npm - @luxonis/visualizer-protobuf - Versions diffs - 2.35.0 → 2.37.0 - Mend

@luxonis/visualizer-protobuf 2.35.0 → 2.37.0

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Files changed (63) hide show

package/dist/lib/src/messaging/deserialization/video/h265.js ADDED Viewed

@@ -0,0 +1,79 @@
+// 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 { fromMicros } from "@foxglove/rostime";
+import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
+import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
+import { parseMessage, parsePixelFormat } from "../../utils.js";
+function createVideoDecoder({ topic, callback, topicDecoders }) {
+    return new VideoDecoder({
+        output: async (frame) => {
+            const buffer = new Uint8Array(frame.allocationSize());
+            await frame.copyTo(buffer);
+            const receiveTime = topicDecoders.get(topic)?.timing.get(frame.timestamp)
+                ??
+                    fromMicros(frame.timestamp);
+            const [encoding, step] = parsePixelFormat(frame.format);
+            const foxgloveMessage = {
+                timestamp: receiveTime,
+                frame_id: `h265-${topic}-frame`,
+                width: frame.displayWidth,
+                height: frame.displayHeight,
+                data: buffer,
+                encoding,
+                step: frame.displayWidth * step
+            };
+            callback({
+                topic,
+                receiveTime,
+                message: foxgloveMessage,
+                sizeInBytes: estimateObjectSize(foxgloveMessage),
+                schemaName: "foxglove.RawImage"
+            });
+            frame.close();
+        },
+        error: console.error
+    });
+}
+export async function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback }) {
+    const { receiveTime } = parseMessage(message);
+    const supported = ensureWebCodecsSupported("VideoDecoder");
+    if (!supported) {
+        return;
+    }
+    if (!topicDecoders.has(topic)) {
+        const decoder = createVideoDecoder({ topic, callback, topicDecoders });
+        console.log("creating decoder", "hev1.1.6.L93.B0");
+        decoder.configure({
+            codec: "hev1.1.6.L93.B0",
+            optimizeForLatency: true
+        });
+        topicDecoders.set(topic, {
+            decoder,
+            timing: new Map()
+        });
+    }
+    const decoderInfo = topicDecoders.get(topic);
+    if (!decoderInfo) {
+        return;
+    }
+    if (decoderInfo.decoder.decodeQueueSize > 60) {
+        decoderInfo.decoder.reset();
+        return;
+    }
+    const microTimestamp = receiveTime.sec * 1_000_000 + Math.floor(receiveTime.nsec / 1_000);
+    decoderInfo.timing.set(microTimestamp, receiveTime);
+    const frame = {
+        type: 'key',
+        data: message.data,
+        timestamp: microTimestamp
+    };
+    try {
+        const chunk = new EncodedVideoChunk(frame);
+        decoderInfo.decoder.decode(chunk);
+    }
+    catch {
+        topicDecoders.delete(topic);
+    }
+}
+//# sourceMappingURL=h265.js.map

package/dist/lib/src/messaging/deserialization/video/h265.js.map ADDED Viewed

@@ -0,0 +1 @@

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package/dist/lib/src/messaging/deserialization.worker.d.ts CHANGED Viewed

@@ -38,6 +38,6 @@ export type DeserializationWorkerApi = {
     initCallback: (cb: (event: MessageEvent) => void) => void;
     handleMessageToDecode: ({ schema, buffer, topic, neuralCameraIntrinsics }: FoxgloveMessage & {
         neuralCameraIntrinsics: NeuralCameraIntrinsics;
-    }) => void;
+    }, errorCallback?: (error: Error) => void) => void;
 };
 //# sourceMappingURL=deserialization.worker.d.ts.map

package/dist/lib/src/messaging/deserialization.worker.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization.worker.js CHANGED Viewed

