@luxonis/visualizer-protobuf 2.66.9 → 2.66.10
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/{index-C41fk9FJ.js → index-BHSCyWTx.js} +22 -22
- package/dist/{index-Clq69yV3.js → index-BOSTLpqR.js} +101 -31
- package/dist/{index-Ct1D6II_.js → index-BwR3Iw0A.js} +1 -1
- package/dist/{index-0xvyd9_r.js → index-C5g4sPQV.js} +1 -1
- package/dist/{index-Bb6PcuFb.js → index-CFJCMpe3.js} +1 -1
- package/dist/{index-BZBENqR3.js → index-CMk3yuIe.js} +1 -1
- package/dist/{index-DuwwCf0Y.js → index-CT4S0Kky.js} +1 -1
- package/dist/{index-BWnke17_.js → index-Cux47RKo.js} +1 -1
- package/dist/{index-Cyl0afzE.js → index-DKiZ2X4o.js} +1 -1
- package/dist/{index-AReJXz0b.js → index-DgB4MyqP.js} +1 -1
- package/dist/{index-CyYbEgIe.js → index-DgsLl2EF.js} +1 -1
- package/dist/{index-CAKA0YwJ.js → index-DjfMAVx2.js} +2 -2
- package/dist/{index-BJslJPfz.js → index-DoUU7hig.js} +1 -1
- package/dist/{index-DnFWiYGu.js → index-Dq_6x13l.js} +1 -1
- package/dist/{index-DkTZCwWX.js → index-H7DkPNZj.js} +1 -1
- package/dist/{index-nO2O7il5.js → index-QTvh2vP4.js} +1 -1
- package/dist/{index-JFZDeEB8.js → index-kNDsHDY4.js} +1 -1
- package/dist/{index-CRGrBIhH.js → index-v8qHRTgH.js} +1 -1
- package/dist/{index-D-mDIWK_.js → index-w7ND8d2T.js} +1 -1
- package/dist/index.js +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js +54 -39
- package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map +1 -1
- package/dist/lib/src/messaging/deserialization.worker.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js +95 -28
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/annotations/ImageAnnotations.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/annotations/ImageAnnotations.js.map +1 -1
- package/dist/{pointcloudFromDepth.worker-hil48rbC.js → pointcloudFromDepth.worker-CoUfUVnZ.js} +55 -40
- package/package.json +1 -1
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/// <reference types="@webgpu/types" />
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import { expose } from "comlink";
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import { i420ToRgbaToPointcloud } from "./utils";
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function depthToPointCloudBuffer(uint16Array, width, height, fx, fy) {
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function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, maxSteroDepth) {
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const numPixels = width * height;
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const points = new Float32Array(numPixels * 3);
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for (let v = 0; v < height; v++) {
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@@ -22,6 +22,12 @@ function depthToPointCloudBuffer(uint16Array, width, height, fx, fy) {
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x = (u - imageCenterX) * scaledDepth / fx;
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y = (v - imageCenterY) * scaledDepth / fy;
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z = scaledDepth;
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// Filter out points beyond maxSteroDepth
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if (z > maxSteroDepth) {
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x = 0.0;
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y = 0.0;
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z = 0.0;
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}
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}
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const pointOffset = pixelIndex * 3;
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points[pointOffset] = x;
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@@ -61,6 +67,7 @@ struct Intrinsics {
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i420Height: f32,
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numFrames_f: f32,
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bytesPerI420Frame_f: f32,
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maxSteroDepth: f32,
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};
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struct OutputPointData {
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@@ -128,44 +135,52 @@ fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
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let fx = intrinsics.fx;
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let fy = intrinsics.fy;
