npm - @luxonis/visualizer-protobuf - Versions diffs - 3.1.11 → 3.1.13 - Mend

@luxonis/visualizer-protobuf 3.1.11 → 3.1.13

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package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js ADDED Viewed

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+// 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 { wrap } from "comlink";
+import { NumericType } from "@foxglove/schemas";
+import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
+import { deserializeDepthFrame } from "./depth";
+import { convertNv12ToI420, deserializeEncodedFrameH264 } from "./h264";
+import { deserializeEncodedFrameH265 } from "./h265";
+import { deserializeMJPEGFrame } from "./mjpeg";
+import { Profile } from "../../../protobuf.generated/EncodedFrame";
+import { Type } from "../../../protobuf.generated/ImgFrame";
+import { parseMessage } from "../../utils";
+import { uint8ArrayToUint16Array } from "../pointcloud/utils";
+const RGBD_POINTCLOUD_WORKER_COUNT = 6;
+let cachedRGBDHasGPU;
+let rgbdHasGPUPromise;
+let rgbdPointCloudWorkers;
+let rgbdPointCloudWorkerIndex = 0;
+function ensureEvenByteLength(data) {
+    if (data.length % 2 === 0) {
+        return data;
+    }
+    const padded = new Uint8Array(data.length + 1);
+    padded.set(data);
+    return padded;
+}
+function ensureRGBDGPUSupportDetection() {
+    if (cachedRGBDHasGPU != undefined || rgbdHasGPUPromise) {
+        return;
+    }
+    rgbdHasGPUPromise = (async () => {
+        if (typeof navigator.gpu === "undefined") {
+            cachedRGBDHasGPU = false;
+            return false;
+        }
+        try {
+            const adapter = await navigator.gpu.requestAdapter();
+            cachedRGBDHasGPU = adapter != undefined;
+            return cachedRGBDHasGPU;
+        }
+        catch (error) {
+            cachedRGBDHasGPU = false;
+            return false;
+        }
+        finally {
+            rgbdHasGPUPromise = undefined;
+        }
+    })();
+}
+function getRGBDGPUSupport() {
+    ensureRGBDGPUSupportDetection();
+    return cachedRGBDHasGPU ?? false;
+}
+function getRGBDPointCloudWorkerSlot() {
+    if (!rgbdPointCloudWorkers) {
+        rgbdPointCloudWorkers = Array.from({ length: RGBD_POINTCLOUD_WORKER_COUNT }, () => {
+            const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker", import.meta.url), {
+                type: "module",
+            });
+            return {
+                worker,
+                remote: wrap(worker),
+                activeJobs: 0,
+            };
+        });
+    }
+    const slots = rgbdPointCloudWorkers;
+    const candidateSlots = slots
+        .map((slot, index) => ({ slot, index }))
+        .sort((left, right) => {
+        if (left.slot.activeJobs !== right.slot.activeJobs) {
+            return left.slot.activeJobs - right.slot.activeJobs;
+        }
+        const leftDistance = (left.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
+        const rightDistance = (right.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
+        return leftDistance - rightDistance;
+    });
+    const selected = candidateSlots[0];
+    rgbdPointCloudWorkerIndex = (selected.index + 1) % slots.length;
+    return {
+        slot: selected.slot,
+        index: selected.index,
+    };
+}
+function repackYuv420pToI420(imageFrame, width, height) {
+    const specs = imageFrame.fb ?? imageFrame.sourceFb;
+    const source = ensureEvenByteLength(imageFrame.data);
+    const yStride = specs?.stride || width;
+    const uvWidth = Math.floor(width / 2);
+    const uvHeight = Math.floor(height / 2);
+    const uvStride = yStride > width ? Math.floor(yStride / 2) : uvWidth;
+    const yPlaneSize = width * height;
+    const uvPlaneSize = uvWidth * uvHeight;
+    const uOffset = specs?.p1Offset || yStride * height;
+    const vOffset = specs?.p2Offset || uOffset + uvStride * uvHeight;
+    const i420 = new Uint8Array(yPlaneSize + 2 * uvPlaneSize);
+    for (let row = 0; row < height; row++) {
+        const srcOffset = row * yStride;
+        const dstOffset = row * width;
+        i420.set(source.subarray(srcOffset, srcOffset + width), dstOffset);
+    }
+    for (let row = 0; row < uvHeight; row++) {
+        const srcUOffset = uOffset + row * uvStride;
+        const srcVOffset = vOffset + row * uvStride;
+        const dstOffset = row * uvWidth;
+        i420.set(source.subarray(srcUOffset, srcUOffset + uvWidth), yPlaneSize + dstOffset);
