@luxonis/visualizer-protobuf 2.66.8 → 2.66.9

package/dist/{depth-B7VOdK0y.js → depth-BGin0LSZ.js}

@@ -1,7 +1,8 @@
-import { c as commonjsGlobal, g as getDefaultExportFromCjs, d as getAugmentedNamespace, T as Type } from './protobuf-BFCtaU7c.js';
+import { w as wrap } from './comlink-DHMAu6X7.js';
 import { useContext, useRef, useLayoutEffect, createContext, useReducer, useState, useCallback } from 'react';
 import 'zustand';
 import { isParent, getLeaves, createRemoveUpdate, updateTree, getNodeAtPath } from 'react-mosaic-component';
+import { c as commonjsGlobal, g as getDefaultExportFromCjs, T as Type } from './protobuf-BFCtaU7c.js';
 import { useTheme } from '@mui/material';
 import { k as isObjectLike, l as baseGetTag, S as Symbol$1, i as isArray, m as getNative, r as root, n as overArg, g as isPrototype, c as isArrayLike, p as arrayLikeKeys, M as MapCache, f as isArguments, t as toSource, q as Map$1, u as eq, U as Uint8Array, d as isBuffer, v as Stack, e as isTypedArray, h as isObject, w as isLength, j as isIndex, x as identity, y as baseFor, b as baseRest, a as isArrayLikeObject } from './isArrayLikeObject-Bytw9p-q.js';
 
@@ -4084,407 +4085,6 @@ var tslib_es6$1 = /*#__PURE__*/Object.freeze({
     default: tslib_es6
 });
 