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let depthScale = intrinsics.depthScale;
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let maxSteroDepth = intrinsics.maxSteroDepth;
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if (rawDepthU16 > 0u && fx != 0.0 && fy != 0.0 && depthScale > 0.0) {
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let z = f32(rawDepthU16) * depthScale;
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let imageCenterX = f32(depthWidth) * 0.5;
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let imageCenterY = f32(depthHeight) * 0.5;
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let x = (u - imageCenterX) * z / fx;
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let y = (v - imageCenterY) * z / fy;
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// Filter out points beyond maxSteroDepth
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if (z <= maxSteroDepth) {
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outputPoint.x = x;
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outputPoint.y = y;
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outputPoint.z = z;
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if (i420WidthU > 0u && i420HeightU > 0u && bytesPerI420Frame > 0u) {
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let i420X = min(i420WidthU - 1u, u32(floor(u * (intrinsics.i420Width / intrinsics.depthWidth))));
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let i420Y = min(i420HeightU - 1u, u32(floor(v * (intrinsics.i420Height / intrinsics.depthHeight))));
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let frameSizeY = i420WidthU * i420HeightU;
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let uvWidth = (i420WidthU + 1u) / 2u;
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let uvHeight = (i420HeightU + 1u) / 2u;
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let frameSizeUV = uvWidth * uvHeight;
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let uOffsetBytes = frameSizeY;
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let vOffsetBytes = frameSizeY + frameSizeUV;
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let yIndexBytes = i420Y * i420WidthU + i420X;
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let uvX = i420X / 2u;
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let uvY = i420Y / 2u;
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let uvIndexBytes = uvY * uvWidth + uvX;
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let uIndexBytes = uOffsetBytes + uvIndexBytes;
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let vIndexBytes = vOffsetBytes + uvIndexBytes;
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let i420BufferTotalElements = arrayLength(&i420Buffer);
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if (yIndexBytes < bytesPerI420Frame && uIndexBytes < bytesPerI420Frame && vIndexBytes < bytesPerI420Frame && (i420_frame_offset + (vIndexBytes / 4u)) < i420BufferTotalElements) {
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let y_byte = getI420Byte(yIndexBytes, i420_frame_offset, i420BufferTotalElements);
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let u_byte = getI420Byte(uIndexBytes, i420_frame_offset, i420BufferTotalElements);
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let v_byte = getI420Byte(vIndexBytes, i420_frame_offset, i420BufferTotalElements);
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let y_f = f32(y_byte);
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let u_f = f32(u_byte) - 128.0;
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let v_f = f32(v_byte) - 128.0;
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var r_f = y_f + 1.402 * v_f;
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var g_f = y_f - 0.344136 * u_f - 0.714136 * v_f;
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var b_f = y_f + 1.772 * u_f;
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let r = u32(clamp(r_f, 0.0, 255.0)) & 0xFFu;
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let g = u32(clamp(g_f, 0.0, 255.0)) & 0xFFu;
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let b = u32(clamp(b_f, 0.0, 255.0)) & 0xFFu;
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let a = 255u;
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outputPoint.color = (r) | (g << 8u) | (b << 16u) | (a << 24u);
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}