+        i420.set(source.subarray(srcVOffset, srcVOffset + uvWidth), yPlaneSize + uvPlaneSize + dstOffset);
+    }
+    return i420;
+}
+function toMatrix3x3(matrix) {
+    const rows = matrix?.arrays;
+    if (!rows || rows.length < 3) {
+        return undefined;
+    }
+    const normalizedRows = rows
+        .slice(0, 3)
+        .map((row) => row?.values.slice(0, 3).map((value) => value ?? 0));
+    if (normalizedRows.some((row) => !row || row.length < 3)) {
+        return undefined;
+    }
+    return normalizedRows;
+}
+function multiply3x3(left, right) {
+    return [
+        [
+            left[0][0] * right[0][0] + left[0][1] * right[1][0] + left[0][2] * right[2][0],
+            left[0][0] * right[0][1] + left[0][1] * right[1][1] + left[0][2] * right[2][1],
+            left[0][0] * right[0][2] + left[0][1] * right[1][2] + left[0][2] * right[2][2],
+        ],
+        [
+            left[1][0] * right[0][0] + left[1][1] * right[1][0] + left[1][2] * right[2][0],
+            left[1][0] * right[0][1] + left[1][1] * right[1][1] + left[1][2] * right[2][1],
+            left[1][0] * right[0][2] + left[1][1] * right[1][2] + left[1][2] * right[2][2],
+        ],
+        [
+            left[2][0] * right[0][0] + left[2][1] * right[1][0] + left[2][2] * right[2][0],
+            left[2][0] * right[0][1] + left[2][1] * right[1][1] + left[2][2] * right[2][1],
+            left[2][0] * right[0][2] + left[2][1] * right[1][2] + left[2][2] * right[2][2],
+        ],
+    ];
+}
+function extractIntrinsicsFromTransformation(transformation) {
+    const sourceIntrinsicMatrix = toMatrix3x3(transformation?.sourceIntrinsicMatrix);
+    if (!sourceIntrinsicMatrix) {
+        return undefined;
+    }
+    const transformationMatrix = toMatrix3x3(transformation?.transformationMatrix);
+    const effectiveIntrinsicMatrix = transformationMatrix
+        ? multiply3x3(transformationMatrix, sourceIntrinsicMatrix)
+        : sourceIntrinsicMatrix;
+    const fx = effectiveIntrinsicMatrix[0][0];
+    const fy = effectiveIntrinsicMatrix[1][1];
+    const cx = effectiveIntrinsicMatrix[0][2];
+    const cy = effectiveIntrinsicMatrix[1][2];
+    if (![fx, fy, cx, cy].every((value) => Number.isFinite(value))) {
+        return undefined;
+    }
+    return {
+        left: {
+            focalLenght: { x: fx, y: fy },
+            principalPoint: { x: cx, y: cy },
+        },
+        right: {
+            focalLenght: { x: fx, y: fy },
+            principalPoint: { x: cx, y: cy },
+        },
+    };
+}
+function resolveRGBDIntrinsics(message, fallbackIntrinsics) {
+    return (extractIntrinsicsFromTransformation(message.depthImgFrame?.transformation) ??
+        extractIntrinsicsFromTransformation(message.depthEncodedFrame?.transformation) ??
+        extractIntrinsicsFromTransformation(message.colorImgFrame?.transformation) ??
+        extractIntrinsicsFromTransformation(message.colorEncodedFrame?.transformation) ??
+        fallbackIntrinsics);
+}
+async function extractEncodedColorFrame(encodedFrame, topicDecoders, topic) {
+    const decodeFrame = async () => await new Promise((resolve, reject) => {
+        const callback = (event) => {
+            resolve(event.message);
+        };
+        const rejectDecode = (error) => {
+            reject(error);
+        };
+        const args = {
+            topic,
+            message: encodedFrame,
+            callback,
+        };
+        if (encodedFrame.profile === Profile.AVC) {
+            void deserializeEncodedFrameH264({ ...args, topicDecoders, onError: rejectDecode }).catch(rejectDecode);
+        }
+        else if (encodedFrame.profile === Profile.JPEG) {
+            void deserializeMJPEGFrame(args).catch(rejectDecode);
+        }
+        else if (encodedFrame.profile === Profile.HEVC) {
+            void deserializeEncodedFrameH265({ ...args, topicDecoders, onError: rejectDecode }).catch(rejectDecode);
+        }
+        else {
+            reject(new Error(`Unsupported RGBD color profile ${Profile[encodedFrame.profile] ?? encodedFrame.profile}`));
+        }
+    });
+    const decoded = await decodeFrame();
+    return {
+        data: ensureEvenByteLength(decoded.data),
+        width: decoded.width,
+        height: decoded.height,
+    };
+}
+function extractColorFrame(encodedFrame, imageFrame, topicDecoders, topic) {
+    if (encodedFrame) {