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-
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-    __proto__: null
-});
-
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-
-var CircleAnnotation = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
-
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-
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-    __proto__: null
-});
-
-var require$$4 = /*@__PURE__*/getAugmentedNamespace(Color);
-
-var CompressedImage = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
-
-var require$$5 = /*@__PURE__*/getAugmentedNamespace(CompressedImage);
-
-var CompressedVideo = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
-
-var require$$6 = /*@__PURE__*/getAugmentedNamespace(CompressedVideo);
-
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-    __proto__: null
-});
-
-var require$$7 = /*@__PURE__*/getAugmentedNamespace(CubePrimitive);
-
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-    __proto__: null
-});
-
-var require$$8 = /*@__PURE__*/getAugmentedNamespace(CylinderPrimitive);
-
-var FrameTransform = /*#__PURE__*/Object.freeze({
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-});
-
-var require$$9 = /*@__PURE__*/getAugmentedNamespace(FrameTransform);
-
-var FrameTransforms = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
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-var require$$10 = /*@__PURE__*/getAugmentedNamespace(FrameTransforms);
-
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-
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-
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-
-var ImageAnnotations = /*#__PURE__*/Object.freeze({
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-
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-});
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-
-var LaserScan = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
-
-var require$$15 = /*@__PURE__*/getAugmentedNamespace(LaserScan);
-
-var LinePrimitive = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
-
-var require$$16 = /*@__PURE__*/getAugmentedNamespace(LinePrimitive);
-
-// Generated by https://github.com/foxglove/schemas
-// Options: {}
-
-/** An enumeration indicating how input points should be interpreted to create lines */
-let LineType = /*#__PURE__*/function (LineType) {
-  LineType[LineType["LINE_STRIP"] = 0] = "LINE_STRIP";
-  LineType[LineType["LINE_LOOP"] = 1] = "LINE_LOOP";
-  LineType[LineType["LINE_LIST"] = 2] = "LINE_LIST";
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-}({});
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-
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-    __proto__: null
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-
-var require$$19 = /*@__PURE__*/getAugmentedNamespace(Log);
-
-// Generated by https://github.com/foxglove/schemas
-// Options: {}
-
-/** Log level */
-let LogLevel = /*#__PURE__*/function (LogLevel) {
-  LogLevel[LogLevel["UNKNOWN"] = 0] = "UNKNOWN";
-  LogLevel[LogLevel["DEBUG"] = 1] = "DEBUG";
-  LogLevel[LogLevel["INFO"] = 2] = "INFO";
-  LogLevel[LogLevel["WARNING"] = 3] = "WARNING";
-  LogLevel[LogLevel["ERROR"] = 4] = "ERROR";
-  LogLevel[LogLevel["FATAL"] = 5] = "FATAL";
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-
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-
-var ModelPrimitive = /*#__PURE__*/Object.freeze({
-    __proto__: null
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-
-var require$$21 = /*@__PURE__*/getAugmentedNamespace(ModelPrimitive);
-
-// Generated by https://github.com/foxglove/schemas
-// Options: {}
-
-/** Numeric type */
-let NumericType = /*#__PURE__*/function (NumericType) {
-  NumericType[NumericType["UNKNOWN"] = 0] = "UNKNOWN";
-  NumericType[NumericType["UINT8"] = 1] = "UINT8";
-  NumericType[NumericType["INT8"] = 2] = "INT8";
-  NumericType[NumericType["UINT16"] = 3] = "UINT16";
-  NumericType[NumericType["INT16"] = 4] = "INT16";
-  NumericType[NumericType["UINT32"] = 5] = "UINT32";
-  NumericType[NumericType["INT32"] = 6] = "INT32";
-  NumericType[NumericType["FLOAT32"] = 7] = "FLOAT32";
-  NumericType[NumericType["FLOAT64"] = 8] = "FLOAT64";
-  return NumericType;
-}({});
-
-var NumericType$1 = /*#__PURE__*/Object.freeze({
-    __proto__: null,
-    NumericType: NumericType
-});
-
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-    __proto__: null
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-var require$$23 = /*@__PURE__*/getAugmentedNamespace(PackedElementField);
-
-var Point2 = /*#__PURE__*/Object.freeze({
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-
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-var require$$25 = /*@__PURE__*/getAugmentedNamespace(Point3);
-
-var PointCloud = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
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-var require$$26 = /*@__PURE__*/getAugmentedNamespace(PointCloud);
-
-var PointsAnnotation = /*#__PURE__*/Object.freeze({
-    __proto__: null
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-
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-
-// Generated by https://github.com/foxglove/schemas
-// Options: {}
-
-/** Type of points annotation */
-let PointsAnnotationType = /*#__PURE__*/function (PointsAnnotationType) {
-  PointsAnnotationType[PointsAnnotationType["UNKNOWN"] = 0] = "UNKNOWN";
-  PointsAnnotationType[PointsAnnotationType["POINTS"] = 1] = "POINTS";
-  PointsAnnotationType[PointsAnnotationType["LINE_LOOP"] = 2] = "LINE_LOOP";
-  PointsAnnotationType[PointsAnnotationType["LINE_STRIP"] = 3] = "LINE_STRIP";
-  PointsAnnotationType[PointsAnnotationType["LINE_LIST"] = 4] = "LINE_LIST";
-  return PointsAnnotationType;
-}({});
-
-var PointsAnnotationType$1 = /*#__PURE__*/Object.freeze({
-    __proto__: null,
-    PointsAnnotationType: PointsAnnotationType
-});
-
-var require$$28 = /*@__PURE__*/getAugmentedNamespace(PointsAnnotationType$1);
-
-var Pose = /*#__PURE__*/Object.freeze({
-    __proto__: null
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-
-var PoseInFrame = /*#__PURE__*/Object.freeze({
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-});
-
-var require$$30 = /*@__PURE__*/getAugmentedNamespace(PoseInFrame);
-
-var PosesInFrame = /*#__PURE__*/Object.freeze({
-    __proto__: null
-});
-
-var require$$31 = /*@__PURE__*/getAugmentedNamespace(PosesInFrame);
-
-// Generated by https://github.com/foxglove/schemas
-// Options: {}
-
-/** Type of position covariance */
-let PositionCovarianceType = /*#__PURE__*/function (PositionCovarianceType) {
-  PositionCovarianceType[PositionCovarianceType["UNKNOWN"] = 0] = "UNKNOWN";
-  PositionCovarianceType[PositionCovarianceType["APPROXIMATED"] = 1] = "APPROXIMATED";
-  PositionCovarianceType[PositionCovarianceType["DIAGONAL_KNOWN"] = 2] = "DIAGONAL_KNOWN";
-  PositionCovarianceType[PositionCovarianceType["KNOWN"] = 3] = "KNOWN";
-  return PositionCovarianceType;
-}({});
-
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-
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-var require$$34 = /*@__PURE__*/getAugmentedNamespace(RawImage);
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-/** An enumeration indicating which entities should match a SceneEntityDeletion command */
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-  return SceneEntityDeletionType;
-}({});
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-
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-var TextAnnotation = /*#__PURE__*/Object.freeze({
-    __proto__: null
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-
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-
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-
-(function (exports) {
-	Object.defineProperty(exports, "__esModule", { value: true });
-	const tslib_1 = require$$0;
-	tslib_1.__exportStar(require$$1, exports);
-	tslib_1.__exportStar(require$$2, exports);
-	tslib_1.__exportStar(require$$3, exports);
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-	tslib_1.__exportStar(require$$38, exports);
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-	tslib_1.__exportStar(require$$40, exports);
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-	tslib_1.__exportStar(require$$44, exports);
-	
-} (typescript));
-
 // 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/
@@ -4592,69 +4192,32 @@ function parseMessage(message) {
 async function deserializeDepthFrame({
   topic,
   message,
-  callback
+  callback,
+  maxSteroDepth
 }) {
   const {
     receiveTime,
+    encoding,
     width,
     height
   } = parseMessage(message);
+  const worker = wrap(new Worker(new URL("depth-coloring.worker-YB2xphzJ.js", import.meta.url)));
+  const colorizedData = await worker.colorDepht(message, encoding, width, height, maxSteroDepth);
   const foxgloveMessage = {
-    timestamp: message.tsDevice ?? receiveTime,
-    frame_id: `pointcloud-${topic}-frame`,
-    point_stride: 16,
-    pose: {
-      position: {
-        x: 0,
-        y: 0,
-        z: 0
-      },
-      orientation: {
-        x: 0,
-        y: 0,
-        z: 1,
-        w: 0
-      }
-    },
+    timestamp: receiveTime,
+    frame_id: `depth-${topic}-frame`,
     width,
     height,
-    fields: [{
-      name: "x",
-      offset: 0,
-      type: typescript.NumericType.FLOAT32
-    }, {
-      name: "y",
-      offset: 4,
-      type: typescript.NumericType.FLOAT32
-    }, {
-      name: "z",
-      offset: 8,
-      type: typescript.NumericType.FLOAT32
-    }, {
-      name: "red",
-      offset: 12,
-      type: typescript.NumericType.UINT8
-    }, {
-      name: "green",
-      offset: 13,
-      type: typescript.NumericType.UINT8
-    }, {
-      name: "blue",
-      offset: 14,
-      type: typescript.NumericType.UINT8
-    }, {
-      name: "alpha",
-      offset: 15,
-      type: typescript.NumericType.UINT8
-    }],
-    data: message.data
+    encoding: "rgb8",
+    step: width * 3,
+    data: colorizedData
   };
   callback({
-    topic,
+    topic: topic === "Point Cloud" ? "Depth Stream" : topic,
     receiveTime,
     message: foxgloveMessage,
     sizeInBytes: estimateObjectSize(foxgloveMessage),
-    schemaName: "foxglove.PointCloud"
+    schemaName: "foxglove.RawImage"
   });
 }
 function getDistanceFromDepthDataForOffset(depthData, width, height, xOffset, yOffset) {
@@ -4708,4 +4271,4 @@ function getDistanceFromDepthDataForOffset(depthData, width, height, xOffset, yO
   return sum / count;
 }
 