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}
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}
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}
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@@ -173,9 +188,8 @@ fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
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xyzColorBuffer[global_output_idx] = outputPoint;
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}
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}
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`;
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async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy, cx, cy, i420Frames, i420Width, i420Height, { hasGPU }) {
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async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy, cx, cy, i420Frames, i420Width, i420Height, maxSteroDepth, { hasGPU }) {
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const numFrames = depthFrames.length;
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if (numFrames === 0 || numFrames !== i420Frames.length) {
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console.warn("GPU: Input frame arrays are empty or mismatched.");
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@@ -203,7 +217,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
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continue;
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}
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try {
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const xyzData = depthToPointCloudBuffer(depthFrame, depthWidth, depthHeight, fx, fy);
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const xyzData = depthToPointCloudBuffer(depthFrame, depthWidth, depthHeight, fx, fy, maxSteroDepth);
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results.push(i420ToRgbaToPointcloud(colorFrame, i420Width, i420Height, depthWidth, depthHeight, xyzData));
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}
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catch (cpuError) {
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i420Width, i420Height,
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numFrames,
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i420BytesPerFrame,
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maxSteroDepth,
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]);
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const intrinsicsBufferSize = Math.max(intrinsicsData.byteLength, 64);
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intrinsicsBuffer = device.createBuffer({
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continue;
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}
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try {
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const xyzData = depthToPointCloudBuffer(depthFrame, depthWidth, depthHeight, fx, fy);
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const xyzData = depthToPointCloudBuffer(depthFrame, depthWidth, depthHeight, fx, fy, maxSteroDepth);
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results.push(i420ToRgbaToPointcloud(colorFrame, i420Width, i420Height, depthWidth, depthHeight, xyzData));
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}
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catch (cpuError) {
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@@ -1 +1 @@
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-
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|
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1
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+
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@@ -17,7 +17,7 @@ export declare class DepthToPointcloudWorkerPool {
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#private;
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protected lastUsedWorkerIndex: number;
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protected workerApis: Remote<{
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-
depthToPointcloudGPU: (depthFramesData: Uint16Array[], depthWidth: number, depthHeight: number, fx: number, fy: number, cx: number, cy: number, i420FramesData: Uint8Array[], i420Width: number, i420Height: number, { hasGPU }: {
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20
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+