+        return extractEncodedColorFrame(encodedFrame, topicDecoders, topic);
+    }
+    if (imageFrame) {
+        const { width, height, type } = parseMessage(imageFrame);
+        const specs = imageFrame.fb ?? imageFrame.sourceFb;
+        if (type === Type.NV12) {
+            const stride = specs?.stride || width;
+            const uvOffset = specs?.p1Offset || stride * height;
+            return Promise.resolve({
+                data: convertNv12ToI420(ensureEvenByteLength(imageFrame.data), width, height, stride, stride, 0, uvOffset),
+                width,
+                height,
+            });
+        }
+        if (type === Type.YUV420p) {
+            return Promise.resolve({
+                data: repackYuv420pToI420(imageFrame, width, height),
+                width,
+                height,
+            });
+        }
+        return Promise.reject(new Error(`Unsupported RGBD color ImgFrame type ${Type[type]}`));
+    }
+    return Promise.resolve({
+        data: new Uint8Array(),
+        width: 0,
+        height: 0,
+    });
+}
+function extractDepthFrame(encodedFrame, imageFrame) {
+    if (encodedFrame) {
+        return ensureEvenByteLength(encodedFrame.data);
+    }
+    if (imageFrame) {
+        return ensureEvenByteLength(imageFrame.data);
+    }
+    return new Uint8Array();
+}
+function parseDimensions(message) {
+    const obj = {
+        depthWidth: 0,
+        depthHeight: 0,
+    };
+    if (message.depthEncodedFrame) {
+        const { width, height } = message.depthEncodedFrame ?? { width: 1920, height: 1200 };
+        obj.depthWidth = width;
+        obj.depthHeight = height;
+    }
+    else if (message.depthImgFrame) {
+        const { width, height } = parseMessage(message.depthImgFrame);
+        obj.depthWidth = width;
+        obj.depthHeight = height;
+    }
+    return obj;
+}
+export async function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, }) {
+    const { slot: workerSlot, index: workerIndex } = getRGBDPointCloudWorkerSlot();
+    workerSlot.activeJobs += 1;
+    const { receiveTime } = parseMessage(message);
+    const { depthWidth, depthHeight } = parseDimensions(message);
+    const rgbdIntrinsics = resolveRGBDIntrinsics(message, cameraIntrinsics);
+    const hasGPU = getRGBDGPUSupport();
+    if (message.depthImgFrame) {
+        const depthFrameForPreview = {
+            ...message.depthImgFrame,
+            data: message.depthImgFrame.data.slice(),
+        };
+        void deserializeDepthFrame({
+            topic,
+            message: depthFrameForPreview,
+            callback,
+            maxStereoDepth: maxStereoDepth / 1000,
+        }).catch(onError);
+    }
+    const colorFrame = await extractColorFrame(message.colorEncodedFrame, message.colorImgFrame, topicDecoders, topic);
+    const uint8DepthFrames = extractDepthFrame(message.depthEncodedFrame, message.depthImgFrame);
+    const depthFrames = uint8ArrayToUint16Array(uint8DepthFrames);
+    try {
+        const pointCloud = await workerSlot.remote.depthToPointcloudGPU([depthFrames], depthWidth, depthHeight, rgbdIntrinsics.right.focalLenght.x, rgbdIntrinsics.right.focalLenght.y, rgbdIntrinsics.right.principalPoint.x, rgbdIntrinsics.right.principalPoint.y, [colorFrame.data], colorFrame.width, colorFrame.height, maxStereoDepth, { hasGPU });
+        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 }
+            },
+            width: depthWidth,
+            height: depthHeight,
+            fields: [
+                { name: "x", offset: 0, type: NumericType.FLOAT32 },
+                { name: "y", offset: 4, type: NumericType.FLOAT32 },
+                { name: "z", offset: 8, type: NumericType.FLOAT32 },
+                { name: "red", offset: 12, type: NumericType.UINT8 },
+                { name: "green", offset: 13, type: NumericType.UINT8 },
+                { name: "blue", offset: 14, type: NumericType.UINT8 },
+                { name: "alpha", offset: 15, type: NumericType.UINT8 },
+            ],
+            data: pointCloud[0]
+        };
+        callback({
+            topic,
+            receiveTime,
+            message: foxgloveMessage,
+            sizeInBytes: estimateObjectSize(foxgloveMessage),
+            schemaName: "foxglove.PointCloud.Colored"
+        });
+    }
+    finally {
+        workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
+    }
+}
+//# sourceMappingURL=rgbd-to-pointcloud.js.map