@@ -8,38 +8,56 @@ import { deserializePointCloudData } from "./deserialization/pointcloud/point-cl
 import { deserializeColorFrame } from "./deserialization/video/color.js";
 import { deserializeDepthFrame } from "./deserialization/video/depth.js";
 import { deserializeEncodedFrameH264 } from "./deserialization/video/h264.js";
+import { deserializeEncodedFrameH265 } from "./deserialization/video/h265.js";
 import { deserializeMJPEGFrame } from "./deserialization/video/mjpeg.js";
 import { protobufsBySchema } from "./protobuf";
 import { parseMessage } from "./utils.js";
 import { Profile } from "../protobuf.generated/EncodedFrame.js";
 import { Type } from "../protobuf.generated/ImgFrame.js";
+import { isCapableOfEncodedStream } from "../utils/encoding";
+import { EncodedStreamNotSupportedError } from "../utils/error";
 const topicDecoders = new Map();
 const topicSizes = new Map();
 let callback;
 function initCallback(cb) {
     callback = cb;
 }
-function handleMessageToDecode({ schema, buffer, topic }) {
+function handleMessageToDecode({ schema, buffer, topic }, errorCallback) {
+    const handleDecodingError = (error) => {
+        // TODO: Enable this log once we fix topic unsubscription not working
+        // console.error("An error occurred during DAI message decoding.", error);
+        errorCallback?.(error);
+    };
     const protobufSchema = protobufsBySchema[schema];
     if (!protobufSchema) {
         console.warn(`Unsupported message schema "${schema}"`);
+        handleDecodingError(new Error(`Unsupported message schema "${schema}"`));
         return;
     }
     const bufferArray = new Uint8Array(buffer.buffer, buffer.byteOffset, buffer.byteLength);
-    const message = protobufSchema.decoder.decode(bufferArray);
-    void deserializeDepthAiMessage({
-        topic,
-        topicSizes,
-        topicDecoders,
-        message,
-        callback,
-        type: protobufSchema.type,
-    });
+    try {
+        const message = protobufSchema.decoder.decode(bufferArray);
+        // Handle the promise correctly
+        deserializeDepthAiMessage({
+            topic,
+            topicSizes,
+            topicDecoders,
+            message,
+            callback,
+            type: protobufSchema.type,
+        }).catch(handleDecodingError);
+    }
+    catch (error) {
+        handleDecodingError(error);
+    }
 }
 async function deserializeDepthAiMessage(args) {
     const { topicDecoders, topicSizes, type, message, callback, topic } = args;
     switch (type) {
         case "encodedFrame": {
+            if (!isCapableOfEncodedStream()) {
+                throw new EncodedStreamNotSupportedError(topic);
+            }
             topicSizes.set(topic, { width: message.width, height: message.height });
             if (message.profile === Profile.AVC) {
                 await deserializeEncodedFrameH264({ topic, message, topicDecoders, callback });
@@ -47,8 +65,11 @@ async function deserializeDepthAiMessage(args) {
             else if (message.profile === Profile.JPEG) {
                 await deserializeMJPEGFrame({ topic, message, callback });
             }
+            else if (message.profile === Profile.HEVC) {
+                await deserializeEncodedFrameH265({ topic, message, topicDecoders, callback });
+            }
             else {
-                // TODO: Handle HEVC, UNRECOGNIZED
+                // TODO: Handle UNRECOGNIZED
             }
             break;
         }
@@ -86,9 +107,9 @@ async function deserializeDepthAiMessage(args) {
                 topicSizes,
                 message: {
                     ...message,
-                    detections: message.detections.map((detections) => detections.detection)
+                    detections: message.detections.map((detections) => detections.detection),
                 },
-                callback
+                callback,
             });
             break;
         }
@@ -102,5 +123,6 @@ async function deserializeDepthAiMessage(args) {
         }
     }
 }
+// Expose the updated API
 Comlink.expose({ initCallback, handleMessageToDecode });
 //# sourceMappingURL=deserialization.worker.js.map

package/dist/lib/src/messaging/deserialization.worker.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/messaging/message-handler.d.ts CHANGED Viewed

@@ -1,7 +1,8 @@
 import { MessageEvent } from "@foxglove/studio-base/players/types";
 import { FoxgloveMessage } from "../connection/communicator.js";
+import { VisualizerConnectionErrorCallback } from "../connection/connection";
 export type MessageHandler = {
-    handle: (message: FoxgloveMessage) => void;
+    handle: (message: FoxgloveMessage, errorCallback?: VisualizerConnectionErrorCallback) => void;
 };
 export declare function createMessageHandler(callback: (event: MessageEvent) => void): MessageHandler;
 //# sourceMappingURL=message-handler.d.ts.map

package/dist/lib/src/messaging/message-handler.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/messaging/message-handler.js CHANGED Viewed