depthToPointcloudGPU: (depthFramesData: Uint16Array[], depthWidth: number, depthHeight: number, fx: number, fy: number, cx: number, cy: number, i420FramesData: Uint8Array[], i420Width: number, i420Height: number, maxSteroDepth: number, { hasGPU }: {
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hasGPU: boolean;
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}) => Promise<Uint8Array[]>;
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}>[];
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@@ -1 +1 @@
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1
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-
{"version":3,"file":"poitcloudPoolManager.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,KAAK,MAAM,EAAQ,MAAM,SAAS,CAAC;AAE5C,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAOxE,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gBAAgB,CAAC;AAE/D,KAAK,eAAe,GAAG;IACrB,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;AAeF,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;gBAsBH,QAAQ,EAAE,CACR,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,EACT,SAAS,IAAiB,EAC1B,SAAS,IAAqB,EAC9B,qBAAqB,KAAmC;IA2C7C,eAAe,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CAAC,IAAI,CAAC;IAoBlE,SAAS,CAAC,kBAAkB,CAAC,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,IAAI;IAsBjE,SAAS,CAAC,eAAe,CAAC,KAAK,UAAQ,GAAG,IAAI;
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1
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+
{"version":3,"file":"poitcloudPoolManager.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,KAAK,MAAM,EAAQ,MAAM,SAAS,CAAC;AAE5C,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAOxE,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gBAAgB,CAAC;AAE/D,KAAK,eAAe,GAAG;IACrB,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;AAeF,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,aAAa,EAAE,MAAM,EACrB,EAAE,MAAM,EAAE,EAAE;YAAE,MAAM,EAAE,OAAO,CAAA;SAAE,KAC5B,OAAO,CAAC,UAAU,EAAE,CAAC,CAAC;KAC5B,CAAC,EAAE,CAAC;gBAsBH,QAAQ,EAAE,CACR,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,EACT,SAAS,IAAiB,EAC1B,SAAS,IAAqB,EAC9B,qBAAqB,KAAmC;IA2C7C,eAAe,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CAAC,IAAI,CAAC;IAoBlE,SAAS,CAAC,kBAAkB,CAAC,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,IAAI;IAsBjE,SAAS,CAAC,eAAe,CAAC,KAAK,UAAQ,GAAG,IAAI;IAwLvC,OAAO,IAAI,IAAI;CASvB"}
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@@ -133,7 +133,7 @@ export class DepthToPointcloudWorkerPool {
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133
133
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// biome-ignore lint/style/noNonNullAssertion: <explanation>
|
|
134
134
|
const workerApi = this.workerApis[workerIndex];
|
|
135
135
|
this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
|
|
136
|
-
workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, { hasGPU: this.#isWebGpuSupported })
|
|
136
|
+
workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, Number(localStorage.getItem("stereoDepthMaxValue") ?? "5.0"), { hasGPU: this.#isWebGpuSupported })
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137
137
|
.then(results => {
|
|
138
138
|
if (results.length === batchToProcess.length) {
|
|
139
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|
|
1
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+
{"version":3,"file":"deserialization.worker.js","sourceRoot":"","sources":["../../../../src/messaging/deserialization.worker.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,OAAO,KAAK,OAAO,MAAM,SAAS,CAAC;AAInC,OAAO,EAAE,8BAA8B,EAAE,MAAM,wCAAwC,CAAC;AACxF,OAAO,EAAE,wBAAwB,EAAmB,MAAM,2CAA2C,CAAC;AACtG,OAAO,EAAE,yBAAyB,EAAE,MAAM,6CAA6C,CAAC;AAExF,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,iCAAiC,EAAE,MAAM,gDAAgD,CAAC;AACnG,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,2BAA2B,EAAsB,MAAM,iCAAiC,CAAC;AAClG,OAAO,EAAE,2BAA2B,EAAE,MAAM,iCAAiC,CAAC;AAC9E,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAC;AAC/C,OAAO,EAAE,YAAY,EAAE,MAAM,YAAY,CAAC;AAE1C,OAAO,EAAqB,OAAO,EAAE,MAAM,uCAAuC,CAAC;AAInF,OAAO,EAAiB,IAAI,EAAE,MAAM,mCAAmC,CAAC;AAIxE,OAAO,EAAE,wBAAwB,EAAE,MAAM,mBAAmB,CAAC;AAC7D,OAAO,EAAE,8BAA8B,EAAE,MAAM,gBAAgB,CAAC;AAqBhE,MAAM,UAAU,wBAAwB,CAAC,KAAY;IACnD,IAAI,KAAK,YAAY,8BAA8B,EAAE,CAAC;QACpD,OAAO,2BAA2B,CAAC;IACrC,CAAC;IAED,OAAO,OAAO,CAAC;AACjB,CAAC;AAED,MAAM,aAAa,GAAkB,IAAI,GAAG,EAAE,CAAC;AAC/C,MAAM,UAAU,GAAe,IAAI,GAAG,EAAE,CAAC;AACzC,IAAI,QAAuC,CAAC;AAE5C,SAAS,YAAY,CAAC,EAAiC;IACrD,QAAQ,GAAG,EAAE,CAAC;AAChB,CAAC;AAQD,SAAS,qBAAqB,CAC5B,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAC,mBAAmB,EAGxC,EACH,WAAwB,EACxB,aAA4C;IAE5C,MAAM,mBAAmB,GAAG,CAAC,KAAY,EAAE,EAAE;QAC3C,qEAAqE;QACrE,0EAA0E;QAE1E,uFAAuF;QACvF,oFAAoF;QACpF,8CAA8C;QAC9C,aAAa,EAAE,CAAC,wBAAwB,CAAC,KAAK,CAAC,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC;IAC9D,CAAC,CAAC;IAEF,MAAM,cAAc,GAAG,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAEjD,IAAI,CAAC,cAAc,EAAE,CAAC;QACpB,OAAO,CAAC,IAAI,CAAC,+BAA+B,MAAM,GAAG,CAAC,CAAC;QACvD,mBAAmB,CAAC,IAAI,KAAK,CAAC,+BAA+B,MAAM,GAAG,CAAC,CAAC,CAAC;QAEzE,OAAO;IACT,CAAC;IAED,MAAM,WAAW,GAAG,IAAI,UAAU,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,UAAU,EAAE,MAAM,CAAC,UAAU,CAAC,CAAC;IAExF,IAAI,CAAC;QACH,MAAM,OAAO,GAAG,cAAc,CAAC,OAAO,CAAC,MAAM,CAAC,WAAW,CAAC,CAAC;QAC3D,OAAO,CAAC,KAAK,CAAC,sDAAsD,cAAc,CAAC,IAAI,aAAa,KAAK,EAAE,EAAE,EAAE,OAAO,EAAE,CAAC,CAAC;QAE1H,IAAI,WAAW,CAAC,qBAAqB,CAAC,SAAS,EAAE,CAAC;YAChD,OAAO,CAAC,KAAK,CACX,sDAAsD,cAAc,CAAC,IAAI,aAAa,KAAK,EAAE,EAC7F,EAAE,OAAO,EAAE,CACZ,CAAC;QACJ,CAAC;QAED,+BAA+B;QAC/B,yBAAyB,CAAC;YACxB,KAAK;YACL,UAAU;YACV,aAAa;YACb,OAAO;YACP,QAAQ;YACR,IAAI,EAAE,cAAc,CAAC,IAAI;YACzB,aAAa,EAAC,mBAAmB;SACD,CAAC,CAAC,KAAK,CAAC,mBAAmB,CAAC,CAAC;IACjE,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,mBAAmB,CAAC,KAAK,CAAC,CAAC;IAC7B,CAAC;AACH,CAAC;AAED,KAAK,UAAU,yBAAyB,CAAC,IAAmC;IAC1E,wDAAwD;IACxD,MAAM,EAAE,aAAa,EAAE,UAAU,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,KAAK,EAAC,aAAa,EAAE,GAAG,IAAI,CAAC;IAEzF,QAAQ,IAAI,EAAE,CAAC;QACb,KAAK,cAAc,CAAC,CAAC,CAAC;YACpB,IAAI,CAAC,wBAAwB,EAAE,EAAE,CAAC;gBAChC,MAAM,IAAI,8BAA8B,CAAC,KAAK,CAAC,CAAC;YAClD,CAAC;YAED,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,KAAK,EAAE,OAAO,CAAC,KAAK,EAAE,MAAM,EAAE,OAAO,CAAC,MAAM,EAAE,CAAC,CAAC;YAExE,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,GAAG,EAAE,CAAC;gBACpC,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;YACjF,CAAC;iBAAM,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,IAAI,EAAE,CAAC;gBAC5C,MAAM,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;YAC5D,CAAC;iBAAM,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,IAAI,EAAE,CAAC;gBAC5C,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;YACjF,CAAC;iBAAM,CAAC;gBACN,4BAA4B;YAC9B,CAAC;YACD,MAAM;QACR,CAAC;QACD,KAAK,YAAY,CAAC,CAAC,CAAC;YAClB,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;YACnE,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,KAAK,EAAE,MAAM,EAAE,CAAC,CAAC;YACzC,QAAQ,WAAW,EAAE,CAAC;gBACpB,KAAK,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;oBACpB,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;oBAC/E,MAAM;gBACR,CAAC;gBACD,KAAK,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;oBAChB,iCAAiC,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAG,CAAC,CAAC;oBACjE,MAAM,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAC,aAAa,EAAE,CAAC,aAAa,GAAC,IAAI,CAAC,EAAE,CAAC,CAAC;oBAE9F,MAAM;gBACR,CAAC;gBACD,OAAO,CAAC,CAAC,CAAC;oBACR,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;gBACtD,CAAC;YACH,CAAC;YACD,MAAM;QACR,CAAC;QACD,KAAK,iBAAiB,CAAC,CAAC,CAAC;YACvB,wBAAwB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,CAAC;YACnE,MAAM;QACR,CAAC;QACD,KAAK,uBAAuB,CAAC,CAAC,CAAC;YAC7B,8BAA8B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,CAAC;YACzE,MAAM;QACR,CAAC;QACD,KAAK,wBAAwB,CAAC,CAAC,CAAC;YAC9B,+CAA+C;YAC/C,wBAAwB,CAAC;gBACvB,KAAK;gBACL,UAAU;gBACV,OAAO,EAAE;oBACP,GAAG,OAAO;oBACV,UAAU,EAAE,OAAO,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,SAAU,CAAC;iBAC1E;gBACD,QAAQ;aACT,CAAC,CAAC;YACH,MAAM;QACR,CAAC;QACD,KAAK,YAAY,CAAC,CAAC,CAAC;YAClB,yBAAyB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;YACxD,MAAM;QACR,CAAC;QACD,KAAK,KAAK,CAAC,CAAC,CAAC;YACX,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;YAC9C,QAAQ,CAAC;gBACP,KAAK;gBACL,UAAU,EAAE,cAAc;gBAC1B,OAAO,EAAE,OAAO,CAAC,OAAO;gBACxB,WAAW,EAAE,OAAO,CAAC,OAAO,CAAC,MAAM,GAAE,EAAE,EAAE,8CAA8C;gBACvF,WAAW;gBACX,WAAW,EAAE,OAAO,CAAC,QAAQ,IAAG,WAAW;aAC5C,CAAC,CAAC;YACH,MAAM;QACR,CAAC;QACD,OAAO,CAAC,CAAC,CAAC;YACR,OAAO,CAAC,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@@ -38,6 +38,7 @@ export declare const WAITING_FOR_SYNC_EMPTY_HUD_ITEM: HUDItem;
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38
38
|
export declare class MessageHandler implements IMessageHandler {
|
|
39
39
|
#private;
|
|
40
40
|
private lastImage?;
|
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41
|
+
private imagesBuffer;
|
|
41
42
|
private annotationsMap;
|
|
42
43
|
private lastSelectedByTopic;
|
|
43
44
|