-export { toString as $, AppError as A, getAllPanelIds as B, getConfigsForNestedPanelsInsideTab as C, reorderTabWithinTabPanel as D, moveTabBetweenTabPanels as E, isTabPanelConfig as F, DEFAULT_TAB_PANEL_CONFIG as G, addPanelToTab as H, createAddUpdates as I, filterMap as J, uniq as K, Logger$1 as L, useShallowMemo as M, CurrentLayoutContext as N, MessageOrderTracker as O, AppConfigurationContext as P, __rest as Q, __spreadArray as R, getDistanceFromDepthDataForOffset as S, TAB_PANEL_TYPE as T, parseMessage as U, typescript as V, fromMillis as W, parsePixelFormat as X, deserializeDepthFrame as Y, isSymbol as Z, __assign as _, baseEach as a, keys as a0, getSymbols as a1, stubArray as a2, arrayPush as a3, baseGetAllKeys as a4, getAllKeys as a5, arrayMap as a6, baseUniq as a7, useMustNotChange as a8, useCurrentLayoutActions as a9, useCurrentLayoutSelector as aa, usePanelMosaicId as ab, useSelectedPanels as ac, PANEL_TITLE_CONFIG_KEY as ad, noop as ae, useAppConfiguration as af, useValueChangedDebugLog as ag, useJsonTreeTheme as ah, baseFlatten as b, baseIteratee as c, dist as d, estimateObjectSize as e, baseDifference as f, getTag as g, baseKeys as h, baseIsEqual as i, castPath as j, baseGet as k, hasIn as l, shallowequal$1 as m, getPanelIdsInsideTabPanels as n, getPanelTypeFromId as o, removePanelFromTabPanel as p, getPanelIdForType as q, reportError as r, sendNotification as s, toKey as t, useGuaranteedContext as u, getPathFromNode as v, updateTabPanelLayout as w, getSaveConfigsPayloadForAddedPanel as x, replaceAndRemovePanels as y, inlineTabPanelLayouts as z };
+export { keys as $, AppError as A, getAllPanelIds as B, getConfigsForNestedPanelsInsideTab as C, reorderTabWithinTabPanel as D, moveTabBetweenTabPanels as E, isTabPanelConfig as F, DEFAULT_TAB_PANEL_CONFIG as G, addPanelToTab as H, createAddUpdates as I, filterMap as J, uniq as K, Logger$1 as L, useShallowMemo as M, CurrentLayoutContext as N, MessageOrderTracker as O, AppConfigurationContext as P, __rest as Q, __spreadArray as R, getDistanceFromDepthDataForOffset as S, TAB_PANEL_TYPE as T, parseMessage as U, fromMillis as V, parsePixelFormat as W, deserializeDepthFrame as X, isSymbol as Y, toString as Z, __assign as _, baseEach as a, getSymbols as a0, stubArray as a1, arrayPush as a2, baseGetAllKeys as a3, getAllKeys as a4, arrayMap as a5, baseUniq as a6, useMustNotChange as a7, useCurrentLayoutActions as a8, useCurrentLayoutSelector as a9, usePanelMosaicId as aa, useSelectedPanels as ab, PANEL_TITLE_CONFIG_KEY as ac, noop as ad, useAppConfiguration as ae, useValueChangedDebugLog as af, useJsonTreeTheme as ag, tslib_es6$1 as ah, baseFlatten as b, baseIteratee as c, dist as d, estimateObjectSize as e, baseDifference as f, getTag as g, baseKeys as h, baseIsEqual as i, castPath as j, baseGet as k, hasIn as l, shallowequal$1 as m, getPanelIdsInsideTabPanels as n, getPanelTypeFromId as o, removePanelFromTabPanel as p, getPanelIdForType as q, reportError as r, sendNotification as s, toKey as t, useGuaranteedContext as u, getPathFromNode as v, updateTabPanelLayout as w, getSaveConfigsPayloadForAddedPanel as x, replaceAndRemovePanels as y, inlineTabPanelLayouts as z };