@@ -11,14 +11,14 @@ const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntr
 export function createMessageHandler(callback) {
     const workerPool = new Map();
     return {
-        handle: (({ schema, buffer, topic }) => {
+        handle: (({ schema, buffer, topic }, errorCallback) => {
             let worker = workerPool.get(topic);
             if (!worker) {
                 const newWorker = initWorker(callback);
                 worker = newWorker;
                 workerPool.set(topic, newWorker);
             }
-            worker.handleMessageToDecode({ schema, buffer, topic, neuralCameraIntrinsics });
+            worker.handleMessageToDecode({ schema, buffer, topic, neuralCameraIntrinsics }, errorCallback ? Comlink.proxy((error) => errorCallback(error, topic)) : undefined);
         }),
     };
 }

package/dist/lib/src/messaging/message-handler.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/utils/encoding.d.ts CHANGED Viewed

@@ -1,2 +1,3 @@
+export declare function isCapableOfEncodedStream(): boolean;
 export declare function recordToDataView(record: Record<string, any> | string | number): DataView;
 //# sourceMappingURL=encoding.d.ts.map

package/dist/lib/src/utils/encoding.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"encoding.d.ts","sourceRoot":"","sources":["../../../../src/utils/encoding.ts"],"names":[],"mappings":"~~AAIA~~,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,GAAG,MAAM,GAAG,MAAM,GAAG,QAAQ,CAWxF"}
1	+ {"version":3,"file":"encoding.d.ts","sourceRoot":"","sources":["../../../../src/utils/encoding.ts"],"names":[],"mappings":"AAKA,wBAAgB,wBAAwB,IAAI,OAAO,CAElD;AAED,wBAAgB,gBAAgB,CAAC,MAAM,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,GAAG,MAAM,GAAG,MAAM,GAAG,QAAQ,CAWxF"}

package/dist/lib/src/utils/encoding.js CHANGED Viewed

@@ -1,6 +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/
+// Function decides if the current browser is capable of working with encoded streams
+export function isCapableOfEncodedStream() {
+    return !!navigator?.userAgent?.includes('Chrome');
+}
 export function recordToDataView(record) {
     const text = JSON.stringify(record);
     if (!text) {

package/dist/lib/src/utils/encoding.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"encoding.js","sourceRoot":"","sources":["../../../../src/utils/encoding.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,MAAM,UAAU,gBAAgB,CAAC,MAA6C;IAC5E,MAAM,IAAI,GAAG,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC;IACpC,IAAI,CAAC,IAAI,EAAE,CAAC;QACV,MAAM,IAAI,KAAK,CAAC,gBAAgB,CAAC,CAAC;IACpC,CAAC;IAED,MAAM,OAAO,GAAG,IAAI,WAAW,EAAE,CAAC;IAClC,MAAM,IAAI,GAAG,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IAClC,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAE3C,OAAO,QAAQ,CAAC;AAClB,CAAC"}
1	+ {"version":3,"file":"encoding.js","sourceRoot":"","sources":["../../../../src/utils/encoding.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,qFAAqF;AACrF,MAAM,UAAU,wBAAwB;IACtC,OAAO,CAAC,CAAC,SAAS,EAAE,SAAS,EAAE,QAAQ,CAAC,QAAQ,CAAC,CAAA;AACnD,CAAC;AAED,MAAM,UAAU,gBAAgB,CAAC,MAA6C;IAC5E,MAAM,IAAI,GAAG,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,CAAC;IACpC,IAAI,CAAC,IAAI,EAAE,CAAC;QACV,MAAM,IAAI,KAAK,CAAC,gBAAgB,CAAC,CAAC;IACpC,CAAC;IAED,MAAM,OAAO,GAAG,IAAI,WAAW,EAAE,CAAC;IAClC,MAAM,IAAI,GAAG,OAAO,CAAC,MAAM,CAAC,IAAI,CAAC,CAAC;IAClC,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAE3C,OAAO,QAAQ,CAAC;AAClB,CAAC"}

package/dist/lib/src/utils/error.d.ts ADDED Viewed

@@ -0,0 +1,5 @@
+export declare class EncodedStreamNotSupportedError extends Error {
+    topicName: string;
+    constructor(topicName: string);
+}
+//# sourceMappingURL=error.d.ts.map

package/dist/lib/src/utils/error.d.ts.map ADDED Viewed

	@@ -0,0 +1 @@
1	+ {"version":3,"file":"error.d.ts","sourceRoot":"","sources":["../../../../src/utils/error.ts"],"names":[],"mappings":"AAAA,qBAAa,8BAA+B,SAAQ,KAAK;IAChD,SAAS,EAAE,MAAM,CAAC;gBAEb,SAAS,EAAE,MAAM;CAI9B"}