availableAnnotationTopics: Set<string>;
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|
@@ -1 +1 @@
|
|
|
1
|
-
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|
|
1
|
+
{"version":3,"file":"MessageHandler.d.ts","sourceRoot":"","sources":["../../../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,eAAe,EACf,gBAAgB,IAAI,wBAAwB,EAC5C,QAAQ,EACT,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,SAAS,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAC3D,OAAO,EACL,OAAO,EACP,cAAc,EACf,MAAM,4DAA4D,CAAC;AACpE,OAAO,EAAE,eAAe,EAAE,MAAM,uDAAuD,CAAC;AACxF,OAAO,EACL,QAAQ,EAET,MAAM,2EAA2E,CAAC;AAQnF,OAAO,EACL,WAAW,IAAI,cAAc,EAC7B,gBAAgB,IAAI,mBAAmB,EACxC,MAAM,sCAAsC,CAAC;AAG9C,OAAO,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AAUjD,OAAO,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AAC3D,OAAO,EAAE,UAAU,EAAE,eAAe,IAAI,kBAAkB,EAAE,KAAK,IAAI,QAAQ,EAAE,MAAM,WAAW,CAAC;AAUjG,KAAK,qBAAqB,GAAG;IAC3B,eAAe,EAAE,YAAY,CAAC,mBAAmB,GAAG,cAAc,GAAG,wBAAwB,CAAC,CAAC;IAC/F,WAAW,EAAE,UAAU,EAAE,CAAC;CAC3B,CAAC;AAEF,KAAK,MAAM,GAAG,IAAI,CAChB,eAAe,EACf,aAAa,GAAG,aAAa,GAAG,kBAAkB,GAAG,YAAY,CAClE,CAAC;AAEF,KAAK,mBAAmB,GAAG;IACzB,KAAK,CAAC,EAAE,YAAY,CAAC,QAAQ,CAAC,CAAC;IAC/B,UAAU,CAAC,EAAE,UAAU,CAAC;IACxB,kBAAkB,EAAE,GAAG,CAAC,MAAM,EAAE,qBAAqB,CAAC,CAAC;IAEvD,+DAA+D;IAC/D,uBAAuB,CAAC,EAAE,MAAM,EAAE,CAAC;IACnC,6EAA6E;IAC7E,uBAAuB,CAAC,EAAE,MAAM,EAAE,CAAC;CACpC,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC,CAAC;AAExE,KAAK,mBAAmB,GAAG,CACzB,QAAQ,EAAE,kBAAkB,EAC5B,QAAQ,EAAE,kBAAkB,GAAG,SAAS,KACrC,IAAI,CAAC;AAGV,eAAO,MAAM,yBAAyB,EAAE,OAKvC,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,OAK/C,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,+BAA+B,EAAE,OAK7C,CAAC;AAEF;;;;;GAKG;AACH,qBAAa,cAAe,YAAW,eAAe;;IA0BpD,OAAO,CAAC,SAAS,CAAC,CAAyB;IAE3C,OAAO,CAAC,YAAY,CAAiE;IAErF,OAAO,CAAC,cAAc,CAOR;IAEd,OAAO,CAAC,mBAAmB,CAAkC;IAC7D,yBAAyB,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC;IAEvC;;;;OAIG;gBACgB,MAAM,EAAE,SAAS,CAAC,MAAM,CAAC,EAAE,GAAG,EAAE,cAAc;IAS1D,OAAO,IAAI,IAAI;IAMf,WAAW,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI;IAIhD,iCAAiC,CAAC,OAAO,EAAE,MAAM,IAAI,GAAG,IAAI;IAI5D,cAAc,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI;IAInD,iBAAiB,iBAAkB,mBAAmB,CAAC,QAAQ,CAAC,KAAG,IAAI,CAE5E;IAEK,wBAAwB,iBACf,mBAAmB,CAAC,kBAAkB,CAAC,KACpD,IAAI,CAEL;IAEK,cAAc,iBAAkB,mBAAmB,CAAC,QAAQ,CAAC,KAAG,IAAI,CAEzE;IAEK,qBAAqB,iBAAkB,mBAAmB,CAAC,eAAe,CAAC,KAAG,IAAI,CAEvF;IAEF,SAAS,CAAC,WAAW,CAAC,OAAO,EAAE,mBAAmB,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,GAAG,IAAI;IAoC7E,gBAAgB,YAAa,mBAAmB,CAAC,UAAU,CAAC,KAAG,IAAI,CAGxE;IAEK,iBAAiB,iBACR,YAAY,CAAC,wBAAwB,GAAG,cAAc,GAAG,mBAAmB,CAAC,UAmD3F;IAEK,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,eAAe,CAAC,GAAG,IAAI;IA+CtD,4BAA4B,CAAC,UAAU,EAAE,MAAM,EAAE,GAAG,IAAI;IAKxD,KAAK,IAAI,IAAI;IAqBpB,0CAA0C;IACnC,0BAA0B,IAAI,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC;CAwJ5E;AAED,MAAM,WAAW,eAAe;IAC9B,iBAAiB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,QAAQ,CAAC,KAAK,IAAI,CAAC;IACzE,wBAAwB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,kBAAkB,CAAC,KAAK,IAAI,CAAC;IAC1F,cAAc,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,QAAQ,CAAC,KAAK,IAAI,CAAC;IACtE,qBAAqB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,eAAe,CAAC,KAAK,IAAI,CAAC;IACpF,gBAAgB,EAAE,CAAC,OAAO,EAAE,mBAAmB,CAAC,UAAU,CAAC,KAAK,IAAI,CAAC;IACrE,iBAAiB,EAAE,CACjB,YAAY,EAAE,YAAY,CAAC,wBAAwB,GAAG,cAAc,GAAG,mBAAmB,CAAC,KACxF,IAAI,CAAC;IAEV;;;OAGG;IACH,WAAW,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,CAAC;IAEjD,wDAAwD;IACxD,cAAc,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,CAAC;IAEpD,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,OAAO,CAAC,eAAe,CAAC,CAAC,GAAG,IAAI,CAAC;IAEhE,KAAK,IAAI,IAAI,CAAC;IAEd,0BAA0B,IAAI,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC,CAAC;IAErE;;;OAGG;IACH,4BAA4B,CAAC,oBAAoB,EAAE,MAAM,EAAE,GAAG,IAAI,CAAC;IAEnE,iCAAiC,CAAC,OAAO,EAAE,MAAM,IAAI,GAAG,IAAI,CAAC;IAE7D,OAAO,CAAC,IAAI,IAAI,CAAC;CAClB"}
|
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js
CHANGED
|
@@ -10,6 +10,9 @@ import { t3D } from "../../t3D";
|
|
|
10
10
|
const syncToleranceSec = 0.15; // maximum acceptable time difference for selecting a “closest” annotation.
|
|
11
11
|
const maxStalenessSec = 1.1; // how long we can hold the last older annotation if no better match is available. 1s corresponds to 1 FPS + 100ms window for jitter.
|
|
12
12
|
const hysteresisSec = 0.1; // how much “stickiness” we allow before switching candidates.