package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js.map ADDED Viewed

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

@@ -12,6 +12,7 @@ import type { PointCloudData } from "../protobuf.generated/PointCloudData.js";
 import type { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
 import { ConfigStore } from "../utils/config-store";
 import { type DecodingErrorCode } from "../utils/error";
+import { RGBDData } from "../protobuf.generated/RGBDData.js";
 export type DeserializeDepthAiMessageArgs = {
     topic: string;
     topicDecoders: TopicDecoders;
@@ -41,6 +42,9 @@ export type DeserializeDepthAiMessageArgs = {
 } | {
     type: "imu";
     message: IMUData;
+} | {
+    type: 'rgbd';
+    message: RGBDData;
 });
 export type ErrorCode = DecodingErrorCode;
 export declare function errorInstanceToErrorCode(error: Error): ErrorCode;

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

@@ -18,6 +18,7 @@ import { Type } from "../protobuf.generated/ImgFrame.js";
 import { isCapableOfEncodedStream } from "../utils/encoding";
 import { EncodedStreamNotSupportedError, NotInSecureContextError, UnsupportedTopicError, } from "../utils/error";
 import { Logger } from "../utils/logger";
+import { deserializeRGBDFrameToPointCloud } from "./deserialization/video/rgbd-to-pointcloud.js";
 const logger = Logger.getLogger();
 export function errorInstanceToErrorCode(error) {
     if (error instanceof UnsupportedTopicError) {
@@ -45,7 +46,7 @@ function ensureEncodedStreamSupport(topic) {
         throw new EncodedStreamNotSupportedError(topic);
     }
 }
-function handleMessageToDecode({ schema, buffer, topic, stereoDepthMaxValue, }, configStore, errorCallback) {
+function handleMessageToDecode({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, }, configStore, errorCallback) {
     const handleDecodingError = (error) => {
         // TODO: Enable this log once we fix topic unsubscription not working
         // logger.error("An error occurred during DAI message decoding.", error);
@@ -73,6 +74,7 @@ function handleMessageToDecode({ schema, buffer, topic, stereoDepthMaxValue, },
             topic,
             topicSizes,
             topicDecoders,
+            neuralCameraIntrinsics,
             message,
             callback,
             type: protobufSchema.type,
@@ -85,8 +87,7 @@ function handleMessageToDecode({ schema, buffer, topic, stereoDepthMaxValue, },
     }
 }
 async function deserializeDepthAiMessage(args) {
-    // eslint-disable-next-line @typescript-eslint/no-shadow
-    const { topicDecoders, topicSizes, type, message, callback, topic, maxSteroDepth, onError } = args;
+    const { topicDecoders, topicSizes, type, message, callback, topic, neuralCameraIntrinsics, maxSteroDepth, onError, } = args;
     switch (type) {
         case "encodedFrame": {
             ensureEncodedStreamSupport(topic);
@@ -167,6 +168,18 @@ async function deserializeDepthAiMessage(args) {
             });
             break;
         }
+        case 'rgbd': {
+            void deserializeRGBDFrameToPointCloud({
+                topic,
+                topicDecoders,
+                cameraIntrinsics: neuralCameraIntrinsics,
+                maxStereoDepth: maxSteroDepth,
+                message,
+                callback,
+                onError,
+            });
+            break;
+        }
         default: {
             logger.warn(`Message decoding failed: unsupported type "${type}"`);
             throw new UnsupportedTopicError(topic, `Unsupported message type "${type}"`);

