@zappar/zappar-cv 3.3.0-beta.2 → 3.4.0-beta.1

package/README.md

@@ -18,8 +18,8 @@ npm i @zappar/zappar-cv
 
 You can use our CDN from within your HTML:
 ```
-<script src="https://libs.zappar.com/zappar-cv/3.3.0-beta.2/zappar-cv.js"></script>
+<script src="https://libs.zappar.com/zappar-cv/3.4.0-beta.1/zappar-cv.js"></script>
 ```
 
 Or you can download and host our standalone JavaScript bundle:
-[https://libs.zappar.com/zappar-cv/3.3.0-beta.2/zappar-cv.zip](https://libs.zappar.com/zappar-cv/3.3.0-beta.2/zappar-cv.zip)
+[https://libs.zappar.com/zappar-cv/3.4.0-beta.1/zappar-cv.zip](https://libs.zappar.com/zappar-cv/3.4.0-beta.1/zappar-cv.zip)

package/lib/bridged-camera-source.d.ts

@@ -26,6 +26,8 @@ export declare class BridgedCameraSource extends Source {
     private _yuvConversion;
     private _decodeBuffers;
     private _options;
+    private static _resetCount;
+    private _isAndroid;
     static IsSupported(): boolean;
     constructor(_impl: zappar_camera_source_t, _pipeline: zappar_pipeline_t, _deviceId: string);
     destroy(): void;

package/lib/bridged-camera-source.js

@@ -46,6 +46,7 @@ export class BridgedCameraSource extends Source {
         this._textureSizes = new Map();
         this._decodeBuffers = [];
         this._options = {};
+        this._isAndroid = false; // iOS resets on start, Android only on stop
         this._frameInFlight = false;
         this._anchorPoseFloat32 = new Float32Array(16);
         this._anchorPoseUint16 = new Uint16Array(this._anchorPoseFloat32.buffer);
@@ -98,6 +99,7 @@ export class BridgedCameraSource extends Source {
         };
         if (AndroidBridgeMessageHandler.IsSupported()) {
             this._messageHandler = AndroidBridgeMessageHandler.SharedInstance();
+            this._isAndroid = true;
         }
         else {
             this._messageHandler = (_b = (_a = window.webkit) === null || _a === void 0 ? void 0 : _a.messageHandlers) === null || _b === void 0 ? void 0 : _b.bridgedCamera;
@@ -123,6 +125,8 @@ export class BridgedCameraSource extends Source {
             p.currentCameraSource = undefined;
         this._decodeBuffers = [];
         this._stopDeviceMotion();
+        if (this._isAndroid)
+            BridgedCameraSource._resetCount++;
         this._messageHandler.postMessage("stop");
     }
     start() {
@@ -139,6 +143,8 @@ export class BridgedCameraSource extends Source {
         if (p) {
             options = Object.assign(Object.assign({}, BridgedWorldTracker.SharedInstance().getCombinedOptionsForPipeline(p)), BridgedD3Tracker.SharedInstance().getCombinedOptionsForPipeline(p));
         }
+        if (!this._isAndroid)
+            BridgedCameraSource._resetCount++;
         this._messageHandler.postMessage(`start${this._convertToBitmask(options)}:${this._profile}`);
     }
     getFrame(currentlyProcessing) {
@@ -223,6 +229,10 @@ export class BridgedCameraSource extends Source {
             if (frameInfo.cameraModel) {
                 this._cameraModel.set(frameInfo.cameraModel);
             }
+            if (!('session_number' in frameInfo.wtData)) {
+                // Fill in session_number with the fallback value
+                frameInfo.wtData.session_number = BridgedCameraSource._resetCount;
+            }
             traceStart(`Prepare CameraFrameInfo ${frameInfo.frameNo || 0}`);
             let numDataBytes = frameInfo.dataWidth * frameInfo.dataHeight;
             let pixels = pipeline.cameraPixelArrays.pop();
@@ -369,6 +379,7 @@ export class BridgedCameraSource extends Source {
         this._messageHandler.postMessage(message);
     }
     resetTracking() {
+        BridgedCameraSource._resetCount++;
         this._messageHandler.postMessage('resetTracking');
     }
     _convertToBitmask(options) {
@@ -404,3 +415,5 @@ export class BridgedCameraSource extends Source {
     }
 }
 BridgedCameraSource.DEFAULT_DEVICE_ID = "Simulated Default Device ID: a908df7f-5661-4d20-b227-a1c15d2fdb4b";
+// Fallback for session_number if native side doesn't fill it in
+BridgedCameraSource._resetCount = 0;

package/lib/bridged-message.d.ts

@@ -1,6 +1,7 @@
 import { anchor_status_t, world_tracker_quality_t } from './gen/zappar-native';
 import { UvLayout } from './yuv-conversion-gl';
 export interface WTData {
+    session_number?: number;
     world_anchor_status: anchor_status_t;
     world_anchor_pose: Float32Array | number[];
     ground_anchor_status: anchor_status_t;

