
91
|
+
}
|
|
92
|
+
}
|
|
93
|
+
})
|
|
94
|
+
.catch(error => {
|
|
95
|
+
console.error(`Worker ${workerIndex}: Error processing batch:`, error);
|
|
96
|
+
for (const originalFrame of batchToProcess) {
|
|
97
|
+
this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, null);
|
|
98
|
+
}
|
|
99
|
+
})
|
|
100
|
+
.finally(() => {
|
|
101
|
+
this.#isProcessing = false;
|
|
102
|
+
this.tryProcessBatch();
|
|
103
|
+
});
|
|
104
|
+
}
|
|
105
|
+
}
|
|
106
|
+
//# sourceMappingURL=poitcloudPoolManager.js.map
|
|
@@ -0,0 +1 @@
|
|
|
1
|
+
{"version":3,"file":"poitcloudPoolManager.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,OAAO,EAAe,IAAI,EAAE,MAAM,SAAS,CAAC;AAI5C,OAAO,EAAE,uBAAuB,EAAE,MAAM,SAAS,CAAC;AAgBlD,MAAM,YAAY,GAAG,CAAC,CAAC;AAEvB,MAAM,OAAO,2BAA2B;IAC5B,mBAAmB,GAAG,CAAC,CAAC;IACxB,UAAU,CAcf;IAEL,WAAW,GAAqB,EAAE,CAAC;IACnC,kBAAkB,GAAG,KAAK,CAAC;IAGlB,iBAAiB,CAAS;IAE5B,eAAe,CAIZ;IAEV,aAAa,GAAG,KAAK,CAAC;IAEtB,YACE,QAIS,EACT,SAAS,GAAG,EAAE;QAGd,IAAI,OAAO,SAAS,CAAC,GAAG,KAAK,WAAW,EAAE,CAAC;YACzC,KAAK,SAAS,CAAC,GAAG,CAAC,cAAc,EAAE,CAAC,IAAI,CAAC,UAAU,CAAC,EAAE;gBACpD,IAAI,CAAC,UAAU,EAAE,CAAC;oBAChB,IAAI,CAAC,kBAAkB,GAAG,KAAK,CAAC;oBAEhC,OAAO,CAAC,IAAI,CAAC,2DAA2D,CAAC,CAAC;oBAC1E,OAAO;gBACT,CAAC;gBACD,IAAI,CAAC,kBAAkB,GAAG,IAAI,CAAC;YACjC,CAAC,CAAC,CAAC;QACL,CAAC;aACI,CAAC;YACJ,OAAO,CAAC,IAAI,CAAC,2DAA2D,CAAC,CAAC;QAC5E,CAAC;QAGD,IAAI,CAAC,eAAe,GAAG,QAAQ,CAAC;QAChC,IAAI,CAAC,iBAAiB,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC;QAChD,IAAI,CAAC,UAAU,GAAG,IAAI,KAAK,CAAC,YAAY,CAAC,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,CACjE,IAAI,CAAC,IAAI,MAAM,CAAC,IAAI,GAAG,CAAC,6CAA6C,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC,CAC9G,CAAC;IACJ,CAAC;IAEM,KAAK,CAAC,eAAe,CAAC,IAAoB;QAC/C,gCAAgC;QAChC,6GAA6G;QAC7G,IAAI,CAAC,CAAC,IAAI,CAAC,UAAU,CAAC,OAAO,CAAC,IAAI,YAAY,UAAU,CAAC,EAAE,CAAC;YAC1D,OAAO;QACT,CAAC;QACD,IAAI,CAAC,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;QAC5B,IAAI,CAAC,eAAe,EAAE,CAAC;IACzB,CAAC;IAGS,eAAe;QACvB,IAAI,IAAI,CAAC,aAAa,IAAI,IAAI,CAAC,WAAW,CAAC,MAAM,GAAG,IAAI,CAAC,iBAAiB,EAAE,CAAC;YAC3E,OAAO;QACT,CAAC;QACD,IAAI,CAAC,aAAa,GAAG,IAAI,CAAC;QAC1B,MAAM,cAAc,GAAG,IAAI,CAAC,WAAW,CAAC,MAAM,CAAC,CAAC,EAAE,IAAI,CAAC,iBAAiB,CAAC,CAAC;QAC1E,IAAI,cAAc,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YAChC,IAAI,CAAC,aAAa,GAAG,KAAK,CAAC;YAC3B,OAAO;QACT,CAAC;QACD,4DAA4D;QAC5D,MAAM,UAAU,GAAG,cAAc,CAAC,CAAC,CAAE,CAAC;QACtC,MAAM,KAAK,GAAG,UAAU,CAAC,KAAK,CAAC;