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

	@@ -1 +1 @@
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1	+ {"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,EACL,wBAAwB,GAEzB,MAAM,2CAA2C,CAAC;AACnD,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,EAEL,8BAA8B,EAC9B,uBAAuB,EACvB,qBAAqB,GACtB,MAAM,gBAAgB,CAAC;AACxB,OAAO,EAAE,MAAM,EAAE,MAAM,iBAAiB,CAAC;AAEzC,OAAO,EAAE,gCAAgC,EAAE,MAAM,+CAA+C,CAAC;AAEjG,MAAM,MAAM,GAAG,MAAM,CAAC,SAAS,EAAE,CAAC;AAuBlC,MAAM,UAAU,wBAAwB,CAAC,KAAY;IACnD,IAAI,KAAK,YAAY,qBAAqB,EAAE,CAAC;QAC3C,OAAO,kBAAkB,CAAC;IAC5B,CAAC;IACD,IAAI,KAAK,YAAY,uBAAuB,EAAE,CAAC;QAC7C,OAAO,oBAAoB,CAAC;IAC9B,CAAC;IACD,IAAI,KAAK,YAAY,8BAA8B,EAAE,CAAC;QACpD,OAAO,2BAA2B,CAAC;IACrC,CAAC;IACD,OAAO,cAAc,CAAC;AACxB,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,0BAA0B,CAAC,KAAa;IAC/C,IAAI,CAAC,UAAU,CAAC,eAAe,EAAE,CAAC;QAChC,MAAM,IAAI,uBAAuB,CAAC,KAAK,CAAC,CAAC;IAC3C,CAAC;IACD,IAAI,CAAC,wBAAwB,EAAE,EAAE,CAAC;QAChC,MAAM,IAAI,8BAA8B,CAAC,KAAK,CAAC,CAAC;IAClD,CAAC;AACH,CAAC;AAED,SAAS,qBAAqB,CAC5B,EACE,MAAM,EACN,MAAM,EACN,KAAK,EACL,sBAAsB,EACtB,mBAAmB,GAIpB,EACD,WAAwB,EACxB,aAA4C;IAE5C,MAAM,mBAAmB,GAAG,CAAC,KAAY,EAAE,EAAE;QAC3C,qEAAqE;QACrE,yEAAyE;QAEzE,uFAAuF;QACvF,oFAAoF;QACpF,8CAA8C;QAC9C,aAAa,EAAE,CAAC,wBAAwB,CAAC,KAAK,CAAC,EAAE,KAAK,EAAE;YACtD,OAAO,EAAE,KAAK,CAAC,OAAO;SACvB,CAAC,CAAC;IACL,CAAC,CAAC;IAEF,MAAM,cAAc,GAAG,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAEjD,IAAI,CAAC,cAAc,EAAE,CAAC;QACpB,MAAM,CAAC,IAAI,CAAC,+BAA+B,MAAM,GAAG,CAAC,CAAC;QACtD,mBAAmB,CAAC,IAAI,qBAAqB,CAAC,KAAK,EAAE,+BAA+B,MAAM,GAAG,CAAC,CAAC,CAAC;QAEhG,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;QAE3D,IAAI,WAAW,CAAC,qBAAqB,CAAC,SAAS,EAAE,CAAC;YAChD,MAAM,CAAC,KAAK,CACV,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,sBAAsB;YACtB,OAAO;YACP,QAAQ;YACR,IAAI,EAAE,cAAc,CAAC,IAAI;YACzB,aAAa,EAAE,mBAAmB;YAClC,OAAO,EAAE,mBAAmB;SACI,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,MAAM,EACJ,aAAa,EACb,UAAU,EACV,IAAI,EACJ,OAAO,EACP,QAAQ,EACR,KAAK,EACL,sBAAsB,EACtB,aAAa,EACb,OAAO,GACR,GAAG,IAAI,CAAC;IAET,QAAQ,IAAI,EAAE,CAAC;QACb,KAAK,cAAc,CAAC,CAAC,CAAC;YACpB,0BAA0B,CAAC,KAAK,CAAC,CAAC;YAElC,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,OAAO,EAAE,CAAC,CAAC;YAC1F,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,OAAO,EAAE,CAAC,CAAC;YAC1F,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,0BAA0B,CAAC,KAAK,CAAC,CAAC;oBAClC,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,OAAO,EAAE,CAAC,CAAC;oBACxF,MAAM;gBACR,CAAC;gBACD,KAAK,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;oBAChB,iCAAiC,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;oBAChE,KAAK,qBAAqB,CAAC;wBACzB,KAAK;wBACL,OAAO;wBACP,QAAQ;wBACR,cAAc,EAAE,aAAa,GAAG,IAAI;qBACrC,CAAC,CAAC;oBAEH,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,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package/dist/lib/src/messaging/protobuf.d.ts CHANGED Viewed