package/lib/bridged-world-tracker.js

@@ -43,10 +43,17 @@ export class BridgedWorldTracker {
                 s.enabled = enabled;
                 this._notifyOptionsUpdated(s.pipeline);
             },
+            world_tracker_session_number: (o) => {
+                let wtData = this._getWtData(o);
+                let s = wtData === null || wtData === void 0 ? void 0 : wtData.session_number;
+                if (s === undefined)
+                    return 0;
+                return s;
+            },
             world_tracker_quality: (o) => {
                 let wtData = this._getWtData(o);
                 if (!wtData)
-                    return 0;
+                    return 3;
                 return wtData.quality;
             },
             world_tracker_horizontal_plane_detection_enabled: (o) => {
@@ -157,11 +164,6 @@ export class BridgedWorldTracker {
                 return pose;
             },
             world_tracker_reset: (o) => {
-                // Reset local pose_version state
-                for (const entry of this._anchorStateById.values()) {
-                    if (entry.wt === o)
-                        entry.pose_version = 0;
-                }
                 let s = this._getWtState(o);
                 let source = s.pipeline.currentCameraSource;
                 if (source instanceof BridgedCameraSource) {

package/lib/ceres-worker.d.ts

@@ -1 +1 @@
-export declare function launchCeresWorker(wasmUrl: string, module: WebAssembly.Module, port: MessagePort): Promise<void>;
+export declare function launchCeresWorker(wasmUrl: string, module: WebAssembly.Module, port: MessagePort, instance: number): Promise<void>;

package/lib/ceres-worker.js

@@ -13,12 +13,12 @@ const ctx = self;
 let launchHandler = (evt) => {
     if (evt && evt.data && evt.data.t === "wasm") {
         let url = location.href.startsWith("blob") ? evt.data.url : new URL("./zappar-cv.wasm", import.meta.url).toString();
-        launchCeresWorker(url, evt.data.module, evt.data.port);
+        launchCeresWorker(url, evt.data.module, evt.data.port, evt.data.instance);
         ctx.removeEventListener("message", launchHandler);
     }
 };
 ctx.addEventListener("message", launchHandler);
-export function launchCeresWorker(wasmUrl, module, port) {
+export function launchCeresWorker(wasmUrl, module, port, instance) {
     return __awaiter(this, void 0, void 0, function* () {
         let mod = ZNM.default({
             locateFile: (path, prefix) => {
@@ -33,7 +33,7 @@ export function launchCeresWorker(wasmUrl, module, port) {
                 return instance.exports;
             },
             onRuntimeInitialized: () => {
-                const ceres_worker = mod.cwrap('ceres_worker', null, []);
+                const ceres_worker = mod.cwrap('ceres_worker', null, ['number']);
                 const messageAPI = getWorkerMessageAPI(mod);
                 port.addEventListener('message', evt => {
                     if (evt.data.t !== 'msgsend')
@@ -42,9 +42,9 @@ export function launchCeresWorker(wasmUrl, module, port) {
                     const reference = evt.data.reference;
                     const ptr = mod._malloc(data.byteLength);
                     mod.HEAPU8.set(data, ptr);
-                    messageAPI.worker_message_receive(reference, data.byteLength, ptr);
+                    messageAPI.worker_message_receive(reference, data.byteLength, ptr, instance);
                     mod._free(ptr);
-                    ceres_worker();
+                    ceres_worker(instance);
                     const toSend = messageAPI.worker_message_send_count();
                     for (let i = 0; i < toSend; i++) {
                         const reference = messageAPI.worker_message_send_reference(i);

package/lib/gen/zappar-bridge.d.ts

@@ -67,7 +67,7 @@ export interface zappar {
     pipeline_camera_data_width(o: zappar_pipeline_t): number;
     pipeline_camera_data_height(o: zappar_pipeline_t): number;
     pipeline_camera_frame_user_data(o: zappar_pipeline_t): number;
-    pipeline_camera_frame_submit(o: zappar_pipeline_t, data: ArrayBuffer, width: number, height: number, user_data: number, camera_to_device_transform: Float32Array, camera_model: Float32Array, user_facing: boolean, timestampSeconds: number): void;
+    pipeline_camera_frame_submit(o: zappar_pipeline_t, data: ArrayBuffer, width: number, height: number, user_data: number, camera_to_device_transform: Float32Array, camera_model: Float32Array, user_facing: boolean, timestampMicroseconds: number): void;
     pipeline_camera_frame_camera_attitude(o: zappar_pipeline_t): Float32Array;
     pipeline_camera_frame_device_attitude(o: zappar_pipeline_t): Float32Array;
     pipeline_motion_accelerometer_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
@@ -77,6 +77,7 @@ export interface zappar {
     pipeline_motion_rotation_rate_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_attitude_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
     pipeline_motion_attitude_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
+    pipeline_motion_relative_orientation_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number, w: number): void;
     pipeline_motion_attitude_matrix_submit(o: zappar_pipeline_t, mat: Float32Array): void;
     camera_source_create(pipeline: zappar_pipeline_t, device_id: string): zappar_camera_source_t;
     camera_source_destroy(o: zappar_camera_source_t): void;
@@ -136,6 +137,7 @@ export interface zappar {
     world_tracker_destroy(o: zappar_world_tracker_t): void;
     world_tracker_enabled(o: zappar_world_tracker_t): boolean;
     world_tracker_enabled_set(o: zappar_world_tracker_t, enabled: boolean): void;
+    world_tracker_session_number(o: zappar_world_tracker_t): number;
     world_tracker_quality(o: zappar_world_tracker_t): number;
     world_tracker_horizontal_plane_detection_enabled(o: zappar_world_tracker_t): boolean;
     world_tracker_horizontal_plane_detection_enabled_set(o: zappar_world_tracker_t, horizontal_plane_detection_enabled: boolean): void;