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d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 95f5290 d646dd7 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 | /* Frontend-only canonical depth renderer.
*
* The server sends uint16 little-endian depth codes. This module performs
* only the display conversion: code -> q01/q99-clamped 8-bit index -> Turbo
* LUT -> RGBA (Google Turbo = Rerun's default depth colormap, blue→red ramp).
* No colorized depth frame is uploaded, persisted, or returned by the API.
*/
(function () {
const DEPTH_QMAX = 4095;
let lut = null;
let lutPromise = null;
const VERTEX_SHADER = `#version 300 es
in vec2 a_position;
out vec2 v_uv;
void main() {
v_uv = a_position * 0.5 + 0.5;
gl_Position = vec4(a_position, 0.0, 1.0);
}
`;
const FRAGMENT_SHADER = `#version 300 es
precision highp float;
precision highp usampler2D;
in vec2 v_uv;
uniform usampler2D u_depth;
uniform sampler2D u_lut;
uniform float u_q01;
uniform float u_q99;
out vec4 out_color;
void main() {
// Typed-array texture rows start at the top for this presentation
// path; flip only the texture lookup, never the stored samples.
uint code = texture(u_depth, vec2(v_uv.x, 1.0 - v_uv.y)).r;
// Rerun-style adaptive range: clamp to [q01, q99] then map to LUT.
float span = max(u_q99 - u_q01, 1.0);
float clamped = clamp(float(code), u_q01, u_q99);
uint c8 = uint((clamped - u_q01) * 255.0 / span + 0.5);
out_color = texelFetch(u_lut, ivec2(int(c8), 0), 0);
}
`;
function compileShader(gl, type, source) {
const shader = gl.createShader(type);
gl.shaderSource(shader, source);
gl.compileShader(shader);
if (!gl.getShaderParameter(shader, gl.COMPILE_STATUS)) {
gl.deleteShader(shader);
return null;
}
return shader;
}
function createGpuState(canvas) {
const gl = canvas.getContext('webgl2', {
alpha: false, antialias: false, depth: false,
preserveDrawingBuffer: false,
});
if (!gl) return null;
const vertex = compileShader(gl, gl.VERTEX_SHADER, VERTEX_SHADER);
const fragment = compileShader(gl, gl.FRAGMENT_SHADER, FRAGMENT_SHADER);
if (!vertex || !fragment) return null;
const program = gl.createProgram();
gl.attachShader(program, vertex);
gl.attachShader(program, fragment);
gl.linkProgram(program);
if (!gl.getProgramParameter(program, gl.LINK_STATUS)) return null;
const buffer = gl.createBuffer();
gl.bindBuffer(gl.ARRAY_BUFFER, buffer);
gl.bufferData(gl.ARRAY_BUFFER, new Float32Array([
-1, -1, 1, -1, -1, 1, 1, 1,
]), gl.STATIC_DRAW);
const depthTexture = gl.createTexture();
const lutTexture = gl.createTexture();
const position = gl.getAttribLocation(program, 'a_position');
const state = { gl, program, buffer, depthTexture, lutTexture,
position, depthWidth: 0, depthHeight: 0, depthAllocated: false,
q01Loc: gl.getUniformLocation(program, 'u_q01'),
q99Loc: gl.getUniformLocation(program, 'u_q99') };
gl.useProgram(program);
gl.uniform1i(gl.getUniformLocation(program, 'u_depth'), 0);
gl.uniform1i(gl.getUniformLocation(program, 'u_lut'), 1);
gl.bindTexture(gl.TEXTURE_2D, lutTexture);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
// OpenCV gives BGR; upload the equivalent RGBA display order.
const lutPixels = new Uint8Array(256 * 4);
lut.forEach((bgr, i) => {
lutPixels[i * 4] = bgr[2];
lutPixels[i * 4 + 1] = bgr[1];
lutPixels[i * 4 + 2] = bgr[0];
lutPixels[i * 4 + 3] = 255;
});
gl.pixelStorei(gl.UNPACK_ALIGNMENT, 1);
gl.texImage2D(gl.TEXTURE_2D, 0, gl.RGBA8, 256, 1, 0,
gl.RGBA, gl.UNSIGNED_BYTE, lutPixels);
return state;
}
function renderGpu(canvas, codes, width, height) {
let state = canvas._depthWebglState;
if (!state) {
state = createGpuState(canvas);
if (!state) return false;
canvas._depthWebglState = state;
}
const { gl } = state;
if (canvas.width !== width || canvas.height !== height) {
canvas.width = width;
canvas.height = height;
}
gl.viewport(0, 0, width, height);
gl.useProgram(state.program);
gl.bindBuffer(gl.ARRAY_BUFFER, state.buffer);
gl.enableVertexAttribArray(state.position);
gl.vertexAttribPointer(state.position, 2, gl.FLOAT, false, 0, 0);
gl.activeTexture(gl.TEXTURE0);
gl.bindTexture(gl.TEXTURE_2D, state.depthTexture);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
if (state.depthWidth !== width || state.depthHeight !== height) {
// Allocate immutable storage once. Repeated texImage2D calls can
// force the browser to retire/recreate the texture and stall the
// compositor. The frame path below only updates the existing
// storage with texSubImage2D.