package/dist/lib/src/utils/error.js ADDED Viewed

@@ -0,0 +1,8 @@
+export class EncodedStreamNotSupportedError extends Error {
+    topicName;
+    constructor(topicName) {
+        super("Encoded stream not supported on this platform");
+        this.topicName = topicName;
+    }
+}
+//# sourceMappingURL=error.js.map

package/dist/lib/src/utils/error.js.map ADDED Viewed

	@@ -0,0 +1 @@
1	+ {"version":3,"file":"error.js","sourceRoot":"","sources":["../../../../src/utils/error.ts"],"names":[],"mappings":"AAAA,MAAM,OAAO,8BAA+B,SAAQ,KAAK;IAChD,SAAS,CAAS;IAEzB,YAAY,SAAiB;QAC3B,KAAK,CAAC,+CAA+C,CAAC,CAAC;QACvD,IAAI,CAAC,SAAS,GAAG,SAAS,CAAC;IAC7B,CAAC;CACF"}

package/dist/packages/studio-base/src/i18n/en/threeDee.js CHANGED Viewed

@@ -134,7 +134,7 @@ export const threeDee = {
     yDeviation: "Y deviation",
     yDeviationHelp: "The Y standard deviation to publish with pose estimates",
     // HUD Items and empty states
-    noImageTopicsAvailable: "No image topics available.",
+    noImageTopicsAvailable: "Waiting for image messages to arrive.",
     imageTopicDNE: "Stream not found",
     calibrationTopicDNE: "Calibration topic does not exist.",
     imageAndCalibrationDNE: "Image and calibration topics do not exist.",

package/dist/packages/studio-base/src/i18n/en/threeDee.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js CHANGED Viewed

@@ -494,7 +494,7 @@ export class CameraStateSettings extends SceneExtension {
         if (deltaX === 0 && deltaY === 0) {
             return;
         }
-        const deltaAzimuth = -deltaX * AZIMUTH_SENSITIVITY;
+        const deltaAzimuth = deltaX * AZIMUTH_SENSITIVITY;
         const deltaPolar = -deltaY * POLAR_SENSITIVITY;
         const previousState = _.cloneDeep(this.renderer.config.cameraState);
         this.renderer.updateConfig((draft) => {

package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js CHANGED Viewed

@@ -388,7 +388,11 @@ export class MessageHandler {
             [...result.messages.annotationsByTopic.values()].length === 0 &&
             this.#ghostAnnotation &&
             now - this.#ghostAnnotation.createdAtMs < ghostTimeMs) {
-            console.warn(`No annotations found for this frame but still in ghost period (diff = ${now - this.#ghostAnnotation.createdAtMs} ms, ghostTimeMs = ${ghostTimeMs} ms) - returning ghost annotation`);
+            //console.warn(
+            //  `No annotations found for this frame but still in ghost period (diff = ${
+            //    now - this.#ghostAnnotation.createdAtMs
+            //  } ms, ghostTimeMs = ${ghostTimeMs} ms) - returning ghost annotation`,
+            //);
             renderState.annotationsByTopic = this.#ghostAnnotation.annotations;
         }
         else {
@@ -458,7 +462,7 @@ function findSynchronizedSetAndRemoveOlderItems(tree, visibleAnnotations) {
     }
     if (validEntry) {
         if (validEntry[1].annotationsByTopic.size === 0 && lastAnnotationsOrphanEntry) {
-            console.warn("Using annotationsByTopic from lastAnnotationsEntry orphan");
+            // console.warn("Using annotationsByTopic from lastAnnotationsEntry orphan");
             validEntry[1].annotationsByTopic = lastAnnotationsOrphanEntry[1].annotationsByTopic;
         }
         // Drop  older messages

package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/packages/studio-base/src/players/types.d.ts CHANGED Viewed

@@ -84,6 +84,7 @@ export type PlayerStateActiveData = {
     datatypes: RosDatatypes;
     publishedTopics?: Map<string, Set<string>>;
     subscribedTopics?: Map<string, Set<string>>;
+    unsupportedTopics?: Set<string>;
     services?: Map<string, Set<string>>;
     parameters?: Map<string, ParameterValue>;
 };