@luxonis/visualizer-protobuf 2.67.1 → 2.68.0

package/dist/{depth-CvvVVEb7.js → depth-CFY2W_Vf.js}

@@ -1,4 +1,4 @@
-import { t as transfer, w as wrap } from './comlink-CsH1ih07.js';
+import { w as wrap, t as transfer } from './comlink-CsH1ih07.js';
 import { useContext, useRef, useLayoutEffect, createContext, useReducer, useState, useCallback } from 'react';
 import 'zustand';
 import { isParent, getLeaves, createRemoveUpdate, updateTree, getNodeAtPath } from 'react-mosaic-component';
@@ -4189,12 +4189,31 @@ function parseMessage(message) {
 // 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/
 
-let depthWorker = null;
+let workerIndex = 0;
+const WORKER_COUNT = 3;
+const workerPool = Array.from({
+  length: WORKER_COUNT
+}, () => ({
+  remote: wrap(new Worker(new URL("depth-coloring.worker-DR5moFai.js", import.meta.url))),
+  busy: false
+}));
 function getDepthWorker() {
-  if (!depthWorker) {
-    depthWorker = wrap(new Worker(new URL("depth-coloring.worker-BfrTf5yN.js", import.meta.url)));
+  for (let i = 0; i < workerPool.length; i++) {
+    const idx = (workerIndex + i) % workerPool.length;
+    const slot = workerPool[idx];
+    if (!slot?.busy) {
+      slot.busy = true;
+      workerIndex = (idx + 1) % workerPool.length;
+      return slot.remote;
+    }
+  }
+  return null;
+}
+function releaseWorker(remote) {
+  const slot = workerPool.find(s => s.remote === remote);
+  if (slot) {
+    slot.busy = false;
   }
-  return depthWorker;
 }
 async function deserializeDepthFrame({
   topic,
@@ -4209,14 +4228,19 @@ async function deserializeDepthFrame({
     height
   } = parseMessage(message);
   const worker = getDepthWorker();
-
-  // Transfer the underlying ArrayBuffer to the worker to avoid cloning and allow GC on the main thread
+  if (!worker) {
+    console.warn("All depth workers busy, dropping frame");
+    return;
+  }
   let colorizedData;
   try {
     colorizedData = await worker.colorDepht(transfer(message.data, [message.data.buffer]), encoding, width, height, maxStereoDepth);
   } catch (err) {
-    // Fallback in case the buffer is not transferable (e.g., SharedArrayBuffer)
-    colorizedData = await worker.colorDepht(message.data, encoding, width, height, maxStereoDepth);
+    console.error("Error in depth worker:", err);
+    releaseWorker(worker);
+    throw err;
+  } finally {
+    releaseWorker(worker);
   }
   const foxgloveMessage = {
     timestamp: receiveTime,
@@ -4243,17 +4267,11 @@ function getDistanceFromDepthDataForOffset(depthData, width, height, xOffset, yO
     });
     return undefined;
   }
-
-  // Compute the pixel index corresponding to the offsets, clamped to image bounds
   const xCenter = Math.min(width - 1, Math.max(0, Math.floor(xOffset * width)));
   const yCenter = Math.min(height - 1, Math.max(0, Math.floor(yOffset * height)));
-  const pointStride = 16; // bytes per point
-  const zByteOffset = 8; // z is at byte offset 8 within each point
-
-  // Prepare a DataView over the provided depthData for efficient reads
+  const pointStride = 16;
+  const zByteOffset = 8;
   const view = new DataView(depthData.buffer, depthData.byteOffset, depthData.byteLength);
-
-  // Average z over a 5x5 window centered at (xCenter, yCenter)
   const radius = 2;
   let sum = 0;
   let count = 0;
@@ -4269,7 +4287,6 @@ function getDistanceFromDepthDataForOffset(depthData, width, height, xOffset, yO
       }
       const idx = y * width + x;
       const offset = idx * pointStride + zByteOffset;
-      // Ensure we have enough bytes to read a float32
       if (offset + 4 > depthData.byteLength) {
         continue;
       }