if (state.depthAllocated) {
// Immutable storage cannot be resized. This is normally only
// reached if a source changes resolution after mount.
gl.deleteTexture(state.depthTexture);
state.depthTexture = gl.createTexture();
gl.bindTexture(gl.TEXTURE_2D, state.depthTexture);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MIN_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_MAG_FILTER, gl.NEAREST);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_S, gl.CLAMP_TO_EDGE);
gl.texParameteri(gl.TEXTURE_2D, gl.TEXTURE_WRAP_T, gl.CLAMP_TO_EDGE);
}
if (typeof gl.texStorage2D === 'function') {
gl.texStorage2D(gl.TEXTURE_2D, 1, gl.R16UI, width, height);
state.depthAllocated = true;
} else {
gl.texImage2D(gl.TEXTURE_2D, 0, gl.R16UI, width, height, 0,
gl.RED_INTEGER, gl.UNSIGNED_SHORT, null);
state.depthAllocated = false;
}
state.depthWidth = width;
state.depthHeight = height;
}
gl.texSubImage2D(gl.TEXTURE_2D, 0, 0, 0, width, height,
gl.RED_INTEGER, gl.UNSIGNED_SHORT, codes);
const range = _rangeFor(canvas);
gl.uniform1f(state.q01Loc, range.q01);
gl.uniform1f(state.q99Loc, range.q99);
gl.activeTexture(gl.TEXTURE1);
gl.bindTexture(gl.TEXTURE_2D, state.lutTexture);
gl.drawArrays(gl.TRIANGLE_STRIP, 0, 4);
return true;
}
function _rangeFor(canvas) {
const range = canvas._depthRange;
if (range && Number.isFinite(range.q01) && Number.isFinite(range.q99)
&& range.q99 > range.q01) {
return range;
}
return { q01: 0, q99: DEPTH_QMAX };
}
function loadJetLut() {
if (lut) return Promise.resolve(lut);
if (lutPromise) return lutPromise;
lutPromise = fetch('/api/v1/video/depth-color-lut')
.then(response => {
if (!response.ok) throw new Error('Depth color LUT request failed');
return response.json();
})
.then(data => {
if (!data || data.name !== 'google_turbo' ||
data.order !== 'bgr' || !Array.isArray(data.values) ||
data.values.length !== 256) {
throw new Error('Invalid Turbo depth LUT');
}
lut = data.values;
return lut;
});
return lutPromise;
}
function render(canvas, codes, width, height) {
if (!canvas || !codes || !lut || codes.length !== width * height) {
return false;
}
try {
if (renderGpu(canvas, codes, width, height)) return true;
} catch (_) {
canvas._depthWebglState = null;
}
if (canvas.width !== width || canvas.height !== height) {
canvas.width = width;
canvas.height = height;
}
const ctx = canvas.getContext('2d');
if (!ctx) return false;
let image = canvas._depthImageData;
if (!image || image.width !== width || image.height !== height) {
image = canvas._depthImageData = ctx.createImageData(width, height);
}
const range = _rangeFor(canvas);
const span = Math.max(1, range.q99 - range.q01);
// CPU fallback: per-pixel adaptive mapping (q01/q99) through Turbo LUT.
const pixels = image.data;
for (let src = 0, dst = 0; src < codes.length; src++, dst += 4) {
const code = Math.max(0, Math.min(DEPTH_QMAX, codes[src]));
const clamped = Math.max(range.q01, Math.min(range.q99, code));
const c8 = Math.round((clamped - range.q01) * 255 / span);
const bgr = lut[Math.max(0, Math.min(255, c8))];
pixels[dst] = bgr[2];
pixels[dst + 1] = bgr[1];
pixels[dst + 2] = bgr[0];
pixels[dst + 3] = 255;
}
ctx.putImageData(image, 0, 0);
return true;
}
window.DepthRenderer = { DEPTH_QMAX, loadJetLut, render };
})();
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