QAC/B,MAAM,MAAM,GAAG,UAAU,CAAC,MAAM,CAAC;QACjC,MAAM,EAAE,GAAG,UAAU,CAAC,EAAE,CAAC;QACzB,MAAM,EAAE,GAAG,UAAU,CAAC,EAAE,CAAC;QACzB,MAAM,EAAE,GAAG,UAAU,CAAC,EAAE,CAAC;QACzB,MAAM,EAAE,GAAG,UAAU,CAAC,EAAE,CAAC;QACzB,MAAM,SAAS,GAAG,UAAU,CAAC,SAAS,CAAC;QACvC,MAAM,UAAU,GAAG,UAAU,CAAC,UAAU,CAAC;QACzC,MAAM,cAAc,GAAkB,cAAc,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,uBAAuB,CAAC,CAAC,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,CAAC;QAC1G,MAAM,eAAe,GAAa,cAAc,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,WAAW,CAAC,IAAI,CAAC,CAAC;QACzF,gCAAgC;QAChC,6GAA6G;QAC7G,MAAM,aAAa,GAAiB,cAAc,CAAC,GAAG,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,UAAU,CAAC,OAAO,CAAC,IAAI,CAAC,CAAC;QAEvF,MAAM,WAAW,GAAG,IAAI,CAAC,mBAAmB,CAAC;QAC7C,4DAA4D;QAC5D,MAAM,SAAS,GAAG,IAAI,CAAC,UAAU,CAAC,WAAW,CAAE,CAAC;QAChD,IAAI,CAAC,mBAAmB,GAAG,CAAC,IAAI,CAAC,mBAAmB,GAAG,CAAC,CAAC,GAAG,YAAY,CAAC;QACzE,SAAS,CAAC,oBAAoB,CAC5B,cAAc,EACd,KAAK,EAAE,MAAM,EACb,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EACd,aAAa,EACb,SAAS,EAAE,UAAU,EACrB,EAAE,MAAM,EAAE,IAAI,CAAC,kBAAkB,EAAE,CACpC;aACE,IAAI,CAAC,OAAO,CAAC,EAAE;YAEd,IAAI,OAAO,CAAC,MAAM,KAAK,cAAc,CAAC,MAAM,EAAE,CAAC;gBAC7C,MAAM,SAAS,GAAG,cAAc,CAAC,CAAC,CAAC,CAAC;gBACpC,IAAI,CAAC,SAAS,EAAE,CAAC;oBACf,OAAO;gBACT,CAAC;gBACD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,OAAO,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;oBACxC,4DAA4D;oBAC5D,MAAM,aAAa,GAAG,cAAc,CAAC,CAAC,CAAE,CAAC;oBACzC,MAAM,gBAAgB,GAAG,OAAO,CAAC,CAAC,CAAC,CAAC;oBAEpC,IAAI,CAAC,gBAAgB,EAAE,CAAC;wBACtB,OAAO,CAAC,KAAK,CAAC,UAAU,WAAW,YAAY,CAAC,WAAW,CAAC,CAAC;wBAC7D,SAAS;oBACX,CAAC;oBACD,yDAAyD;oBACzD,MAAM,KAAK,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAC,IAAI,CAAC,GAAG,CAAC,CAAC,UAAU,CAAC,UAAU,CAAC,WAAW,CAAC,IAAI,GAAG,eAAe,CAAC,CAAC,CAAE,CAAE,GAAC,EAAE,IAAE,CAAC,CAAC,CAAC,CAAC;oBAC5G,UAAU,CAAC,GAAG,EAAE;wBACd,IAAI,CAAC,eAAe,CAAC,aAAa,CAAC,UAAU,EAAE,aAAa,CAAC,UAAU,EAAE,gBAAgB,CAAC,CAAC;oBAC7F,CAAC,EAAE,KAAK,CAAC,CAAC;gBACZ,CAAC;YACH,CAAC;QACH,CAAC,CAAC;aACD,KAAK,CAAC,KAAK,CAAC,EAAE;YACb,OAAO,CAAC,KAAK,CAAC,UAAU,WAAW,2BAA2B,EAAE,KAAK,CAAC,CAAC;YAEvE,KAAK,MAAM,aAAa,IAAI,cAAc,EAAE,CAAC;gBAC3C,IAAI,CAAC,eAAe,CAAC,aAAa,CAAC,UAAU,EAAE,aAAa,CAAC,UAAU,EAAE,IAAI,CAAC,CAAC;YACjF,CAAC;QACH,CAAC,CAAC;aACD,OAAO,CAAC,GAAG,EAAE;YACZ,IAAI,CAAC,aAAa,GAAG,KAAK,CAAC;YAE3B,IAAI,CAAC,eAAe,EAAE,CAAC;QACzB,CAAC,CAAC,CAAC;IACP,CAAC;CAAC"}
|
|
@@ -1,13 +1,4 @@
|
|
|
1
|
-
import { type Remote } from "comlink";