|
|
13
|
+
// New: how long (seconds) of recent images we keep around to allow picking an older image that better matches annotations
|
|
14
|
+
const imageRetentionSec = 5; // keep small window of recent images
|
|
15
|
+
const maxImageBuffer = 120; // cap number of stored images (e.g. 24 FPS * 5s)
|
|
13
16
|
// Have constants for the HUD items so that they don't need to be recreated and GCed every message
|
|
14
17
|
export const WAITING_FOR_BOTH_HUD_ITEM = {
|
|
15
18
|
id: WAITING_FOR_BOTH_MESSAGES_HUD_ID,
|
|
@@ -72,6 +75,8 @@ export class MessageHandler {
|
|
|
72
75
|
#onAnnotationReceivedEvent;
|
|
73
76
|
#annotationsFpsRefreshInterval = null;
|
|
74
77
|
lastImage;
|
|
78
|
+
// New: keep a buffer of recent images for annotation-prioritized synchronization
|
|
79
|
+
imagesBuffer = [];
|
|
75
80
|
// Store a small buffer of recent annotations per topic with computed seconds timestamps
|
|
76
81
|
annotationsMap = new Map();
|
|
77
82
|
// Track last selected annotation per topic to add hysteresis and reduce flicker
|
|
@@ -121,6 +126,33 @@ export class MessageHandler {
|
|
|
121
126
|
...message,
|
|
122
127
|
message: image,
|
|
123
128
|
};
|
|
129
|
+
// Compute timestamp seconds for buffer storage (prefer image stamp, then receiveTime, then wall clock)
|
|
130
|
+
const stamp = getTimestampFromImage(image);
|
|
131
|
+
let timeSec;
|
|
132
|
+
const stampSec = stamp?.sec;
|
|
133
|
+
const stampNsec = stamp?.nsec;
|
|
134
|
+
if (typeof stampSec === "number" && typeof stampNsec === "number") {
|
|
135
|
+
timeSec = stampSec + stampNsec / 1e9;
|
|
136
|
+
}
|
|
137
|
+
else {
|
|
138
|
+
const recv = message.receiveTime;
|
|
139
|
+
const recvSec = recv?.sec;
|
|
140
|
+
const recvNsec = recv?.nsec;
|
|
141
|
+
if (typeof recvSec === "number" && typeof recvNsec === "number") {
|
|
142
|
+
timeSec = recvSec + recvNsec / 1e9;
|
|
143
|
+
}
|
|
144
|
+
else {
|
|
145
|
+
timeSec = performance.now() / 1000;
|
|
146
|
+
}
|
|
147
|
+
}
|
|
148
|
+
this.imagesBuffer.push({ image: this.lastImage, timeSec });
|
|
149
|
+
// Trim by time and length
|
|
150
|
+
const nowSec = performance.now() / 1000;
|
|
151
|
+
const cutoff = nowSec - imageRetentionSec;
|
|
152
|
+
this.imagesBuffer = this.imagesBuffer.filter((e) => e.timeSec >= cutoff);
|
|
153
|
+
if (this.imagesBuffer.length > maxImageBuffer) {
|
|
154
|
+
this.imagesBuffer.splice(0, this.imagesBuffer.length - maxImageBuffer);
|
|
155
|
+
}
|
|
124
156
|
this.#emitState();
|
|
125
157
|
}
|
|
126
158
|
handleCameraInfo = (message) => {
|
|
@@ -213,6 +245,7 @@ export class MessageHandler {
|
|
|
213
245
|
this.annotationsMap.clear();
|
|
214
246
|
this.lastSelectedByTopic.clear();
|
|
215
247
|
this.lastImage = undefined;
|
|
248
|
+
this.imagesBuffer = [];
|
|
216
249
|
this.#oldRenderState = undefined;
|
|
217
250
|
this.#emitState();
|
|
218
251
|
}
|
|
@@ -240,30 +273,45 @@ export class MessageHandler {
|
|
|
240
273
|
this.#hud.displayIfTrue(waitingForImage && calibrationRequired, WAITING_FOR_IMAGE_NOTICE_HUD_ITEM);
|
|
241
274
|
}
|
|
242
275
|
#getRenderState() {
|
|
243
|
-
if (
|
|
276
|
+
if (this.imagesBuffer.length === 0) {
|
|
244
277
|
return {
|
|
245
278
|
annotationsByTopic: new Map(),
|
|
246
279
|
presentAnnotationTopics: undefined,
|
|
247
280
|
missingAnnotationTopics: undefined,
|
|
248
281
|
};
|
|
249
282
|
}
|
|
250
|
-
|
|
251
|
-
|
|
252
|
-
|
|
253
|
-
|
|
254
|
-
|
|
255
|
-
|
|
256
|
-
|
|
257
|
-
|
|
258
|
-
|
|
259
|
-
|
|
283
|
+
// Visible topics
|
|
284
|
+
const visibleTopics = new Set();
|
|
285
|
+
if (this.#config.annotations) {
|
|
286
|
+
for (const [topic, settings] of Object.entries(this.#config.annotations)) {
|
|
287
|
+
if (settings?.visible)
|
|
288
|
+
visibleTopics.add(topic);
|
|
289
|
+
}
|
|
290
|
+
}
|
|
291
|
+
// Required topics (available & visible)
|
|
292
|
+
const requiredTopics = [];
|
|
293
|
+
for (const t of visibleTopics) {
|
|
294
|
+
if (this.availableAnnotationTopics.size === 0 || this.availableAnnotationTopics.has(t)) {
|
|
295
|
+
requiredTopics.push(t);
|
|
260
296
|
}
|
|
261
|
-
|
|
262
|
-
|
|
263
|
-
|
|
264
|
-
|
|
297
|
+
}
|
|
298
|
+
// New policy: always start from newest image (do not freeze on older frame).