@@ -5,6 +5,7 @@ import { ImgDetections } from "../protobuf.generated/ImgDetections.js";
 import { ImgFrame } from "../protobuf.generated/ImgFrame.js";
 import { PointCloudData } from "../protobuf.generated/PointCloudData.js";
 import { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
+import { RGBDData } from "../protobuf.generated/RGBDData.js";
 export type ProtobufKind = MessagePacketKind;
 export declare const protobufs: {
     encodedFrame: {
@@ -42,8 +43,13 @@ export declare const protobufs: {
         decoder: import("../protobuf.generated/PointCloudData.js").MessageFns<PointCloudData>;
         kind: "pointCloud";
     };
+    rgbd: {
+        name: string;
+        decoder: import("../protobuf.generated/RGBDData.js").MessageFns<RGBDData>;
+        kind: "rgbd";
+    };
 };
-export type MessagePacketKind = "image" | "pointCloud" | "annotations" | "imu";
+export type MessagePacketKind = "image" | "pointCloud" | "annotations" | "imu" | 'rgbd';
 export declare function protobufSchemaNameToType(name: string | undefined): MessagePacketKind;
 export type ProtobufType = keyof typeof protobufs;
 export declare const protobufsBySchema: {
@@ -82,6 +88,11 @@ export declare const protobufsBySchema: {
         decoder: import("../protobuf.generated/PointCloudData.js").MessageFns<PointCloudData>;
         kind: "pointCloud";
         type: string;
+    } | {
+        name: string;
+        decoder: import("../protobuf.generated/RGBDData.js").MessageFns<RGBDData>;
+        kind: "rgbd";
+        type: string;
     };
 };
 //# sourceMappingURL=protobuf.d.ts.map

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

	@@ -1 +1 @@
1	- {"version":3,"file":"protobuf.d.ts","sourceRoot":"","sources":["../../../../src/messaging/protobuf.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,YAAY,EAGb,MAAM,uCAAuC,CAAC;AAC/C,OAAO,~~EAAG~~,OAAO,~~EAAoB~~,MAAM,kCAAkC,CAAC;~~AAC9E~~,OAAO,EACL,gBAAgB,EAGjB,MAAM,2CAA2C,CAAC;AACnD,OAAO,EACL,aAAa,EAGd,MAAM,wCAAwC,CAAC;AAChD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAC3C,OAAO,EACL,cAAc,EAGf,MAAM,yCAAyC,CAAC;AACjD,OAAO,EAGL,oBAAoB,EACrB,MAAM,+CAA+C,CAAC;~~AAEvD~~,MAAM,MAAM,YAAY,GAAG,iBAAiB,CAAC;AAE7C,eAAO,MAAM,SAAS~~;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAoCrB~~,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG,OAAO,GAAG,YAAY,GAAG,aAAa,GAAG,KAAK,CAAC;~~AAE/E~~,wBAAgB,wBAAwB,CAAC,IAAI,EAAE,MAAM,GAAG,SAAS,GAAG,iBAAiB,~~CAgBpF~~;AAED,MAAM,MAAM,YAAY,GAAG,MAAM,OAAO,SAAS,CAAC;AAElD,eAAO,MAAM,iBAAiB~~;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;~~CAE7B,CAAC"}
1	+ {"version":3,"file":"protobuf.d.ts","sourceRoot":"","sources":["../../../../src/messaging/protobuf.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,YAAY,EAGb,MAAM,uCAAuC,CAAC;AAC/C,OAAO,EAAE,OAAO,EAAmB,MAAM,kCAAkC,CAAC;AAC5E,OAAO,EACL,gBAAgB,EAGjB,MAAM,2CAA2C,CAAC;AACnD,OAAO,EACL,aAAa,EAGd,MAAM,wCAAwC,CAAC;AAChD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAC3C,OAAO,EACL,cAAc,EAGf,MAAM,yCAAyC,CAAC;AACjD,OAAO,EAGL,oBAAoB,EACrB,MAAM,+CAA+C,CAAC;AACvD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAE3C,MAAM,MAAM,YAAY,GAAG,iBAAiB,CAAC;AAE7C,eAAO,MAAM,SAAS;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAyCrB,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG,OAAO,GAAG,YAAY,GAAG,aAAa,GAAG,KAAK,GAAG,MAAM,CAAC;AAExF,wBAAgB,wBAAwB,CAAC,IAAI,EAAE,MAAM,GAAG,SAAS,GAAG,iBAAiB,CAkBpF;AAED,MAAM,MAAM,YAAY,GAAG,MAAM,OAAO,SAAS,CAAC;AAElD,eAAO,MAAM,iBAAiB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAE7B,CAAC"}