|
|
2
1
|
export declare function uint8ArrayToUint16Array(uint8Array: Uint8Array): Uint16Array;
|
|
3
|
-
export declare class depthToPointcloudWorkerPool {
|
|
4
|
-
protected lastUsedWorkerIndex: number;
|
|
5
|
-
protected workerApis: Remote<{
|
|
6
|
-
depthToPointcloudGPU: (depthArray: Uint16Array, width: number, height: number, fx: number, fy: number, cx: number, cy: number, colorStream: Uint8Array, i420Width: number, i420Height: number) => Promise<Uint8Array>;
|
|
7
|
-
}>[];
|
|
8
|
-
constructor();
|
|
9
|
-
depthToPointcloudGPU(depthArray: Uint16Array, width: number, height: number, fx: number, fy: number, cx: number, cy: number, i420Data: Uint8Array, i420Width: number, i420Height: number): Promise<Uint8Array>;
|
|
10
|
-
}
|
|
11
2
|
export declare function i420ToRgbaToPointcloud(i420Data: Uint8Array, i420Width: number, i420Height: number, depthWidth: number, depthHeight: number, data: Uint8Array): Uint8Array;
|
|
12
3
|
type NeuralCameraIntrinsic = {
|
|
13
4
|
focalLenght: {
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAIA,
|
|
1
|
+
{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAIA,wBAAgB,uBAAuB,CAAC,UAAU,EAAE,UAAU,GAAG,WAAW,CAkB3E;AAID,wBAAgB,sBAAsB,CACpC,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,GACf,UAAU,CA4CZ;AAGD,KAAK,qBAAqB,GAAG;IAC3B,WAAW,EAAE;QACX,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;IACF,cAAc,EAAE;QACd,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;CACH,CAAC;AACF,MAAM,MAAM,sBAAsB,GAAI;IACpC,IAAI,EAAE,qBAAqB,CAAC;IAC5B,KAAK,EAAE,qBAAqB,CAAC;CAC9B,CAAC"}
|
|
@@ -1,8 +1,6 @@
|
|
|
1
1
|
// This Source Code Form is subject to the terms of the Mozilla Public
|
|
2
2
|
// License, v2.0. If a copy of the MPL was not distributed with this
|
|
3
3
|
// file, You can obtain one at http://mozilla.org/MPL/2.0/
|
|
4
|
-
/// <reference types="@webgpu/types" />
|
|
5
|
-
import { wrap } from "comlink";
|
|
6
4
|
export function uint8ArrayToUint16Array(uint8Array) {
|
|
7
5
|
if (uint8Array.length % 2 !== 0) {
|
|
8
6
|
throw new Error("Uint8Array length must be a multiple of 2 for conversion to Uint16Array");
|
|
@@ -19,20 +17,6 @@ export function uint8ArrayToUint16Array(uint8Array) {
|
|
|
19
17
|
}
|
|
20
18
|
return uint16Array;
|
|
21
19
|
}
|
|
22
|
-
const WORKER_COUNT = 4;
|
|
23
|
-
export class depthToPointcloudWorkerPool {
|
|
24
|
-
lastUsedWorkerIndex = 0;
|
|
25
|
-
workerApis;
|
|
26
|
-
constructor() {
|
|
27
|
-