package/dist/depth-coloring.worker-DR5moFai.js

@@ -0,0 +1,120 @@
+import { e as expose, t as transfer } from './comlink-CsH1ih07.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/
+
+
+// Reusable buffers to avoid allocations
+let depthBuffer = null;
+let colorBuffer = null;
+function colorDepht(data, encoding, width, height, maxSteroDepth) {
+  const pixelCount = width * height;
+  if (!depthBuffer || depthBuffer.length < pixelCount) {
+    depthBuffer = new Float32Array(pixelCount);
+  }
+  if (!colorBuffer || colorBuffer.length < pixelCount * 3) {
+    colorBuffer = new Uint8Array(pixelCount * 3);
+  }
+  parseDepthData(data, encoding, width, height, depthBuffer);
+  colorizeDepthFrame(depthBuffer, width, height, maxSteroDepth, colorBuffer);
+  const result = new Uint8Array(pixelCount * 3);
+  result.set(colorBuffer.subarray(0, pixelCount * 3));
+  return transfer(result, [result.buffer]);
+}
+function parseDepthData(data, encoding, width, height, depthData) {
+  const pixelCount = width * height;
+  if (encoding === "mono16" || encoding === "16UC1") {
+    const byteOffset = data.byteOffset;
+    const byteLength = data.byteLength;
+    if (byteOffset % 2 === 0 && byteLength >= pixelCount * 2) {
+      const uint16View = new Uint16Array(data.buffer, byteOffset, pixelCount);
+      for (let i = 0; i < pixelCount; i++) {
+        depthData[i] = uint16View[i] * 0.001;
+      }
+    } else {
+      // Fallback: use DataView for unaligned data
+      const view = new DataView(data.buffer, byteOffset, byteLength);
+      for (let i = 0; i < pixelCount; i++) {
+        depthData[i] = view.getUint16(i * 2, true) * 0.001;
+      }
+    }
+  } else if (encoding === "32FC1") {
+    const byteOffset = data.byteOffset;
+    const byteLength = data.byteLength;
+    if (byteOffset % 4 === 0 && byteLength >= pixelCount * 4) {
+      const float32View = new Float32Array(data.buffer, byteOffset, pixelCount);
+      for (let i = 0; i < pixelCount; i++) {
+        depthData[i] = float32View[i];
+      }
+    } else {
+      const view = new DataView(data.buffer, byteOffset, byteLength);
+      for (let i = 0; i < pixelCount; i++) {
+        depthData[i] = view.getFloat32(i * 4, true);
+      }
+    }
+  } else {
+    throw new Error(`Unsupported depth encoding: ${encoding}`);
+  }
+}
+expose({
+  colorDepht
+});
+function colorizeDepthFrame(depthData, width, height, maxDepth, colorizedData) {
+  const pixelCount = width * height;
+  const colormap = getJetColormap();
+  const invMaxDepth = 255 / maxDepth;
+  for (let i = 0; i < pixelCount; i++) {
+    const depth = depthData[i];
+    const clipped = depth < 0 ? 0 : depth > maxDepth ? maxDepth : depth;
+    const normalized = Math.floor(clipped * invMaxDepth);
+    const colorOffset = normalized * 3;
+    const offset = i * 3;
+    colorizedData[offset] = colormap[colorOffset];
+    colorizedData[offset + 1] = colormap[colorOffset + 1];
+    colorizedData[offset + 2] = colormap[colorOffset + 2];
+  }
+}
+let cachedColormapFlat = null;
+function getJetColormap() {
+  if (cachedColormapFlat) {
+    return cachedColormapFlat;
+  }
+  const colormap = new Uint8Array(256 * 3);
+  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;
+    }
+    const offset = i * 3;
+    colormap[offset] = Math.floor(r * 255);
+    colormap[offset + 1] = Math.floor(g * 255);
+    colormap[offset + 2] = Math.floor(b * 255);
+  }
+  colormap[0] = 0;
+  colormap[1] = 0;
+  colormap[2] = 0;
+  cachedColormapFlat = colormap;
+  return colormap;
+}
+
+export { colorDepht };

package/dist/{deserialization.worker-hk5-vVek.js → deserialization.worker-BRNDCptR.js}

@@ -1,6 +1,6 @@
 import { e as expose } from './comlink-CsH1ih07.js';
-import { t as typescript } from './index-Cnigfgu_.js';
-import { U as parseMessage, e as estimateObjectSize, V as fromMillis, d as dist, W as parsePixelFormat, X as deserializeDepthFrame } from './depth-CvvVVEb7.js';
+import { t as typescript } from './index-CYJDY0hm.js';
+import { U as parseMessage, e as estimateObjectSize, V as fromMillis, d as dist, W as parsePixelFormat, X as deserializeDepthFrame } from './depth-CFY2W_Vf.js';
 import { P as PointsAnnotationType, p as protobufsBySchema, T as Type, b as Profile } from './protobuf-BFCtaU7c.js';
 import { i as isCapableOfEncodedStream } from './encoding-DqlhpFR2.js';
 import 'react';

package/dist/{index-OiUy81OG.js → index-7BbbXb7C.js}

@@ -1,5 +1,5 @@
-import { af as EditorView, ag as EditorSelection, $ as LRLanguage, Y as styleTags, Z as tags, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a0 as LanguageSupport, a2 as LRParser, a5 as syntaxTree, ah as html, ai as parseMixed, a1 as ExternalTokenizer } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { af as EditorView, ag as EditorSelection, $ as LRLanguage, Y as styleTags, Z as tags, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a0 as LanguageSupport, a2 as LRParser, a5 as syntaxTree, ah as html, ai as parseMixed, a1 as ExternalTokenizer } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-DyET9xdh.js → index-B5d7u70w.js}