package/dist/depth-coloring.worker-YB2xphzJ.js

@@ -0,0 +1,84 @@
+import { e as expose } from './comlink-DHMAu6X7.js';
+
+// 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 colorDepht(message, encoding, width, height, maxSteroDepth) {
+  const depthData = parseDepthData(message.data, encoding, width, height);
+  const colorizedData = colorizeDepthFrame(depthData, width, height, maxSteroDepth);
+  return colorizedData;
+}
+function parseDepthData(data, encoding, width, height) {
+  const pixelCount = width * height;
+  const depthData = new Float32Array(pixelCount);
+  if (encoding === "mono16" || encoding === "16UC1") {
+    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    for (let i = 0; i < pixelCount; i++) {
+      depthData[i] = view.getUint16(i * 2, true) / 1000.0;
+    }
+  } else if (encoding === "32FC1") {
+    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+    for (let i = 0; i < pixelCount; i++) {
+      depthData[i] = view.getFloat32(i * 4, true);
+    }
+  } else {
+    throw new Error(`Unsupported depth encoding: ${encoding}`);
+  }
+  return depthData;
+}
+expose({
+  colorDepht
+});
+function colorizeDepthFrame(depthData, width, height, maxDepth) {
+  const pixelCount = width * height;
+  const colorizedData = new Uint8Array(pixelCount * 3);
+  const colormap = getJetColormap();
+  for (let i = 0; i < pixelCount; i++) {
+    const clipped = Math.max(0, Math.min(depthData[i] ?? 0, maxDepth));
+    const normalized = Math.floor(clipped / maxDepth * 255);
+    const color = colormap[normalized];
+    colorizedData[i * 3] = color?.[0] ?? 20; // R
+    colorizedData[i * 3 + 1] = color?.[1] ?? 20; // G
+    colorizedData[i * 3 + 2] = color?.[2] ?? 20; // B
+  }
+  return colorizedData;
+}
+let cachedColormap = null;
+function getJetColormap() {
+  if (cachedColormap) {
+    return cachedColormap;
+  }
+  const colormap = [];
+  for (let i = 0; i < 256; i++) {
+    const value = i / 255.0;
+    let r, g, b;
+    if (value < 0.125) {
+      r = 0;
+      g = 0;
+      b = 0.5 + 0.5 * (value / 0.125);
+    } else if (value < 0.375) {
+      r = 0;
+      g = (value - 0.125) / 0.25;
+      b = 1;
+    } else if (value < 0.625) {
+      r = (value - 0.375) / 0.25;
+      g = 1;
+      b = 1 - (value - 0.375) / 0.25;
+    } else if (value < 0.875) {
+      r = 1;
+      g = 1 - (value - 0.625) / 0.25;
+      b = 0;
+    } else {
+      r = 1 - 0.5 * (value - 0.875) / 0.125;
+      g = 0;
+      b = 0;
+    }
+    colormap.push([Math.floor(r * 255), Math.floor(g * 255), Math.floor(b * 255)]);
+  }
+  colormap[0] = [0, 0, 0];
+  cachedColormap = colormap;
+  return colormap;
+}
+
+export { colorDepht };