this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap(new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.ts", import.meta.url), { type: "module" })));
|
|
28
|
-
}
|
|
29
|
-
async depthToPointcloudGPU(depthArray, width, height, fx, fy, cx, cy, i420Data, i420Width, i420Height) {
|
|
30
|
-
// biome-ignore lint/style/noNonNullAssertion: This should work
|
|
31
|
-
const workerApi = this.workerApis[this.lastUsedWorkerIndex];
|
|
32
|
-
this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
|
|
33
|
-
return await workerApi.depthToPointcloudGPU(depthArray, width, height, fx, fy, cx, cy, i420Data, i420Width, i420Height);
|
|
34
|
-
}
|
|
35
|
-
}
|
|
36
20
|
/* H264 (i420) to RGBA */
|
|
37
21
|
export function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {
|
|
38
22
|
const frameSize = i420Width * i420Height;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"utils.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;
|
|
1
|
+
{"version":3,"file":"utils.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,MAAM,UAAU,uBAAuB,CAAC,UAAsB;IAC5D,IAAI,UAAU,CAAC,MAAM,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;QAChC,MAAM,IAAI,KAAK,CAAC,yEAAyE,CAAC,CAAC;IAC7F,CAAC;IAED,MAAM,WAAW,GAAG,IAAI,WAAW,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;IAE3D,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,WAAW,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;QAC5C,MAAM,OAAO,GAAG,UAAU,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAClC,MAAM,QAAQ,GAAG,UAAU,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;QACvC,qDAAqD;QACrD,IAAI,QAAQ,KAAK,SAAS,IAAI,OAAO,KAAK,SAAS,EAAE,CAAC;YACpD,MAAM,IAAI,KAAK,CAAC,4BAA4B,CAAC,CAAC;QAChD,CAAC;QACD,WAAW,CAAC,CAAC,CAAC,GAAG,CAAC,QAAQ,IAAI,CAAC,CAAC,GAAG,OAAO,CAAC;IAC7C,CAAC;IAED,OAAO,WAAW,CAAC;AACrB,CAAC;AAGD,yBAAyB;AACzB,MAAM,UAAU,sBAAsB,CACpC,QAAoB,EACpB,SAAiB,EACjB,UAAkB,EAClB,UAAkB,EAClB,WAAmB,EACnB,IAAgB;IAEhB,MAAM,SAAS,GAAG,SAAS,GAAG,UAAU,CAAC;IACzC,MAAM,OAAO,GAAG,SAAS,CAAC;IAC1B,MAAM,OAAO,GAAG,SAAS,GAAG,CAAC,SAAS,GAAG,CAAC,CAAC,CAAC;IAC5C,MAAM,UAAU,GAAG,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC;IACxC,MAAM,MAAM,GAAG,IAAI,WAAW,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;IAChD,MAAM,IAAI,GAAG,IAAI,QAAQ,CAAC,MAAM,CAAC,CAAC;IAClC,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAE3C,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;QACpC,MAAM,MAAM,GAAG,CAAC,GAAG,UAAU,CAAC;QAC9B,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC;QAE1C,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,SAAS,GAAG,UAAU,CAAC,CAAC,CAAC;QAC5D,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,UAAU,GAAG,WAAW,CAAC,CAAC,CAAC;QAE9D,IAAI,KAAK,IAAI,SAAS,IAAI,KAAK,IAAI,UAAU,EAAE,CAAC;YAAA,SAAS;QAAA,CAAC;QAE1D,MAAM,KAAK,GAAG,KAAK,GAAG,SAAS,GAAG,KAAK,CAAC;QACxC,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,SAAS,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC;QAEhF,MAAM,CAAC,GAAG,QAAQ,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAC/B,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,GAAG,CAAC;QACrD,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,GAAG,CAAC;QAErD,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;QACtB,IAAI,CAAC,GAAG,CAAC,GAAG,QAAQ,GAAG,CAAC,GAAG,QAAQ,GAAG,CAAC,CAAC;QACxC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;QAEtB,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAClC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAClC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAElC,MAAM,MAAM,GAAG,CAAC,GAAG,EAAE,CAAC;QACtB,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QACtE,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QAC9E,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QAC9E,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,MAAM;QACrC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,QAAQ;QACvC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,OAAO;QACtC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,GAAG,CAAC,CAAC,CAAC,uBAAuB;IAC1D,CAAC;IAED,OAAO,IAAI,UAAU,CAAC,MAAM,CAAC,CAAC;AAChC,CAAC"}
|
|
@@ -35,13 +35,13 @@ const PointCloudPanelBody = ({ topic, frameRenderedEvent }) => {
|
|
|
35
35
|
cameraState: {
|
|
36
36
|
distance: -1000,
|
|
37
37
|
perspective: true,
|
|
38
|
-
phi:
|
|
38
|
+
phi: 89,
|
|
39
39
|
target: [0, 0, 0],
|
|
40
40
|
targetOffset: [0, 0, 0],
|
|
41
41
|
targetOrientation: [0, 0, 0, 1],
|
|
42
|
-
thetaOffset:
|
|
42
|
+
thetaOffset: 180,
|
|
43
43
|
fovy: getFovy(),
|
|
44
|
-
near:
|
|
44
|
+
near: 5,
|
|
45
45
|
far: 10000
|
|
46
46
|
},
|
|
47
47
|
imageMode: {