package/dist/lib/src/messaging/protobuf.js CHANGED Viewed

@@ -8,6 +8,7 @@ import { ImgDetections, protobufName as ImgDetectionsProto, protobufPackage as I
 import { ImgFrame, protobufName as ImgFrameProto, protobufPackage as ImgFramePackage, } from "../protobuf.generated/ImgFrame.js";
 import { PointCloudData, protobufName as PointCloudDataProto, protobufPackage as PointCloudDataPackage, } from "../protobuf.generated/PointCloudData.js";
 import { protobufName as SpatialImgDetectionsProto, protobufPackage as SpatialImgDetectionsPackage, SpatialImgDetections, } from "../protobuf.generated/SpatialImgDetections.js";
+import { RGBDData, protobufName as RGBDDataProto, protobufPackage as RGBDDataPackage, } from "../protobuf.generated/RGBDData.js";
 export const protobufs = {
     encodedFrame: {
         name: `${EncodedFramePackage}.${EncodedFrameProto}`,
@@ -44,6 +45,11 @@ export const protobufs = {
         decoder: PointCloudData,
         kind: "pointCloud",
     },
+    rgbd: {
+        name: `${RGBDDataPackage}.${RGBDDataProto}`,
+        decoder: RGBDData,
+        kind: "rgbd",
+    }
 };
 export function protobufSchemaNameToType(name) {
     switch (name) {
@@ -58,6 +64,8 @@ export function protobufSchemaNameToType(name) {
             return "imu";
         case "pointCloud":
             return "pointCloud";
+        case 'rgbd':
+            return 'rgbd';
         default:
             throw new Error(`Unknown protobuf schema name: ${name}`);
     }

package/dist/lib/src/messaging/protobuf.js.map CHANGED Viewed

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

@@ -49,6 +49,8 @@ function parseMessageType(type) {
         case Type.YUV422i:
         case Type.YUV422p:
             return ["yuv422", 2];
+        case Type.YUV420p:
+            return ["I420", 1];
         case Type.NV12:
             return ["nv12", 1];
         case Type.RGB888i:

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package/dist/lib/src/output.css CHANGED Viewed

@@ -1,5 +1,4 @@
-/*! tailwindcss v4.2.2 | MIT License | https://tailwindcss.com */
-@layer properties;
+/*! tailwindcss v4.0.17 | MIT License | https://tailwindcss.com */
 @layer theme, base, components, utilities;
 @layer theme {
   :root, :host {
@@ -123,10 +122,7 @@
   }
   @supports (not (-webkit-appearance: -apple-pay-button))  or (contain-intrinsic-size: 1px) {
     ::placeholder {
-      color: currentColor;
-      @supports (color: color-mix(in lab, red, red)) {
-        color: color-mix(in oklab, currentColor 50%, transparent);
-      }
+      color: color-mix(in oklab, currentColor 50%, transparent);
     }
   }
   textarea {
@@ -171,12 +167,6 @@
   .static {
     position: static;
   }
-  .start {
-    inset-inline-start: var(--spacing);
-  }
-  .end {
-    inset-inline-end: var(--spacing);
-  }
   .ml-auto {
     margin-left: auto;
   }
@@ -276,12 +266,3 @@
   inherits: false;
   initial-value: solid;
 }
-@layer properties {
-  @supports ((-webkit-hyphens: none) and (not (margin-trim: inline))) or ((-moz-orient: inline) and (not (color:rgb(from red r g b)))) {
-    *, ::before, ::after, ::backdrop {
-      --tw-border-style: solid;
-      --tw-font-weight: initial;
-      --tw-outline-style: solid;
-    }
-  }
-}

package/dist/lib/src/panels/PointCloudPanel.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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