@@ -1,5 +1,5 @@
-import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, X as foldNodeProp, aj as bracketMatchingHandle, a0 as LanguageSupport, af as EditorView, a5 as syntaxTree, ag as EditorSelection } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, X as foldNodeProp, aj as bracketMatchingHandle, a0 as LanguageSupport, af as EditorView, a5 as syntaxTree, ag as EditorSelection } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-BTT4oTs5.js → index-BGrghyc8.js}

@@ -1,5 +1,5 @@
-import { $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, Y as styleTags, Z as tags, a0 as LanguageSupport, a2 as LRParser } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, Y as styleTags, Z as tags, a0 as LanguageSupport, a2 as LRParser } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-DzJhlBTx.js → index-BSEL9eaF.js}

@@ -1,5 +1,5 @@
-import { Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-B0BQ4Fwh.js → index-Bjwf7lc9.js}

@@ -1,5 +1,5 @@
-import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, X as foldNodeProp, a8 as foldInside, U as indentNodeProp, V as continuedIndent, ae as defineCSSCompletionSource, a0 as LanguageSupport } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, X as foldNodeProp, a8 as foldInside, U as indentNodeProp, V as continuedIndent, ae as defineCSSCompletionSource, a0 as LanguageSupport } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-DpVmn8Eo.js → index-Bndiqw1t.js}

@@ -1,5 +1,5 @@
-import { U as indentNodeProp, V as continuedIndent, X as foldNodeProp, Y as styleTags, Z as tags, $ as LRLanguage, a0 as LanguageSupport, a1 as ExternalTokenizer, a2 as LRParser, a3 as ifNotIn, a4 as completeFromList, a5 as syntaxTree } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { U as indentNodeProp, V as continuedIndent, X as foldNodeProp, Y as styleTags, Z as tags, $ as LRLanguage, a0 as LanguageSupport, a1 as ExternalTokenizer, a2 as LRParser, a3 as ifNotIn, a4 as completeFromList, a5 as syntaxTree } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-DGb5vWhb.js → index-BzPticWU.js}

@@ -1,5 +1,5 @@
-import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, ai as parseMixed } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, ai as parseMixed } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-BUWAj7RO.js → index-C99kj7Bj.js}

@@ -1,5 +1,5 @@
-import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, aa as LocalTokenGroup, ab as snippetCompletion, a5 as syntaxTree, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, a3 as ifNotIn, a4 as completeFromList, ac as IterMode, ad as NodeWeakMap } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, aa as LocalTokenGroup, ab as snippetCompletion, a5 as syntaxTree, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, a3 as ifNotIn, a4 as completeFromList, ac as IterMode, ad as NodeWeakMap } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-DuHHWrO3.js → index-CO2KzlVr.js}

@@ -1,5 +1,5 @@
-import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-Cnigfgu_.js → index-CYJDY0hm.js}

@@ -1,4 +1,4 @@
-import { ah as tslib_es6 } from './depth-CvvVVEb7.js';
+import { ah as tslib_es6 } from './depth-CFY2W_Vf.js';
 import { d as getAugmentedNamespace } from './protobuf-BFCtaU7c.js';
 
 var typescript = {};

package/dist/{index-BTaQS6zc.js → index-CfGQhG__.js}

@@ -1,5 +1,5 @@
-import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-CrukQeVA.js';
-import './depth-CvvVVEb7.js';
+import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-DycPqoQx.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'react';
 import 'zustand';

package/dist/{index-BlAepdJg.js → index-CwMsPSeQ.js}

@@ -1,7 +1,7 @@
-import { ImagePanel } from './index-BzLeaN56.js';
+import { ImagePanel } from './index-D5xb8lsX.js';
 import 'react';
 import 'react-dom';
-import './depth-CvvVVEb7.js';
+import './depth-CFY2W_Vf.js';
 import './comlink-CsH1ih07.js';
 import 'zustand';
 import 'react-mosaic-component';
@@ -9,7 +9,7 @@ import './protobuf-BFCtaU7c.js';
 import 'protobufjs/minimal';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './index-CrukQeVA.js';
+import './index-DycPqoQx.js';
 import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-h5m-pXp3.js';
 import 'ms';
@@ -32,7 +32,7 @@ import '@mui/icons-material/MoreVert';
 import '@mui/icons-material/Cancel';
 import '@mui/icons-material/Search';
 import './decodeImage-DAWmFdMI.js';
-import './index-Cnigfgu_.js';
+import './index-CYJDY0hm.js';
 import '@mui/material/styles/createTypography';
 import 'color';
 import 'lodash.curry';