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"PointCloudPanel.js","sourceRoot":"","sources":["../../../../src/panels/PointCloudPanel.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAE,KAAK,EAAE,MAAM,wBAAwB,CAAC;AAC/C,OAAO,EAAE,wBAAwB,EAAE,MAAM,uCAAuC,CAAC;AAEjF,OAAO,EAAE,mBAAmB,EAAE,MAAM,6BAA6B,CAAC;AAElE,MAAM,uBAAuB,GAAG,KAAK,CAAC,IAAI,CACxC,KAAK,IAAI,EAAE,CAAC,MAAM,MAAM,CAAC,6CAA6C,CAAC,CACxE,CAAC;AAOF,MAAM,mBAAmB,GAA4F,CAAC,EAAE,KAAK,EAAE,kBAAkB,EAAE,EAAE,EAAE;IACrJ,MAAM,0BAA0B,GAAG,YAAY,CAAC,OAAO,CAAC,wBAAwB,CAAC,CAAC;IAClF,MAAM,OAAO,GAAG,KAAK,CAAC,WAAW,CAAC,GAAE,EAAE;QACtC,IAAG,CAAC;YACA,MAAM,sBAAsB,GAAG,IAAI,CAAC,KAAK,CAAC,0BAA0B,IAAI,EAAE,CAAiC,CAAC;YAC5G,IAAI,sBAAsB,EAAC,CAAC;gBAC9B,MAAM,IAAI,GAAI,CAAC,GAAG,IAAI,CAAC,IAAI,CACzB,CAAC,sBAAsB,CAAC,KAAK,CAAC,cAAc,CAAC,CAAC,CAAC,GAAG,CAAC,sBAAsB,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC,CAAC,CAC/F,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC;gBACpB,OAAO,IAAI,CAAC;YACZ,CAAC;YACC,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,OAAO,KAAK,EAAE,CAAC;YACb,OAAO,EAAE,CAAC;QACZ,CAAC;IACH,CAAC,EAAE,CAAC,0BAA0B,CAAC,CAAC,CAAC;IAGjC,MAAM,aAAa,GAAG,KAAK,CAAC,OAAO,CACjC,GAAG,EAAE,CAAC,CAAC;QACL,MAAM,EAAE;YACN,CAAC,KAAK,CAAC,EAAE;gBACP,QAAQ,EAAE,IAAI;gBACd,QAAQ,EAAE,CAAC;gBACX,SAAS,EAAE,CAAC;gBACZ,UAAU,EAAE,QAAQ;gBACpB,OAAO,EAAE,IAAI;aACd;SACF;QACD,WAAW,EAAE;YACX,QAAQ,EAAE,CAAC,IAAI;YACf,WAAW,EAAE,IAAI;YACjB,GAAG,EAAE,
|
|
1
|
+
{"version":3,"file":"PointCloudPanel.js","sourceRoot":"","sources":["../../../../src/panels/PointCloudPanel.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAE,KAAK,EAAE,MAAM,wBAAwB,CAAC;AAC/C,OAAO,EAAE,wBAAwB,EAAE,MAAM,uCAAuC,CAAC;AAEjF,OAAO,EAAE,mBAAmB,EAAE,MAAM,6BAA6B,CAAC;AAElE,MAAM,uBAAuB,GAAG,KAAK,CAAC,IAAI,CACxC,KAAK,IAAI,EAAE,CAAC,MAAM,MAAM,CAAC,6CAA6C,CAAC,CACxE,CAAC;AAOF,MAAM,mBAAmB,GAA4F,CAAC,EAAE,KAAK,EAAE,kBAAkB,EAAE,EAAE,EAAE;IACrJ,MAAM,0BAA0B,GAAG,YAAY,CAAC,OAAO,CAAC,wBAAwB,CAAC,CAAC;IAClF,MAAM,OAAO,GAAG,KAAK,CAAC,WAAW,CAAC,GAAE,EAAE;QACtC,IAAG,CAAC;YACA,MAAM,sBAAsB,GAAG,IAAI,CAAC,KAAK,CAAC,0BAA0B,IAAI,EAAE,CAAiC,CAAC;YAC5G,IAAI,sBAAsB,EAAC,CAAC;gBAC9B,MAAM,IAAI,GAAI,CAAC,GAAG,IAAI,CAAC,IAAI,CACzB,CAAC,sBAAsB,CAAC,KAAK,CAAC,cAAc,CAAC,CAAC,CAAC,GAAG,CAAC,sBAAsB,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC,CAAC,CAC/F,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC;gBACpB,OAAO,IAAI,CAAC;YACZ,CAAC;YACC,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,OAAO,KAAK,EAAE,CAAC;YACb,OAAO,EAAE,CAAC;QACZ,CAAC;IACH,CAAC,EAAE,CAAC,0BAA0B,CAAC,CAAC,CAAC;IAGjC,MAAM,aAAa,GAAG,KAAK,CAAC,OAAO,CACjC,GAAG,EAAE,CAAC,CAAC;QACL,MAAM,EAAE;YACN,CAAC,KAAK,CAAC,EAAE;gBACP,QAAQ,EAAE,IAAI;gBACd,QAAQ,EAAE,CAAC;gBACX,SAAS,EAAE,CAAC;gBACZ,UAAU,EAAE,QAAQ;gBACpB,OAAO,EAAE,IAAI;aACd;SACF;QACD,WAAW,EAAE;YACX,QAAQ,EAAE,CAAC,IAAI;YACf,WAAW,EAAE,IAAI;YACjB,GAAG,EAAE,EAAE;YACP,MAAM,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YACjB,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YACvB,iBAAiB,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YAC/B,WAAW,EAAE,GAAG;YAChB,IAAI,EAAE,OAAO,EAAE;YACf,IAAI,EAAE,CAAC;YACP,GAAG,EAAE,KAAK;SACX;QACD,SAAS,EAAE;YACT,SAAS,EAAE,aAAsB;SAClC;KACF,CAAC,EACF,CAAC,OAAO,EAAE,KAAK,CAAC,CACjB,CAAC;IAEF,OAAO,KAAC,uBAAuB,IAAC,cAAc,EAAE,aAAa,EAAE,kBAAkB,EAAE,kBAAkB,GAAI,CAAC;AAC5G,CAAC,CAAC;AAEF,MAAM,CAAC,MAAM,eAAe,GAAG,KAAK,CAAC,IAAI,CAAC,SAAS,eAAe,CAAC,EACjE,KAAK,EACL,WAAW,EACX,SAAS,EAC4E;IAErF,MAAM,4BAA4B,GAAG,KAAK,CAAC,MAAM,CAAsB,IAAI,CAAC,CAAC;IAC7E,MAAM,CAAC,WAAW,EAAE,cAAc,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAqB,SAAS,CAAC,CAAC;IAEpF,MAAM,EAAE,iBAAiB,EAAE,YAAY,EAAE,GAAG,wBAAwB,EAAE,CAAC;IAEvE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,4BAA4B,CAAC,OAAO,GAAG,IAAI,mBAAmB,EAAE,CAAC;IACnE,CAAC,EAAE,EAAE,CAAC,CAAC;IAEP,yEAAyE;IACzE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,MAAM,QAAQ,GAAG,WAAW,CAAC,GAAG,EAAE;YAChC,IAAI,CAAC,4BAA4B,CAAC,OAAO,EAAE,CAAC;gBAC1C,OAAO,CAAC,IAAI,CAAC,sCAAsC,CAAC,CAAC;gBACrD,OAAO;YACT,CAAC;YAED,cAAc,CAAC,4BAA4B,CAAC,OAAO,CAAC,SAAS,CAAC,WAAW,CAAC,CAAC,CAAC;QAC9E,CAAC,EAAE,GAAG,CAAC,CAAC;QAER,OAAO,GAAG,EAAE;YACV,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC1B,CAAC,CAAC;IACJ,CAAC,EAAE,CAAC,4BAA4B,CAAC,CAAC,CAAC;IAEnC,MAAM,mBAAmB,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,SAAiB,EAAE,EAAE;QAClE,4BAA4B,CAAC,OAAO,EAAE,aAAa,CAAC,WAAW,CAAC,CAAC;QACjE,YAAY,CAAC,SAAS,CAAC,CAAC;IAC1B,CAAC,EAAE,CAAC,YAAY,CAAC,CAAC,CAAC;IAEnB,OAAO,CACL,KAAC,KAAK,IAAC,IAAI,EAAC,YAAY,EAAC,KAAK,EAAE,KAAK,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,iBAAiB,EAAE,kBAAkB,QAAC,SAAS,EAAE,SAAS,YAChK,KAAC,mBAAmB,IAAC,KAAK,EAAE,KAAK,EAAE,kBAAkB,EAAE,mBAAmB,GAAI,GACxE,CAET,CAAC;AACJ,CAAC,CAAC,CAAC"}
|
|
@@ -35,7 +35,7 @@ export class PoitCloudSyncFramework {
|
|
|
35
35
|
}
|
|
36
36
|
storedFrames = [];
|
|
37
37
|
#MAX_DELAY_SEC = 0.01;
|
|
38
|
-
#MAX_STORED_FRAMES =
|
|
38
|
+
#MAX_STORED_FRAMES = 100;
|
|
39
39
|
getFrame(nsec) {
|
|
40
40
|
const { res, index = 0 } = this.#binarySearch(this.storedFrames, nsec);
|
|
41
41
|
// cleans the array