|
|
299
|
+
const newestImageEntry = this.imagesBuffer[this.imagesBuffer.length - 1];
|
|
300
|
+
const imageTimestampSec = newestImageEntry.timeSec;
|
|
301
|
+
const selectedAnnotations = new Map();
|
|
302
|
+
const presentTopics = [];
|
|
303
|
+
const missingTopics = [];
|
|
304
|
+
for (const topic of visibleTopics) {
|
|
305
|
+
const buffer = this.annotationsMap.get(topic);
|
|
306
|
+
if (!buffer || buffer.length === 0) {
|
|
307
|
+
// No annotations yet for this topic
|
|
308
|
+
if (requiredTopics.includes(topic)) {
|
|
309
|
+
// waiting, but we still render image
|
|
310
|
+
// do not classify as missing because no candidate arrived yet
|
|
311
|
+
}
|
|
265
312
|
continue;
|
|
266
|
-
|
|
313
|
+
}
|
|
314
|
+
// Find preferred (newest <= image time within staleness)
|
|
267
315
|
let preferred;
|
|
268
316
|
for (let i = buffer.length - 1; i >= 0; i--) {
|
|
269
317
|
const entry = buffer[i];
|
|
@@ -273,29 +321,30 @@ export class MessageHandler {
|
|
|
273
321
|
break;
|
|
274
322
|
}
|
|
275
323
|
}
|
|
276
|
-
//
|
|
277
|
-
let
|
|
278
|
-
let
|
|
324
|
+
// Fallback: closest within tolerance window
|
|
325
|
+
let closest = buffer[0];
|
|
326
|
+
let closestDelta = Math.abs(closest.timeSec - imageTimestampSec);
|
|
279
327
|
for (let i = 1; i < buffer.length; i++) {
|
|
280
328
|
const entry = buffer[i];
|
|
281
329
|
const delta = Math.abs(entry.timeSec - imageTimestampSec);
|
|
282
|
-
if (delta <
|
|
283
|
-
|
|
284
|
-
|
|
330
|
+
if (delta < closestDelta) {
|
|
331
|
+
closest = entry;
|
|
332
|
+
closestDelta = delta;
|
|
285
333
|
}
|
|
286
334
|
}
|
|
287
|
-
let candidate = preferred ??
|
|
335
|
+
let candidate = preferred ?? closest;
|
|
288
336
|
if (!candidate)
|
|
289
337
|
continue;
|
|
290
338
|
const candidateDelta = Math.abs(candidate.timeSec - imageTimestampSec);
|
|
291
339
|
const candidateAge = imageTimestampSec - candidate.timeSec;
|
|
292
|
-
const acceptable = (preferred
|
|
293
|
-
(preferred
|
|
340
|
+
const acceptable = (preferred && candidateAge >= 0 && candidateAge <= maxStalenessSec) ||
|
|
341
|
+
(!preferred && candidateDelta <= syncToleranceSec);
|
|
294
342
|
const notFutureFar = candidate.timeSec <= imageTimestampSec + syncToleranceSec;
|
|
295
343
|
if (!acceptable || !notFutureFar) {
|
|
344
|
+
// can't use for now
|
|
296
345
|
continue;
|
|
297
346
|
}
|
|
298
|
-
// Hysteresis:
|
|
347
|
+
// Hysteresis: keep previous if close
|
|
299
348
|
const prevTime = this.lastSelectedByTopic.get(topic);
|
|
300
349
|
if (prevTime != undefined) {
|
|
301
350
|
const prevEntry = buffer.find((e) => Math.abs(e.timeSec - prevTime) < 1e-6);
|
|
@@ -308,10 +357,28 @@ export class MessageHandler {
|
|
|
308
357
|
}
|
|
309
358
|
}
|
|
310
359
|
}
|
|
311
|
-
|
|
360
|
+
selectedAnnotations.set(topic, candidate.annotation);
|
|
361
|
+
presentTopics.push(topic);
|
|
312
362
|
this.lastSelectedByTopic.set(topic, candidate.timeSec);
|
|
313
363
|
}
|
|
314
|
-
|
|
364
|
+
// Determine missing topics (we have at least some annotation messages for them but could not align one this frame)
|
|
365
|
+
for (const t of requiredTopics) {
|
|
366
|
+
if (!presentTopics.includes(t)) {
|
|
367
|
+
const buf = this.annotationsMap.get(t);
|
|
368
|
+
if (buf && buf.length > 0) {
|
|
369
|
+
// We received data but could not synchronize within tolerance -> mark missing
|
|
370
|
+
missingTopics.push(t);
|
|
371
|
+
}
|
|
372
|
+
}
|
|
373
|
+
}
|
|
374
|
+
// Always return newest image; do not block rendering if annotations incomplete
|
|
375
|
+
return {
|
|
376
|
+
image: newestImageEntry.image,
|
|
377
|
+
annotationsByTopic: selectedAnnotations,
|
|
378
|
+
// Provide mismatch info only if we have both present and missing; otherwise undefined to reduce HUD noise
|
|
379
|
+
presentAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? presentTopics.sort() : undefined,
|
|
380
|
+
missingAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? missingTopics.sort() : undefined,
|
|
381
|
+
};
|
|
315
382
|
}
|
|
316
383
|
}
|
|
317
384
|
//# sourceMappingURL=MessageHandler.js.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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