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"poitcloud-sync.js","sourceRoot":"","sources":["../../../../src/utils/poitcloud-sync.ts"],"names":[],"mappings":"AAKA,MAAM,OAAO,sBAAsB;IACjC,aAAa,CAAC,GAA+B,EAAE,SAAiB;QAC9D,IAAI,IAAI,GAAG,CAAC,CAAC;QACb,IAAI,KAAK,GAAG,GAAG,CAAC,MAAM,CAAC;QACvB,IAAI,SAAS,GAAG,IAAI,CAAC;QACrB,MAAM,OAAO,GAAG,GAAG,CAAC,GAAG,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;QACpC,IAAI,CAAC,OAAO,EAAE,CAAC;YACb,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;QACjC,CAAC;QACD,IAAI,OAAO,CAAC,SAAS,CAAC,IAAI,GAAG,SAAS,EAAE,CAAC;YACvC,OAAO,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,MAAM,GAAG,CAAC,CAAC,EAAE,KAAK,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC;QACzD,CAAC;QAED,OAAO,IAAI,IAAI,KAAK,EAAE,CAAC;YACrB,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;YAC3C,+CAA+C;YAC/C,MAAM,MAAM,GAAG,GAAG,CAAC,GAAG,CAAE,CAAC,SAAS,CAAC,IAAI,CAAC;YAExC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;gBACzB,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,GAAE,SAAS,CAAC,GAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EAAE,CAAC;oBAChE,OAAO,EAAE,GAAG,EAAE,SAAS,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;gBACzC,CAAC;gBACD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC;YACnC,CAAC;YACD,IAAI,MAAM,GAAG,SAAS,EAAE,CAAC;gBACvB,SAAS,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC;gBACrB,IAAI,GAAG,GAAG,GAAG,CAAC,CAAC;YACjB,CAAC;iBAAM,CAAC;gBACN,KAAK,GAAG,GAAG,GAAG,CAAC,CAAC;YAClB,CAAC;QACH,CAAC;QAED,IAAI,SAAS,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,SAAS,CAAC,IAAI,GAAE,SAAS,CAAC,GAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EAAE,CAAC;YAC/F,OAAO,EAAE,GAAG,EAAE,SAAS,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;QACzC,CAAC;QAED,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;IACpC,CAAC;IAGM,YAAY,GAA+B,EAAE,CAAC;IACrD,cAAc,GAAG,IAAI,CAAC;IACtB,kBAAkB,GAAG,
|
|
1
|
+
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|
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.d.ts
CHANGED
|
@@ -8,6 +8,7 @@ import { SettingsTreeEntry } from "../SettingsManager";
|
|
|
8
8
|
import { CameraState } from "../camera";
|
|
9
9
|
export declare class CameraStateSettings extends SceneExtension implements ICameraHandler {
|
|
10
10
|
#private;
|
|
11
|
+
readonly renderer: IRenderer;
|
|
11
12
|
unfollowPoseSnapshot: Pose | undefined;
|
|
12
13
|
constructor(renderer: IRenderer, canvas: HTMLCanvasElement, aspect: number);
|
|
13
14
|
dispose(): void;
|
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.d.ts.map
CHANGED
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
|
+
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|